Following the steps here, I have written an application (for real-time motion planning). I can run the app via the system console, and I seem to be able to subscribe and publish data.
What I need to do now is implement the app in such a way that it can be triggered in flight via my RC transmitter. Subscribing to the transmitter data isn’t a problem. I also know I can go into ROMFS/px4fmu_common/init.d and start the app on boot. What I am having trouble with is the restructuring of my app such that the main function in the app (the real-time motion planning algorithm) will wait for the proper manual command to execute. Basically, when I flip a certain switch on the RC transmitter, I want the algorithm to run - along with the state estimator (ekf2) and my custom version of a pos/att controller - until completion. The algorithm should be available to run again if the switched is flipped off and on again, but this is a detail…
I am trying to copy the framework of other modules, such as fw_att_control, but that’s a big leap from the end of the app writing tutorial, and there isn’t really a way to take baby steps and debug along the way.
Any insight into this problem, conceptually or practically, would be greatly appreciated. Thanks!