FollowMe & Tap´n´Go implementation in r449: success

[afernan]

I´m trying to implement the FollowMe code into r449, based on Menno implementation for HoTT.
Files modified are attached. To see the changes search for the comment "//FollowMe " or compare with original ones.

I´m almost finished but I need some help in implementing this function used in aq_mavlink.c (line 211)
"mavlink_msg_extern_gps_position_send"

Code: Select all

   mavlink_msg_extern_gps_position_send(MAVLINK_COMM_0,1,navData.homeLeg.targetLat, navData.homeLeg.targetLon, navData.startAlt, ((RADIO_THROT+1024)-1000)*10 , navData.ceilingAlt*1e3, gpsData.velD*1e3, navData.homeLeg.targetLat*(double)1e7, navData.homeLeg.targetLon*(double)1e7, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f);

I guess its an especific AQ mavlink funtion. Where should I define it? Should it be in "autoquad.xml" at
C:\devel\aq\lib\mavlink\message_definitions\v1.0 ?

Thanks for your help
Angel

[joebar.rc]

This is only the send to telemetry (android) function. In the received command structure you define what to look for from the incoming mavlink commands and what to do.
(void mavlinkDoCommand(mavlink_message_t *msg) {)

and case MAVLINK_MSG_ID_EXTERN_GPS_POSITION: defines what to do based on the position of the follow device

Autoquad.xml is used in an aid to auto create the mavlink definition files. So basically .xml is used to create the mavlink external message definition file that you need to include. That is in this step not necessary because that file already exists.

[afernan]

Thanks for your answer.
I get this error while compiling. Do I miss something?
Thanks

Code: Select all

aq_mavlink.c: In function 'mavlinkDo':
aq_mavlink.c:211:2: warning: implicit declaration of function 'mavlink_msg_extern_gps_position_send' [-Wimplicit-function-declaration]
aq_mavlink.c:211:2: warning: implicit conversion from 'float' to 'double' when passing argument to function [-Wdouble-promotion]
...
aq_mavlink.c: In function 'mavlinkRecvTaskCode':
aq_mavlink.c:842:8: error: 'MAVLINK_MSG_ID_EXTERN_GPS_POSITION' undeclared (first use in this function)

[sandmen]

This should help....
https://drive.google.com/file/d/0B_H1BW ... sp=sharing

[Max]

I always wondered why you don't use an existing standard message -- SET_POSITION_TARGET_GLOBAL_INT seems perfect.

-Max

[sandmen]

For "just" follow me, yes, you are right.
But, I'm not only doing "follow me" with this.

[afernan]

@Peter:
Thanks for the files. Now it compiles OK. I see the missing functions inside your MAVLINK library.
I´ll test in flight and report back. Any recomendation for the flight test? (...apart of the obvious).
Angel

[sandmen]

take care for the external declaration from
- navUkfSetGlobalPositionTarget
- navSetHoldHeading

[afernan]

I plan to use this external GPS in the ANDROID terminal to improve signal:
viewtopic.php?f=11&t=4680

[afernan]

1st Flight Test: successfull !!
Working very well both Tap´n´Go and FollowMe in r449 modified. Attached fw for v6.1 DIMU QUATOS.

Mini guide:
Tap´n´Go: while in PH, touch the map for 1 sec. A yellow drop will indicate the point to flight. After a confirmation, the machine will fly at 3m/s at the same height it was. It works perfect.

Follow-Me: First, activate FollowMe in GCS settings. Then while in PH, activate FollowMe in the menu; a message will tell you that FolloMe is active all time supplying position and speed. If you walk it will follow you maintaining same height as initial position. You can overide position and height at any moment with Tx. Worked perfectly at first shot.

Now I´ll test with a better antena for the phone GPS signal improvement.

Thanks a lot to Peter and Menno for their contributions (really most of the work). Files modified are attached also. Remember you´ll need an special Mavlink library to compile (see previous link from Peter)

Keep tuned.