refactoring: cutting out the pure C interface to allow direct testing of the policy input/output behavior from the file, without fully loading it into memory first

Author: jonas-eschmann

.vscode/cmake-variants.yaml

@@ -6,6 +6,16 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default
+    px4_sitl_raptor:
+      short: px4_sitl_raptor
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_raptor
+    px4_sitl_raptor_debug:
+      short: px4_sitl_raptor_debug
+      buildType: Debug
+      settings:
+        CONFIG: px4_sitl_raptor
     px4_sitl_spacecraft:
       short: px4_sitl_spacecraft
       buildType: RelWithDebInfo

src/lib/rl_tools/rl_tools

@@ -6,17 +6,24 @@ Build PX4 SITL with Raptor, disable QGC requirement, and adjust the `IMU_GYRO_RA
 ```
 make px4_sitl_raptor gz_x500
 param set NAV_DLL_ACT 0
-param set COM_DISARM_LAND -1 # Raptor takes off quite agilely which the landing detector does not like
+param set COM_DISARM_LAND -1 # When taking off in offboard the landing detector can cause mid-air disarms
 param set IMU_GYRO_RATEMAX 250
 param set MC_RAPTOR_ENABLE 1
 param set MC_RAPTOR_OFFB 0
 ```
+Upload the RAPTOR checkpoint to the "SD card": Separate terminal
+```
+mavproxy.py --master udp:127.0.0.1:14540
+ftp mkdir /raptor
+ftp put policy.tar /raptor/policy.tar
+```
 restart (ctrl+c)
 ```
 make px4_sitl_raptor gz_x500
 commander takeoff
 commander status
 ```
+
 Note the external mode ID of `RAPTOR` in the status report
 
 ```
@@ -30,6 +37,6 @@ commander mode ext{RAPTOR_MODE_ID}
 Send Lissajous setpoints via Mavlink:
 ```
 pip install px4
-px4 udp:localhost:14540 track lissajous --A 2.0 --B 0.5 --duration 10 --ramp-duration 3 --takeoff 1.0
+px4 udp:localhost:14540 track lissajous --A 2.0 --B 0.5 --duration 5 --ramp-duration 3 --takeoff 3.0
 ```