Improve checks in gcs_control/drone_control to ensure that parameters and mission are actually received on the drone

RMUASD-Team2-2017 / UASD

Repository for the UASD course at SDU.

BSD 3-Clause "New" or "Revised" License

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Improve checks in gcs_control/drone_control to ensure that parameters and mission are actually received on the drone #54

Closed mhoejgaard closed 7 years ago

mhoejgaard commented 7 years ago

Mission and parameters should be resent a number of times and the state checked before failure is reported

mhoejgaard commented 7 years ago

The setup is changed from laying in the missionUploadCallback to a be handled by a state machine. The functionality is tested and working well.

The simulator still has a tendency to report datalink loss and thus reject the correct setup. The error is not consistent, and further improvement is thus postponed until a number of tests on the real px4 has been performed.

mhoejgaard commented 7 years ago

Added intervention services:

/drone_communication/loiter: Loiter at current position
/drone_communication/continueMission: Continues mission if loiter was called
/drone_communication/land: Lands at current position
/drone_communication/returnToLaunch: Returns to launch with built in RTL
/drone_communication/disarm: Disarms the drone in-air

mhoejgaard commented 7 years ago

Changes documented in wiki.