self.mav.target_component ： Automatically connect to the camera instead of the drone

[xdwgood]

Hello all： I use pymavlink to connect to a drone that downloaded px4 firmware. My drone is equipped with a camera that uses the mavlink protocol.We define camera target_component in the mavlink protocol as 100. I follow this ： https://www.ardusub.com/developers/pymavlink.html

self.mav = mavutil.mavlink_connection('udpin:0.0.0.0:14550')

self.mav.command_long_send(self.mav.target_system,self.mav.master.target_component,
    mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,0,
    1, 0, 0, 0, 0, 0, 0)

I sent the arm command, but sometimes the drone did not receive it.I debugged it and found that the drone could not accept this command when self.mav.master.target_componentwas 100.The drone receives this command when self.mav.master.target_component is 1.

So my question is how do I send commands to the drone instead of the camera. I know I can manually set it like this:

self.mav.command_long_send(1,1,
    mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,0,
    1, 0, 0, 0, 0, 0, 0)

Is this correct? Or what better way do we have? How can I control it to connect to the specified target_component?Rather than a random connection Thank you :smiley:

[xdwgood]

@tridge Could you have a look? thanks :smiley:

[amilcarlucas]

yes it is correct, use 100 for the camera and 1 for the drone

[xdwgood]

@amilcarlucas thanks But a little regret, we have to set it up manually...