7 stay for and take photo actions

[JoeKae]

What has been added?

• utilization of litchi_wp package
• Mission Planner command list in docs folder (command with the id)
• enum class to handle Mission Planner commands more easily

What has been changed?

• code was rewritten to be more self-explanatory
• code was prepared to support more Mission Planner commands
• documentation has been updated
  • select absolute height in MP so litchi can handle the AGL part
  • explanation how the capture interval is set

Review

• The changes are fairly extensive, so I would appreciate tests of the application prior to the merge.

[YarosMallorca]

Thank you so much for the amazing work! I will be testing it soon, and merge if everything works :)

[JoeKae]

Do not merge yet. I found out that some MP commands do not only change the settings for the current waypoint, but also for the waypoints after the current waypoint. In this code this is relevant for the Do Set Speed command. I will do a fix and let you know about it.

[JoeKae]

Should work fine now.

[YarosMallorca]

Doesn't work for me, it just saves a CSV file without any Waypoints.

test.waypoints:

resulting test.csv:

[JoeKae]

There is no takeoff command in that file. The code ignores all until takeoff.

[JoeKae]

Maybe we consume all waypoints and discard the list if we find the takeoff command. That way we are compatible with takeoff plans and with plans that do not utilize the takeoff command.

I will add a commit for that later.

[JoeKae]

Now it should support flight plans with and without takeoff.

[JoeKae]

Support for Trigger Method DO_DIGICAM_CONTROL added and also the DELAY parameter of Waypoints is now taken into account. The delay is set by the Delay at WP (seconds) field in the Grid Options tab.

[YarosMallorca]

I get this error when trying to import into Litchi:

My Waypoints File:

My CSV File:

[YarosMallorca]

Also I kind of disagree with this change as in the Readme it doesn't show that you need to set the DO_SET_SPEED in Mission Planner before generating the Survey, or did you add this already in the readme and I just didn't see it?

[JoeKae]

I get this error when trying to import into Litchi:

It seems like litchi is capping the max speed at 15m/s. I was not aware of this. So we should limit the max. speed to 15m/s and give a warning if the user requested a higher speed.

Also I kind of disagree with this change as in the Readme it doesn't show that you need to set the DO_SET_SPEED in Mission Planner before generating the Survey, or did you add this already in the readme and I just didn't see it?

If the checkmark Use speed for this mission is set in Mission Planner, then it sets the DO_SET_SPEED command in the flight plan.

Good spot because the checkmark in the Readme is not set:

[JoeKae]

Let's handle issue #19 in this PR as well. Then the Readme issue should be out of the way.

[YarosMallorca]

Let's handle issue #19 in this PR as well. Then the Readme issue should be out of the way.

Sure! That would be great, but I don't know which modes exactly you're talking about.

[JoeKae]

• added support for info, warn and error messages.
• added speed limit
• updated documentation

I did a forced push, so git reset --hard origin/7-stay-for-and-take-photo-actions might be necessary.

[YarosMallorca]

When should I merge this pr?

[JoeKae]

I will release a new version of litchi_wp later today. This changes the use of set_action because it will manage the action-index internally. Once I update the version requirement of litchy_wp in this pr, it might be ready for a merge. It depends of course if you are happy with the state of the branch.

[JoeKae]

Please review and let me know if anything needs to be changed.