Neptus interaction with DUNE

[Thor Audun Steen]

Hi,

I'm trying to get an overview on how Neptus interact with DUNE when I right click and tells the vehicle to either Loiter or Goto here.

Are these commands set by the vehicle-defs file?

In the case of 82-x8-00.nvcl there are defined some manuevers. If I take the GotoDestination manuever implemented by the pt.lsts.neptus.mp.maneuvers.Goto class, how is this interacting with DUNE? (And further with APM?)

Is this a general Goto command, will it work for all type of vehicles? Also for multicopters?

Is there an easy way of editing the values in the vehicle-defs file dynamically from Neptus? For example loiter and goto altitude (depth). Are negative depths defined as positive altitudes for aerial vehicles?

Cheers,

Thor

[Paulo Dias]

Hi Thor,

2014-03-12 12:18 GMT+00:00 Thor Audun Steen <taus...@gmail.com>:

Hi,

I'm trying to get an overview on how Neptus interact with DUNE when I right click and tells the vehicle to either Loiter or Goto here.

For this feature the parameters  that are going to be used are set in the "Command Planner" console component. To configure this you have to go in the console to the View menu and to the "Console Settings" (the last one), then select the "Command Planner" and you can configure for ASV, AUV, and UAV the settings that will be used.

And so the vehicle-def files don't matter for this feature.

Does this suffice?

Regards,

Paulo

Are these commands set by the vehicle-defs file?

In the case of 82-x8-00.nvcl there are defined some manuevers. If I take the GotoDestination manuever implemented by the pt.lsts.neptus.mp.maneuvers.Goto class, how is this interacting with DUNE? (And further with APM?)

Is this a general Goto command, will it work for all type of vehicles? Also for multicopters?

Is there an easy way of editing the values in the vehicle-defs file dynamically from Neptus? For example loiter and goto altitude (depth). Are negative depths defined as positive altitudes for aerial vehicles?

Cheers,

Thor

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[Thor Audun Steen]

Hi Paulo,

Thanks for your reply. Great, that's the feature I was looking for.

If I got i right, all maneuver commands are handled by a dedicated Maneuver.Goto, Maneuver.Loiter etc. task in DUNE. Why is it so that these maneuver commands are "translated" to a IMC::DesiredPath message?

Are all commands in principle executed by the task that consume the DesiredPath message?

Regards,

Thor

[Pedro Calado]

Hi Thor,

The maneuver commands are not simply translated into desiredpath messages.

Those Maneuver messages aren't even sent directly from Neptus to DUNE. They arrive in DUNE via a PlanControl or PlanDB that will contain the PlanSpecification.

It's more complicated than a translation, in the sense that maneuvers initiate behaviors and may send and consume other messages.

I'm not sure I understand your second quesiton.

What do you mean by "all commands"?

The task that consumes the DesiredPath message is the path controller (src/Control/Path/), and it sends references of speed, altitude/depth and heading to lower level controllers.

Regards,

Pedro Calado

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[Pedro Calado]

Hi Thor,

Your question mostly concerns UAVs, I'm posting this back in the toolchain mailing list so that João Fortuna can answer.

Regards,

Pedro Calado

On Mon, Mar 17, 2014 at 2:36 PM, Thor Audun Steen <taus...@gmail.com> wrote:

Hi Pedro,

I'm trying to figure out how a command, either a loiter, goto or plan, given in Neptus is moving from Neptus -> DUNE -> UAV (APM). For example, I can see the Maneuver.Goto task dispatch a DesiredPath message, which Control.UAV.Ardupilot consume, and send the ardupilot packet using mavlink. I just having trouble verifying that this is the actual process that happens.

I'm currently trying to understand how I can use your imc-Neptus-DUNE toolchain to fit our multicopter project here at NTNU. Are the commands (goto, loiter, or plans) in either way translated to DesiredPath messages which is consumed by the DesirePath function i Control.UAV.Ardupilot sending them to APM? I can not find other functions that are using the mavlink protocol, and are therefore assuming that the commands must be handled as DesiredPath messages. I believe I need to customize how these commands are handled since they are made for planes, and not copters.

I realized now that I may have been wrong. If I can use your Control.UAV.Ardupilot commands out of the box for multicopters, that would be wonderfull. Should this be possible?

Regards,

Thor

[João Fortuna]

Hi Thor,

On Mon, Mar 17, 2014 at 2:40 PM, Pedro Calado <pdca...@gmail.com> wrote:

Hi Thor,

Your question mostly concerns UAVs, I'm posting this back in the toolchain mailing list so that João Fortuna can answer.

Regards,

Pedro Calado

On Mon, Mar 17, 2014 at 2:36 PM, Thor Audun Steen <taus...@gmail.com> wrote:

Hi Pedro,

I'm trying to figure out how a command, either a loiter, goto or plan, given in Neptus is moving from Neptus -> DUNE -> UAV (APM). For example, I can see the Maneuver.Goto task dispatch a DesiredPath message, which Control.UAV.Ardupilot consume, and send the ardupilot packet using mavlink. I just having trouble verifying that this is the actual process that happens.

That is correct for UAVs with Ardupilot, you have other things happening before that, but once a Maneuver Task such as the Goto is activated it dispatches a DesiredPath (or several, depending on the maneuver).

The Ardupilot Task consumes that message and translates it into a MAVLink command. The most common is a GUIDED mode reference.

The Ardupilot Task then monitors the progress of the path and once it is inside the acceptance radius (or loitering) it sends a PathControlState message with the appropriate flags which signals the maneuver completion and the next maneuver is activated.

I'm currently trying to understand how I can use your imc-Neptus-DUNE toolchain to fit our multicopter project here at NTNU. Are the commands (goto, loiter, or plans) in either way translated to DesiredPath messages which is consumed by the DesirePath function i Control.UAV.Ardupilot sending them to APM? I can not find other functions that are using the mavlink protocol, and are therefore assuming that the commands must be handled as DesiredPath messages. I believe I need to customize how these commands are handled since they are made for planes, and not copters.

I realized now that I may have been wrong. If I can use your Control.UAV.Ardupilot commands out of the box for multicopters, that would be wonderfull. Should this be possible?

I don't have any experience with multicopters, but I think that the GUIDED mode in APM works for both planes and copters, so it should work for you.

Cheers,

Fortuna

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[Thor Audun Steen]

Great. Thank you all, guys.

Cheers,
Thor

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