Implement transition to fw as an action.

example/transition_vtol_fixed_wing/CMakeLists.txt

@@ -0,0 +1,39 @@
+cmake_minimum_required(VERSION 2.8.12)
+
+project(transition_vtol_fixed_wing)
+
+if(NOT MSVC)
+    add_definitions("-std=c++11 -Wall -Wextra -Werror")
+else()
+    add_definitions("-std=c++11 -WX -W2")
+    set(platform_libs "Ws2_32.lib")
+endif()
+
+# Add DEBUG define for Debug target
+set(CMAKE_CXX_FLAGS_DEBUG "-DDEBUG")
+
+# This finds thread libs on Linux, Mac, and Windows.
+find_package(Threads REQUIRED)
+
+# Not needed if DroneCore installed system-wide
+include_directories(
+    ${CMAKE_SOURCE_DIR}/../../install/include
+)
+
+add_executable(transition_vtol_fixed_wing
+    transition_vtol_fixed_wing.cpp
+)
+
+# Not needed if DroneCore installed system-wide
+if(MSVC)
+    set(dronecore_lib "${CMAKE_SOURCE_DIR}/../../install/lib/dronecore.lib")
+else()
+    set(dronecore_lib "${CMAKE_SOURCE_DIR}/../../install/lib/libdronecore.so")
+endif()
+
+target_link_libraries(transition_vtol_fixed_wing
+    ${dronecore_lib}  # Remove/comment out this line if DroneCore used locally
+    # dronecore  # Uncomment/add this line if DroneCore installed system-wide
+    ${CMAKE_THREAD_LIBS_INIT}
+    ${platform_libs}
+)

example/transition_vtol_fixed_wing/transition_vtol_fixed_wing.cpp

@@ -0,0 +1,143 @@
+
+#include <dronecore/dronecore.h>
+#include <iostream>
+#include <thread>
+#include <chrono>
+#include <cstdint>
+
+using std::this_thread::sleep_for;
+using std::chrono::milliseconds;
+using namespace dronecore;
+
+#define ERROR_CONSOLE_TEXT "\033[31m" //Turn text on console red
+#define TELEMETRY_CONSOLE_TEXT "\033[34m" //Turn text on console blue
+#define NORMAL_CONSOLE_TEXT "\033[0m"  //Restore normal console colour
+
+int main(int /*argc*/, char ** /*argv*/)
+{
+    DroneCore dc;
+
+    bool discovered_device = false;
+
+    DroneCore::ConnectionResult connection_result = dc.add_udp_connection();
+
+    if (connection_result != DroneCore::ConnectionResult::SUCCESS) {
+        std::cout << ERROR_CONSOLE_TEXT << "Connection failed: "
+                  << DroneCore::connection_result_str(connection_result)
+                  << NORMAL_CONSOLE_TEXT << std::endl;
+        return 1;
+    }
+
+    std::cout << "Waiting to discover device..." << std::endl;
+    dc.register_on_discover([&discovered_device](uint64_t uuid) {
+        std::cout << "Discovered device with UUID: " << uuid << std::endl;
+        discovered_device = true;
+    });
+
+    // We usually receive heartbeats at 1Hz, therefore we should find a device after around 2 seconds.
+    std::this_thread::sleep_for(std::chrono::seconds(2));
+
+    if (!discovered_device) {
+        std::cout << ERROR_CONSOLE_TEXT << "No device found, exiting." << NORMAL_CONSOLE_TEXT << std::endl;
+        return 1;
+    }
+
+    // We don't need to specify the UUID if it's only one device anyway.
+    // If there were multiple, we could specify it with:
+    // dc.device(uint64_t uuid);
+    Device &device = dc.device();
+
+    // We want to listen to the altitude of the drone at 1 Hz.
+    const Telemetry::Result set_rate_result = dc.device().telemetry().set_rate_position(1.0);
+    if (set_rate_result != Telemetry::Result::SUCCESS) {
+        std::cout << ERROR_CONSOLE_TEXT << "Setting rate failed:" << Telemetry::result_str(
+                      set_rate_result) << NORMAL_CONSOLE_TEXT << std::endl;
+        return 1;
+    }
+
+
+    // Set up callback to monitor altitude while the vehicle is in flight
+    device.telemetry().position_async([](Telemetry::Position position) {
+        std::cout << TELEMETRY_CONSOLE_TEXT // set to blue
+                  << "Altitude: " << position.relative_altitude_m << " m"
+                  << NORMAL_CONSOLE_TEXT // set to default color again
+                  << std::endl;
+    });
+
+
+    // Check if vehicle is ready to arm
+    if (device.telemetry().health_all_ok() != true) {
+        std::cout << ERROR_CONSOLE_TEXT << "Vehicle not ready to arm" << NORMAL_CONSOLE_TEXT << std::endl;
+        return 1;
+    }
+
+    // Arm vehicle
+    std::cout << "Arming..." << std::endl;
+    const Action::Result arm_result = device.action().arm();
+
+    if (arm_result != Action::Result::SUCCESS) {
+        std::cout << ERROR_CONSOLE_TEXT << "Arming failed:" << Action::result_str(
+                      arm_result) << NORMAL_CONSOLE_TEXT << std::endl;
+        return 1;
+    }
+
+    // Take off
+    std::cout << "Taking off..." << std::endl;
+    const Action::Result takeoff_result = device.action().takeoff();
+    if (takeoff_result != Action::Result::SUCCESS) {
+        std::cout << ERROR_CONSOLE_TEXT << "Takeoff failed:" << Action::result_str(
+                      takeoff_result) << NORMAL_CONSOLE_TEXT << std::endl;
+        return 1;
+    }
+
+    // Wait
+    std::this_thread::sleep_for(std::chrono::seconds(10));
+
+    // Change to FW
+    const Action::Result fw_result = device.action().transition_to_fixedwing();
+
+    if (fw_result != Action::Result::SUCCESS) {
+        std::cout << ERROR_CONSOLE_TEXT << "Transition to fixed wing failed: " << Action::result_str(
+                      fw_result) << NORMAL_CONSOLE_TEXT << std::endl;
+        //return 1;
+    }
+
+    // Wait
+    std::this_thread::sleep_for(std::chrono::seconds(10));
+
+    // Change to VTOL
+    const Action::Result mc_result = device.action().transition_to_multicopter();
+    if (mc_result != Action::Result::SUCCESS) {
+        std::cout << ERROR_CONSOLE_TEXT << "Transition to multi copter failed:" << Action::result_str(
+                      mc_result) << NORMAL_CONSOLE_TEXT << std::endl;
+        //    return 1;
+    }
+
+    // Wait
+    std::this_thread::sleep_for(std::chrono::seconds(5));
+
+    // Return to launch
+    const Action::Result rtl_result = device.action().return_to_launch();
+    if (rtl_result != Action::Result::SUCCESS) {
+        std::cout << ERROR_CONSOLE_TEXT << "Returning to launch failed:" << Action::result_str(
+                      rtl_result) << NORMAL_CONSOLE_TEXT << std::endl;
+        //    return 1;
+    }
+
+    // Wait
+    std::this_thread::sleep_for(std::chrono::seconds(20));
+
+    // Land
+    std::cout << "Landing..." << std::endl;
+    const Action::Result land_result = device.action().land();
+    if (land_result != Action::Result::SUCCESS) {
+        std::cout << ERROR_CONSOLE_TEXT << "Land failed:" << Action::result_str(
+                      land_result) << NORMAL_CONSOLE_TEXT << std::endl;
+        //    return 1;
+    }
+
+    // We are relying on auto-disarming but let's keep watching the telemetry for a bit longer.
+    std::this_thread::sleep_for(std::chrono::seconds(5));
+    std::cout << "Finished..." << std::endl;
+    return 0;
+}

integration_tests/CMakeLists.txt

@@ -27,6 +27,7 @@ list(APPEND integration_tests
 	mission_survey
     gimbal
     curl
+    transition_multicopter_fixedwing
 )
 
 

integration_tests/transition_multicopter_fixedwing.cpp

@@ -0,0 +1,87 @@
+#include <iostream>
+#include "integration_test_helper.h"
+#include "dronecore.h"
+
+using namespace dronecore;
+
+
+//static void connect(DroneCore);
+static void takeoff(Device &);
+static void takeoff_and_transition_to_fixedwing();
+static void land_and_disarm(Device &);
+
+
+TEST_F(SitlTest, ActionSimpleTransition)
+{
+    takeoff_and_transition_to_fixedwing();
+}
+
+void takeoff_and_transition_to_fixedwing()
+{
+    // Init & connect
+    DroneCore dc;
+
+    DroneCore::ConnectionResult ret = dc.add_udp_connection();
+    ASSERT_EQ(ret, DroneCore::ConnectionResult::SUCCESS);
+
+    // Wait for device to connect via heartbeat.
+    std::this_thread::sleep_for(std::chrono::seconds(2));
+    ASSERT_TRUE(dc.is_connected());
+
+    Device &device = dc.device();
+
+    // We need to takeoff first, otherwise we can't actually transition
+    LogInfo() << "Taking off";
+    takeoff(device);
+
+    LogInfo() << "Transitioning to fixedwing";
+    device.action().transition_to_fixedwing();
+
+    // Wait a little before the transition back to multicopter,
+    // so we can actually see it fly
+    std::this_thread::sleep_for(std::chrono::seconds(5));
+
+    LogInfo() << "Transitioning to multicopter";
+    device.action().transition_to_multicopter();
+    std::this_thread::sleep_for(std::chrono::seconds(5));
+
+    // Return safely to launch position so the next test
+    // can start with a clean slate
+    land_and_disarm(device);
+}
+
+void land_and_disarm(Device &device)
+{
+    device.action().return_to_launch();
+
+    // Wait until the vtol is disarmed.
+    while (device.telemetry().armed()) {
+        std::this_thread::sleep_for(std::chrono::seconds(1));
+    }
+    LogInfo() << "Disarmed, exiting.";
+}
+
+void takeoff(Device &device)
+{
+    while (!device.telemetry().health_all_ok()) {
+        std::cout << "waiting for device to be ready" << std::endl;
+        std::this_thread::sleep_for(std::chrono::seconds(1));
+    }
+
+    Action::Result action_ret = device.action().arm();
+    EXPECT_EQ(action_ret, Action::Result::SUCCESS);
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+
+    float altitude_m = 10.0f;
+    device.action().set_takeoff_altitude(altitude_m);
+
+    action_ret = device.action().takeoff();
+    EXPECT_EQ(action_ret, Action::Result::SUCCESS);
+    const int wait_time_s = 10;
+    std::this_thread::sleep_for(std::chrono::seconds(wait_time_s));
+
+
+    EXPECT_GT(device.telemetry().position().relative_altitude_m, altitude_m - 0.25f);
+    EXPECT_LT(device.telemetry().position().relative_altitude_m, altitude_m + 0.25f);
+}
+

plugins/action/action.cpp

@@ -42,6 +42,16 @@ Action::Result Action::return_to_launch() const
     return _impl->return_to_launch();
 }
 
+Action::Result Action::transition_to_fixedwing() const
+{
+    return _impl->transition_to_fixedwing();
+}
+
+Action::Result Action::transition_to_multicopter() const
+{
+    return _impl->transition_to_multicopter();
+}
+
 void Action::arm_async(result_callback_t callback)
 {
     _impl->arm_async(callback);
@@ -72,6 +82,16 @@ void Action::return_to_launch_async(result_callback_t callback)
     _impl->return_to_launch_async(callback);
 }
 
+void Action::transition_to_multicopter_async(result_callback_t callback)
+{
+    _impl->transition_to_multicopter_async(callback);
+}
+
+void Action::transition_to_fixedwing_async(result_callback_t callback)
+{
+    _impl->transition_to_fixedwing_async(callback);
+}
+
 void Action::set_takeoff_altitude(float relative_altitude_m)
 {
     _impl->set_takeoff_altitude(relative_altitude_m);

plugins/action/action.h

@@ -118,6 +118,26 @@ class Action
      */
     Result return_to_launch() const;
 
+    /**
+     * @brief Send command to transition the drone to fixedwing.
+     *
+     * The associated action will only be executed for VTOL vehicles in multicopter mode.
+     * On other vehicles/modes the command will fail with a Result.
+     *
+     * @return Result of request.
+     */
+    Result transition_to_fixedwing() const;
+
+    /**
+     * @brief Send command to transition the drone to multicopter.
+     *
+     * The associated action will only be executed for VTOL vehicles in fixedwing mode.
+     * On other vehicles/modes the command will fail with a Result.
+     *
+     * @return Result of request.
+     */
+    Result transition_to_multicopter() const;
+
     /**
      * @brief Callback type for asynchronous Action calls.
      */
@@ -186,6 +206,26 @@ class Action
      */
     void return_to_launch_async(result_callback_t callback);
 
+    /**
+     * @brief Send command to transition the drone to fixedwing (asynchronous).
+     *
+     * Note that this is only for the vtol type.
+     * Also, transition to fixedwing is only allowed from multicopter.
+     *
+     * @param callback Function to call with result of request.
+     */
+    void transition_to_fixedwing_async(result_callback_t callback);
+
+    /**
+     * @brief Send command to transition the drone to multicopter (asynchronous).
+     *
+     * Note that this is only for the vtol type.
+     * Also, transition to fixedwing is only allowed from multicopter.
+     *
+     * @param callback Function to call with result of request.
+     */
+    void transition_to_multicopter_async(result_callback_t callback);
+
     /**
      * @brief Set takeoff altitude above ground.
      *