[WIP] Update docs following addition of QGC plan import #100

hamishwillee · 2018-02-16T05:57:41Z

Updates docs for new QGC plan file importer (mavlink/MAVSDK#235) as requested in #99.

Actions

API Ref changes
New example
Update guide with new APIs. Cross link to new tests.

hamishwillee · 2018-02-16T06:01:09Z

This is still WIP because:

Waiting on Update mission docs MAVSDK#271 to be approved (may result in API ref updates)
Missing sample plan file: Missing sample plan for example MAVSDK#272 - may result in changes to the example - e.g. at the moment there is a placeholder in the example page, but may need to remove that.

hamishwillee · 2018-02-16T06:02:31Z

en/examples/fly_mission_qgc_plan.md

+[qgroundcontrol_sample.plan](https://github.com/dronecore/DroneCore/blob/{{ book.github_branch }}/example/fly_qgc_mission/qgroundcontrol_sample.plan)
+
+```
+


This is empty while I wait to see where the example plan file lives - mavlink/MAVSDK#272

If it stays in the plugin then I update the cpp file and delete this block.

shakthi-prashanth-m · 2018-02-16T06:15:44Z

@hamishwillee, do you need full screenshot of the QGC plan for higher resolution ? I did crop the image just enough to cover mission items while uploading.

shakthi-prashanth-m

Looks great. Just added few comments IMO.

shakthi-prashanth-m · 2018-02-16T07:33:47Z

en/guide/missions.md

@@ -1,6 +1,6 @@
 # Missions

-The DroneCore Mission API allows you to create, upload, download, run, pause, restart, jump to item in, and track missions. Missions can have multiple "mission items", each which may specify a position, altitude, fly-through behaviour, camera action, gimbal position, and the speed to use when traveling to the next position.
+The DroneCore Mission API allows you to create, upload, download, import from *QGroundControl*, run, pause, restart, jump to item in, and track missions. Missions can have multiple "mission items", each which may specify a position, altitude, fly-through behaviour, camera action, gimbal position, and the speed to use when traveling to the next position.


Missions can have multiple "mission items"

Shouldn't this be A mission can have multiple "mission items" ?

No, it is correct (what you have suggested is also fine).

shakthi-prashanth-m · 2018-02-16T07:38:34Z

en/guide/missions.md

+* [MAV_CMD_IMAGE_STOP_CAPTURE](https://mavlink.io/en/messages/common.html#MAV_CMD_IMAGE_STOP_CAPTURE)
+* [MAV_CMD_VIDEO_START_CAPTURE](https://mavlink.io/en/messages/common.html#MAV_CMD_VIDEO_START_CAPTURE)
+* [MAV_CMD_VIDEO_STOP_CAPTURE](https://mavlink.io/en/messages/common.html#MAV_CMD_VIDEO_STOP_CAPTURE)
+* [MAV_CMD_NAV_LOITER_TIME](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LOITER_TIME)


Don't we need to mention first mission item in QGroundControl plan: MAV_CMD_NAV_TAKEOFF ? OR Is it implicit as part of MAV_CMD_NAV_WAYPOINT ?

Now this is an interesting question - and a possible bug in implementation.

If you check out MissionItem there is no API to land or takeoff! (as an aside, on PX4 if the takeoff command is omitted from mission an MC vehicle will take off without it)

That is why I have this note in the guide:

The Mission API does not (at time of writing) support "repeat", takeoff, return to land etc. DroneCore provides some omitted functionality through the Action API.

And if you look at the code we create the missionitem but do nothing for the land/takeoff handling. I think that is a bug.

Most mission created by Mission Planner will have a takeoff as their first item and land as the last item. IMO we should implement land/takeoff because they are reasonable things to want to declare, and it isn't sensible to reject import because they are missing.

@julianoes Got a better idea?

OK. We've considered takeoff and land while importing QGC mission. But however these commands are "looked" as waypoint mission items with lat, lon, alt parameters and I remember @julianoes mentioned once that mission items are sent to firmware and firmware will simply execute them as waypoint command. @julianoes, please confirm this.

However, I feel it is better to send mission items as "takeoff", "land" commands to firmware. Reason is that

Even after land command, vehicle stays in "Mission" & "Armed" state unless application commands for "RTL".

Firmware won't show "Landing detected" in PX4 logs.

@julianoes mentioned once that mission items are sent to firmware and firmware will simply execute them as waypoint command. @julianoes, please confirm this.

I think what I meant is that you don't need to add a takeoff waypoint because the firmware will automatically insert a takeoff waypoint, so DroneCore shouldn't worry about it.

Even after land command, vehicle stays in "Mission" & "Armed" state unless application commands for "RTL".

That sounds like a bug. At least if auto disarm is on it should disarm after landing.

Firmware won't show "Landing detected" in PX4 logs.

That would also be a bug.

However, I think adding an RTL or land command at the end of the mission is just not supported by DroneCore yet.

I tested with a QGC plan containing only takeoff and land as mission items. First I tried upload and fly using QGC. After mission accomplished, it left the vehicle in Mission Disarmed state. QGC Mission editor on the right showed command IDs: Takeoff, Land. Firmware shows Landing detected when it executes last mission item.
With DroneCore mission interface, a difference as we know is that QGC Mission editor shows both takeoff and land as Waypoint mission items. Firmware does NOT show Landing detected at the end.

However, I think adding an RTL or land command at the end of the mission is just not supported by DroneCore yet.

Yes

OK, so I've never though omitting takeoff and was sensible - if only because Plane/VTOL don't auto insert them like MC does, and a waypoint at "0" altitude is not a landing - it is "very low flight" :-).

Upshot, I agree the problem is that we don't support them yet, so let's do so: mavlink/MAVSDK#286
I haven't bothered to create issue for missing RTL because that seems very "optional" to me.

With respect to this particular issue, my "solution" is to add a note that these are "supported for import only": ae773b3 - I could go into more detail on what happens in detail for import, but lets just fix this going forward.

Merging this now and the current docs accurately reflect the API.

shakthi-prashanth-m · 2018-02-16T07:46:19Z

en/guide/missions.md

+
+> **Note** To export a mission plan from the *QGroundControl* use the [Sync Tool](https://docs.qgroundcontrol.com/en/PlanView/PlanView.html#sync) (**Plan View > Sync Tool**, and then select **Save to File**).
+
+The mission is imported using the static [import_qgroundcontrol_mission](../api_reference/classdronecore_1_1_mission.md#classdronecore_1_1_mission_1a7c73e97e5c1395a7451bb659d03e5f57) method. The method will fail with an error if the plan file cannot be found, cannot be parsed, or if it contains mission items that are [not supported](#supported_mission_commands).


The method will fail with an error if the plan file cannot be found, cannot be parsed, or if it contains mission items that are not supported.

The method will fail with an error if plan file cannot be found, or it cannot be parsed, or if it contains mission items that are not supported.
(Added or )

My way is correct (so is yours, but I only change things if the alternative is "better").

hamishwillee · 2018-02-19T04:47:18Z

@hamishwillee, do you need full screenshot of the QGC plan for higher resolution ? I did crop the image just enough to cover mission items while uploading.

No. Ideally I like "full version" with QGC shrunk as far as is reasonable and map zoomed to fill screen -
essentially then you get QGC just being a "frame" around the flight path. You can kind of get the idea from this: https://docs.dronecore.io/v/develop/en/examples/transition_vtol_fixed_wing.html

But the cropped version you provided is fine too! Certainly not worth your effort to regenerate at this point.

hamishwillee · 2018-02-19T04:48:17Z

OK, so now this is just waiting on discussion of how mission import of takeoff/land should be implemented (#100 (comment)) and any associated docs changes. Perhaps we should just merge this now and carry on the discussion separately?

hamishwillee added 2 commits February 16, 2018 14:42

Update API ref following addition of QGC plan import

c677aa1

Guide and example updates for mission QGC plan import

ec6fcdc

hamishwillee requested a review from shakthi-prashanth-m February 16, 2018 05:57

hamishwillee commented Feb 16, 2018

View reviewed changes

shakthi-prashanth-m reviewed Feb 16, 2018

View reviewed changes

hamishwillee mentioned this pull request Feb 19, 2018

Add new docs updates for QGC Mission import #99

Closed

Update example following clarifications on qgc plan file location

5896a99

Clarify that we can import land and takeoff mission commands

ae773b3

hamishwillee merged commit a45ff63 into mavlink:develop Feb 26, 2018

hamishwillee deleted the mission_import branch February 26, 2018 03:38

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

[WIP] Update docs following addition of QGC plan import #100

[WIP] Update docs following addition of QGC plan import #100

hamishwillee commented Feb 16, 2018 •

edited

Loading

hamishwillee commented Feb 16, 2018 •

edited

Loading

hamishwillee Feb 16, 2018

shakthi-prashanth-m commented Feb 16, 2018

shakthi-prashanth-m left a comment

shakthi-prashanth-m Feb 16, 2018

hamishwillee Feb 19, 2018

shakthi-prashanth-m Feb 16, 2018

hamishwillee Feb 19, 2018

shakthi-prashanth-m Feb 19, 2018

julianoes Feb 19, 2018

shakthi-prashanth-m Feb 19, 2018

shakthi-prashanth-m Feb 19, 2018

hamishwillee Feb 26, 2018

shakthi-prashanth-m Feb 16, 2018

hamishwillee Feb 19, 2018

hamishwillee commented Feb 19, 2018

hamishwillee commented Feb 19, 2018

		[qgroundcontrol_sample.plan](https://github.com/dronecore/DroneCore/blob/{{ book.github_branch }}/example/fly_qgc_mission/qgroundcontrol_sample.plan)

		```


		> Note To export a mission plan from the QGroundControl use the [Sync Tool](https://docs.qgroundcontrol.com/en/PlanView/PlanView.html#sync) (Plan View > Sync Tool, and then select Save to File).

		The mission is imported using the static [import_qgroundcontrol_mission](../api_reference/classdronecore_1_1_mission.md#classdronecore_1_1_mission_1a7c73e97e5c1395a7451bb659d03e5f57) method. The method will fail with an error if the plan file cannot be found, cannot be parsed, or if it contains mission items that are [not supported](#supported_mission_commands).

[WIP] Update docs following addition of QGC plan import #100

[WIP] Update docs following addition of QGC plan import #100

Conversation

hamishwillee commented Feb 16, 2018 • edited Loading

hamishwillee commented Feb 16, 2018 • edited Loading

Choose a reason for hiding this comment

shakthi-prashanth-m commented Feb 16, 2018

shakthi-prashanth-m left a comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

hamishwillee commented Feb 19, 2018

hamishwillee commented Feb 19, 2018

hamishwillee commented Feb 16, 2018 •

edited

Loading

hamishwillee commented Feb 16, 2018 •

edited

Loading