search

mavlink / MAVSDK-Python

MAVSDK client for Python.
https://mavsdk.mavlink.io
BSD 3-Clause "New" or "Revised" License
291 stars 216 forks source link

Support custom COMMAND_LONG listeners and be able to ACK #713

Open sanderux opened 2 weeks ago

sanderux commented 2 weeks ago

We are using MAV_CMD_WAYPOINT_USER_1 to run custom commands from a mission This ability is currently missing from mavsdk making it impossible for us to switch. Would be nice to be able to add a custom action listener. We would need the param values too

@julianoes FYI

julianoes commented 2 weeks ago

I think this should be possible using the passthrough plugin. Before I add it as explicit functionality we would have to standardize it in MAVLink. We had several discussions about custom action commands before, the previous attempt was a bit too complex though, in my opinion: https://github.com/mavlink/MAVSDK/pull/1581#issuecomment-1092265844.

sanderux commented 2 weeks ago

User actions are standardized in mavlink no? What would be wrong with extending the actions call with a 'custom action' handler where you can listen to all commands and choose if you want to handle / ack them?

sanderux commented 2 weeks ago

Here: mavsdk/action_server.py

julianoes commented 2 weeks ago

Does the autopilot (e.g. PX4) support sending USER_1 commands and waiting for an ack? That would be the first step.

sanderux commented 2 weeks ago

Yes it does, we are already using this with pymavlink

julianoes commented 2 weeks ago

Ok, which PX4 version do I use to test this?