GCS_MAVLink_Copter: implement yaw control in guided do_reposition

[tedtasman]

Summary

handle_command_int_do_reposition now unpacks param4 to get target yaw from MAV_CMD_DO_REPOSITION packet. Also checks the MAV_DO_REPOSITION_FLAGS_RELATIVE_YAW bit in param2

Classification & Testing (check all that apply and add your own)

• Checked by a human programmer
• Non-functional change
• No-binary change
• Infrastructure change (e.g. unit tests, helper scripts)
• Automated test(s) verify changes (e.g. unit test, autotest)
• Tested manually, description below (e.g. SITL)
• Tested on hardware
• Logs attached
• Logs available on request

Description

logs.zip

Attached are two logs for the same commands, pre.BIN and post.BIN, before and after the change respectively. The commands send the copter to one position with a yaw of 180º (pi in radians) with relative_yaw=0. The second command sends the copter to the same position at a lower altitude, with relative_yaw=1 and yaw of 45º (pi/4). Without the change, the copter does not follow the requested angles. With the change it does.

Before:

After:

[tedtasman]

For reference, here is the test mission I used:

        await controller.set_mode("GUIDED")
        await controller.set_message_interval(MAVMessage.GLOBAL_POSITION_INT, 500_000)
        await controller.arm()

        await controller.takeoff(0, 20)
        await asyncio.sleep(5)

        coord_1 = Coordinate(latitude_deg=-35.362139, longitude_deg=149.1638792, altitude_m=30, heading_deg=180)
        await controller.send_reposition(coord_1)
        await controller.wait_for_position_reached(coord_1, 20, 60)

        coord_2 = Coordinate(latitude_deg=-35.362139, longitude_deg=149.1638792, altitude_m=10, heading_deg=45)

        await controller.send_reposition(coord_2, relative_yaw=True)
        await controller.wait_for_position_reached(coord_2, 20, 60)

[Ryanf55]

Nice! Good work. Would you consider taking the test your wrote and adding that to the pull request?

In the autotest suite (Tools/autotest/arducopter.py), you can use functions like self.wait_heading(180), self.assert_heading and self.send_do_reposition.

From inspection, the code change looks good.

[peterbarker]

Please add an autotest or two showing this working.

If ArduPilot starts to support this then ground control stations will start to send it.

Older ArduPilot simply won't follow the extra arguments (rather than rejecting the command)..... could be a problem in certain circumstances. Just noting it here, I don't think it's a show-stopper for this PR.