AP_DDS: Copter takeoff service

[snktshrma]

Added a service for copter to accept takeoff commands using native DDS support.

[Ryanf55]

Looks pretty good.

Can you update libraries/AP_DDS/README.md for the new service channel?
Also, if you can, is it possible to add a test for it?

[snktshrma]

Looks pretty good.

Can you update libraries/AP_DDS/README.md for the new service channel? Also, if you can, is it possible to add a test for it?

Alright! I'll add a test for it

[snktshrma]

Looks pretty good.

Can you update libraries/AP_DDS/README.md for the new service channel? Also, if you can, is it possible to add a test for it?

I have added the test @Ryanf55

[Ryanf55]

Can you fix the build errors?
https://github.com/ArduPilot/ardupilot/actions/runs/8877225483/job/24370361196?pr=26911#step:7:2931

[snktshrma]

Can you fix the build errors? https://github.com/ArduPilot/ardupilot/actions/runs/8877225483/job/24370361196?pr=26911#step:7:2931

This build error is fixed @Ryanf55

[srmainwaring]

@snktshrma, @Ryanf55 - while working on support for AP in Aerostack2 I examined the PX4 msgs and services for comparison (PX4 added a service interface at the end of last year for vehicle commands). The service request message structure is similar to the mavlink equivalent: https://github.com/PX4/px4_msgs/blob/main/msg/VehicleCommand.msg. Wondering whether we want to use something similar rather than add many separate messages for the various commands?

[snktshrma]

hi @srmainwaring !
That seems a feasible idea. It'll be easier for users also to have command of all the required functions.
Though I think there are some persisting issues with DDS like float issue, which needs to be solved alongside.

[Ryanf55]

Looks good. The reason the diff looks bad is because you reordered two methods. This introduces noise in the diff.

I'm going to force push to put these back to original, which will make it quicker to review/merge.

Hopefully during the conference this week.

[Ryanf55]

@snktshrma Now that all the services are wrapped in ifdefs, can you rebase and add that for this PR?
AP_DDS_COPTER_TAKEOFF_SERVICE or something similar could be a good name for it.

[Ryanf55]

Hi @snktshrma Please let me know if you can do this or need someone else. We really want this capability in 4.6.

[snktshrma]

Hi @snktshrma Please let me know if you can do this or need someone else. We really want this capability in 4.6.

Hi @Ryanf55 ! I’m missed your previous comment but I’ll make the changes and push the updates asap.

[Ryanf55]

Please fix the astyle cleanliness. ./Tools/scripts/run_astyle.py

[rmackay9]

The Copter changes are tiny so I'm happy. I haven't reviewed the DDS changes but I trust others will ensure that part is correct

[peterbarker]

Board                    AP_Periph  blimp  bootloader  copter  heli  iofirmware  plane  rover  sub
CubeBlack                           0      *           0       0                 0      0      0
CubeOrange-periph-heavy  *                                                                     
CubeOrangePlus                      0      *           0       0                 0      0      0
CubeRedPrimary                      0      *           0       0                 0      0      0
Durandal                            0      *           0       0                 0      0      0
Hitec-Airspeed           *                                                                     
KakuteH7-bdshot                     0      *           0       0                 0      0      0
MatekF405                           16     *           88      88                8      8      8
Pixhawk1-1M-bdshot                  8                  96      88                8      8      8
f103-QiotekPeriph        *                                                                     
f303-Universal           *                                                                     
iomcu                                                                *                         
revo-mini                           8      *           88      96                8      8      8
skyviper-journey                                       88                                      
skyviper-v2450                                         88                                      

... this is costing us bytes.... but DDS is disabled by default. This isn't good....