AP_DDS: Provide current Goal

[tizianofiorenzani]

Provide current goal location to the DDS Interface

Providing the current goal would help to verify whether the vehicle is actually going where it has been guided to.

Proposed Solution

• Create a new topic /ap/goal of type GeoPoseStamped, and use it to send the goal location.
• The goal location in the DDS client should be recovered with AP::vehicle()->get_target_location(Location &target_loc);

Altitude frame

• Goal could be either be converted to MSL or we could provide the altitude frame in the frame_id.

Platform [ ] All [ ] AntennaTracker [ x] Copter [ x] Plane [ x] Rover [ x] Submarine

[Ryanf55]

In what situation does a companion computer not know what where the autopilot is headed? Won't all commands come from the companion computer over reliable transport?

[tizianofiorenzani]

Not really, as the goal is sent by topic, so you trust that the vehicle obeys, which I find it too flimsy.

[tizianofiorenzani]

Created a PR: https://github.com/ArduPilot/ardupilot/pull/28372

[peterbarker]

Well, we merged the PR, so closing this one :-)