ardupilot AP_DDS: Copter takeoff service

Added a service for copter to accept takeoff commands using native DDS support.

Apr 28 '24 21:04 snktshrma

Looks pretty good.

Can you update libraries/AP_DDS/README.md for the new service channel? Also, if you can, is it possible to add a test for it?

Alright! I'll add a test for it

Apr 29 '24 04:04 snktshrma

Looks pretty good.

Can you update libraries/AP_DDS/README.md for the new service channel? Also, if you can, is it possible to add a test for it?

I have added the test @Ryanf55

Apr 29 '24 09:04 snktshrma

Can you fix the build errors? https://github.com/ArduPilot/ardupilot/actions/runs/8877225483/job/24370361196?pr=26911#step:7:2931

Apr 29 '24 21:04 Ryanf55

Can you fix the build errors? https://github.com/ArduPilot/ardupilot/actions/runs/8877225483/job/24370361196?pr=26911#step:7:2931

This build error is fixed @Ryanf55

Apr 30 '24 10:04 snktshrma

@snktshrma, @Ryanf55 - while working on support for AP in Aerostack2 I examined the PX4 msgs and services for comparison (PX4 added a service interface at the end of last year for vehicle commands). The service request message structure is similar to the mavlink equivalent: https://github.com/PX4/px4_msgs/blob/main/msg/VehicleCommand.msg. Wondering whether we want to use something similar rather than add many separate messages for the various commands?

Jun 19 '24 19:06 srmainwaring

hi @srmainwaring ! That seems a feasible idea. It'll be easier for users also to have command of all the required functions. Though I think there are some persisting issues with DDS like float issue, which needs to be solved alongside.

Jun 22 '24 14:06 snktshrma