One of the core functionalities of the ROSflight autopilot is to allow the onboard computer to send control setpoints to the embedded flight controller. These setpoints would typically be computed by a controller running as a ROS node, normally on the onboard computer.
Provide control from an onboard computer¶
Control setpoints are sent to the autopilot by publishing to the
/command topic that is advertised by the
rosflight_io node. This topic accepts message of type
rosflight_msgs/Command, which have the following structure:
std_msgs/Header header uint8 mode uint8 ignore float32 x float32 y float32 z float32 F
header field is a standard ROS message header. The
F fields are the control setpoint values, which are interpreted according to the
The following table describes the different values that the
mode field can take, as well as how the setpoint values are interpreted for each of these modes:
||aileron deflection (-1 to 1)||elevator deflection (-1 to 1)||rudder deflection (-1 to 1)||throttle (0 to 1)|
||roll rate (rad/s)||pitch rate (rad/s)||yaw rate (rad/s)||throttle (0 to 1)|
||roll angle (rad)||pitch angle (rad)||yaw rate (rad/s)||throttle (0 to 1)|
MODE_PASS_THROUGH mode is used for fixed-wing vehicles to directly specify the control surface deflections and throttle, while the
MODE_ROLL_PITCH_YAWRATE_THROTTLE modes are used for multirotor vehicles to specify the attitude rates or angles respectively.
ignore field is used if you want to specify control setpoints for some, but not all, of the axes. For example, I may want to specify a throttle setpoint to perform altitude hold, but still let the RC pilot specify the attitude setpoints. The
ignore field is a bitmask that can be populated by combining the following values:
||Ignore none of the fields (default)|
For the previous example, I would set the
ignore field to a value of
ignore = IGNORE_X | IGNORE_Y | IGNORE_Z
The best practice is to use enum names rather than the actual numeric values for the
ignore fields. For example, to specify a multirotor attitude angle command in C++ I might have
#include <ros/ros.h> #include <rosflight_msgs/Command.h> rosflight_msgs::Command msg; msg.header.stamp = ros::Time::now(); msg.mode = rosflight_msgs::Command::MODE_ROLL_PITCH_YAWRATE_THROTTLE; msg.ignore = rosflight_msgs::Command::IGNORE_NONE; msg.x = 0.0; msg.y = 0.0; msg.z = 0.0; msg.F = 0.6;
import rospy from rosflight_msgs.msg import Command msg = Command() msg.header.stamp = rospy.Time.now() msg.mode = Command.MODE_ROLL_PITCH_YAWRATE_THROTTLE msg.ignore = Command.IGNORE_NONE msg.x = 0.0 msg.y = 0.0 msg.z = 0.0 msg.F = 0.6
/commandtopic to forward it to the embedded flight controller.
Fly waypoints with ros_plane or ros_copter¶
Waypoint following is not supported natively by the ROSflight stack. However, the ROSplane and ROScopter projects are good example implementations of how to achieve this using ROSflight. They also provide good examples of how you might go about integrating your own guidance or control algorithms with the ROSflight stack.