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Mission command timeout #3495
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Mission command timeout #3495
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8b1be06
Add gripper mission command timeout
hamishwillee b705eb7
gimbal mission timout settings
hamishwillee e742d56
Add info about the mission timeout to mission modes
hamishwillee 742d51c
Add release note
hamishwillee 1c36be4
Update en/releases/main.md
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Original file line number | Diff line number | Diff line change |
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@@ -19,7 +19,7 @@ The mission is typically created and uploaded with a Ground Control Station (GCS | |
## Description | ||
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Missions are usually created in a ground control station (e.g. [QGroundControl](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/plan_view/plan_view.html)) and uploaded prior to launch. | ||
They may also be created by a developer API, and/or uploaded in flight. | ||
They may also be created by a MAVLink API such as [MAVSDK](../robotics/mavsdk.md), and/or uploaded in flight. | ||
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Individual [mission commands](#mission-commands) are handled in a way that is appropriate to multicopter flight characteristics (for example loiter is implemented as _hover_ ). | ||
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@@ -191,6 +191,16 @@ Please add an issue report or PR if you find a missing/incorrect message. | |
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::: | ||
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## Mission Command Timeouts | ||
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Some mission commands/items can take time to complete, such as a gripper opening and closing, a winch extending or retracting, or a gimbal moving to point at a region of interest. | ||
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Where provided PX4 may use sensor feedback from the hardware to determine when the action has completed and then move to the next mission item. | ||
If not provided, or if the feedback is lost, a mission command timeout can be used to ensure that these kinds of actions will progress to the next mission item rather than blocking progression. | ||
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The timeout is set using the [MIS_COMMAND_TOUT](../advanced_config/parameter_reference.md#MIS_COMMAND_TOUT) parameter. | ||
This should be set to be a small amount greater than the time required for the longest long-running action in the mission to complete. | ||
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There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. Note, add this to all the vehicle mission mode sections. |
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## Rounded turns: Inter-Waypoint Trajectory | ||
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PX4 expects to follow a straight line from the previous waypoint to the current target (it does not plan any other kind of path between waypoints - if you need one you can simulate this by adding additional waypoints). | ||
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@julianoes Is this accurate? Specifically, my assumption is that all gimbal commands are sent to MAV_COMP_ID_GIMBAL but I couldn't find where.
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I had no idea this param existed.
I would be surprised if this worked at all. Something to check...
In terms of timeout: Usually the gimbals just answer with Ack, and then go to the setpoint, however slow they want. This behavior makes sense when used as a command - where you might want to send a new setpoint while it's still moving - but less as part of a mission, unfortunately. It might requiring adding in a wait command explicitly after.
In my mind, if a command is not answered immediately, it should be followed up by a IN_PROGRESS to avoid a timeout, as per protocol.
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Its a new param added in PX4/PX4-Autopilot#23960
Essentially it copies what was done for payload delivery - if you have feedback then the mission item completes on getting that, but if you don't then it completes after a timeout - ensuring the gimbal has time to reach your target setpoint, or your gripper has time to open/closed.
This is what is done, and will work. Is it the right thing? Depends on whether the gimbal protocol provides feedback on reaching the target as you suggest or just acknowledges the command. We don't define the camera commands as long running, so I suspect the former is what happens. Is there any other way to get feedback?
In any case, can you confirm that commands are sent to MAV_COMP_ID_GIMBAL ?
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I will have to test this. On my list now. Being able to set the timeout can be good of course.