PX4 does not work with MavProxy input_send

[Dominik8743]

I’m trying to spoof the GPS location of my drone. I use PX4 Autopilot, jMavSim Simulator and QGroundControl (I do not have access to a physical drone). What I’m trying is to introduce an offset to the actual position. This video shows an example: https://youtu.be/llN4zfE306Y What I see is that they used MavProxy however what I found is that PX4 does not work with the gps_input command from mavlink.

import time
from pymavlink import mavutil
from MAVProxy.modules.lib import mp_module
from MAVProxy.modules.lib import mp_settings

master = mavutil.mavlink_connection('udpin:127.0.0.1:14540') # Create the connection
master.wait_heartbeat() # Wait a heartbeat before sending commands
def get_gps_time(tnow):
        '''return gps_week and gps_week_ms for current time'''
        leapseconds = 18
        SEC_PER_WEEK = 7 * 86400
        epoch = 86400*(10*365 + (1980-1969)/4 + 1 + 6 - 2) - leapseconds
        epoch_seconds = int(tnow - epoch)
        week = int(epoch_seconds) // SEC_PER_WEEK
        t_ms = int(tnow * 1000) % 1000
        week_ms = (epoch_seconds % SEC_PER_WEEK) * 1000 + ((t_ms//200) * 200)
        return week, week_ms

FakeGPS_settings = mp_settings.MPSettings([("nsats", int, 16),
                                                    ("lat", float, 47.3977),
                                                    ("lon", float, 8.5456),
                                                    ("alt", float, 1.0),
                                                    ("rate", float, 5)])
    gps_lat = FakeGPS_settings.lat
    gps_lon = FakeGPS_settings.lon
    gps_alt = FakeGPS_settings.alt
    gps_vel = [0, 0, 0]
    gps_week, gps_week_ms = get_gps_time(now)
    time_us = int(now*1.0e6)
    nsats = FakeGPS_settings.nsats

if nsats >= 6:
    fix_type = 3
else:
    fix_type = 1

master.mav.gps_input_send(time_us, 0, 0, gps_week_ms, gps_week, fix_type,
                            int(gps_lat*1.0e7), int(gps_lon*1.0e7), gps_alt,
                            1.0, 1.0,
                            gps_vel[0], gps_vel[1], gps_vel[2],
                            0.2, 1.0, 1.0,
                            nsats)

[anaghad01]

Hey did you find any solution to this problem? I am trying a similar thing to raise an exception for certain GPS co-ordinates.... Any leads will be appreciated !!