Introduce boat vehicle type #24310

TomasTwardzik · 2025-02-10T10:17:04Z

Motivation

Decoupling boat and rover to exists as separate entities within Navigator and Commander modules. Despite similarities, this should lead to more legible, self documented code. In the future, this also allows to make changes separately, without risking introducing unwanted behavior to other platforms.

Discovered Problem

Rover can be armed with high throttle, which is a significant risk.

Solution

Both Rover and Boat now require throttle stick near center to be armed.

Changelog Entry

For release notes:
VehickeStatus.msg -> new vehicle type VEHICLE_TYPE_BOAT
Navigator module -> boat explicitely mimics rover behavior, instead of relying on vehicle_type being VEHICLE_TYPE_ROVER
Control Allocator's module.yaml -> Adding new airframe types for boats (Singe, Twin engine and Differential)
commander_helper -> adding distinct separation for boat and rover instead of generic ground vehicle
Commander -> adding method for throttle near center detection, adding, adding mission override for boats, adding dedicated arm checks for rover and boats

github-actions · 2025-02-10T10:22:12Z

🔎 FLASH Analysis

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Updated: 2025-02-12T10:15:53

Pedro-Roque · 2025-02-10T22:19:15Z

@TomasTwardzik can you update with latest main changes through rebase?

@MaEtUgR do these changes require further action on the rover type?

[fix] Adding boat condition for NAV_CMD_TAKEOFF

…ring)

sfuhrer · 2025-02-19T13:28:41Z

msg/versioned/VehicleStatus.msg

@@ -94,6 +94,7 @@ uint8 VEHICLE_TYPE_ROTARY_WING = 1
 uint8 VEHICLE_TYPE_FIXED_WING = 2
 uint8 VEHICLE_TYPE_ROVER = 3
 uint8 VEHICLE_TYPE_AIRSHIP = 4
+uint8 VEHICLE_TYPE_BOAT = 5


Before we introduce the new type type here, let's discuss the meaning of this field, see #24367

I agree with the points made. As is it currently stands, the code is a bit confusing what is what and these changes should clear it up.

src/modules/commander/Commander.hpp

src/modules/control_allocator/module.yaml

sfuhrer

Thanks for kicking off this discussion!

DronecodeBot · 2025-02-19T14:48:48Z

This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/px4-sync-q-a-feb-19-2025/43827/1

sfuhrer · 2025-03-04T13:12:03Z

@TomasTwardzik please rebase on main (e.g. #24367 came in now), and remove the CA_* params for now (until boat controllers are added).

…tatus fields directly

TomasTwardzik marked this pull request as ready for review February 10, 2025 10:20

sfuhrer self-requested a review February 10, 2025 12:39

Pedro-Roque requested a review from MaEtUgR February 10, 2025 22:17

TomasTwardzik force-pushed the pr_boat_decoupling branch from 7ac6300 to 428825a Compare February 11, 2025 10:47

TomasTwardzik and others added 7 commits February 12, 2025 11:10

[add] Decoupling boat and rover in the commander module

f72845e

[fix] Making altitude acceptance radius equal to infinity

59c25aa

[fix] Adding boat condition for NAV_CMD_TAKEOFF

[mod] Allowing boat vehicles to override mission with strong stick input

0df117b

[add] Adding a boat config to Control Allocator (one engine, one stee…

d4c51ce

…ring)

[add] throttle high fix for boats and rovers

18d823f

Fix style

f419124

Suggestions for boat and rover handling

e907fb0

TomasTwardzik force-pushed the pr_boat_decoupling branch from 428825a to e907fb0 Compare February 12, 2025 10:10

sfuhrer changed the title ~~Pr_boat_decoupling~~ Introduce boat vehicle type Feb 19, 2025

sfuhrer mentioned this pull request Feb 19, 2025

VehicleStatus.msg: clean up vehicle_type and move towards "locomation type" #24367

Merged

sfuhrer reviewed Feb 19, 2025

View reviewed changes

Pedro-Roque mentioned this pull request Feb 19, 2025

(new) GZ Feature tracker #23602

Open

30 tasks

TomasTwardzik added 3 commits March 6, 2025 10:47

Merge branch 'main' into pr_boat_decoupling

af17bd7

[del] remove boat CA entries

5793c00

[refactor] using less verbose convenience method instead of vehicle_s…

d230215

…tatus fields directly

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Introduce boat vehicle type #24310

Introduce boat vehicle type #24310

TomasTwardzik commented Feb 10, 2025 •

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Pedro-Roque commented Feb 10, 2025

sfuhrer Feb 19, 2025

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sfuhrer commented Mar 4, 2025

Introduce boat vehicle type #24310

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Introduce boat vehicle type #24310

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TomasTwardzik commented Feb 10, 2025 • edited Loading

Motivation

Discovered Problem

Solution

Changelog Entry

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🔎 FLASH Analysis

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TomasTwardzik commented Feb 10, 2025 •

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