Added new code for MAV_CMD_DO_SET_SERVO ArduPilot #2113
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JonasVautherin
requested changes
Aug 14, 2023
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- Would you mind fixing the style, with
./tools/fix_style.sh .from the root of the repo? - The musl CI errors are unrelated (that's a timeout, just ignore it).
- There seems to be a Werror in windows, that should be fixed as well:
warning C4244: '=': conversion from 'const int' to 'float', possible loss of data. I guess that's your line 524?
command.params.maybe_param1 = index;
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I ran ./tools/fix_style.sh as per these instructions and performed the required cast to eliminate the warning |
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Pull request in support of #2111
I added support for actuator control in ArduPilot by modifying the set_actuator function from the Action plugin. I added an if statement that uses the MAV_CMD_DO_SET_SERVO command on ArduPilot systems due to the MAV_CMD_DO_SET_ACTUATOR command not being implemented in ArduPilot. PX4 will continue to use MAV_CMD_DO_SET_ACTUATOR as before.
A word on MAV_CMD_DO_SET_ACTUATOR: this command is capable of setting multiple actuator values at once, while MAV_CMD_DO_SET_SERVO only sets one actuator at a time. Since the set_actuator function is only setting one actuator at a time, MAV_CMD_DO_SET_SERVO is a one-to-one substitute of MAV_CMD_DO_SET_ACTUATOR.