Guided Mode Movement and Commands for FIXED-WINGS

[Ayvazof]

The issue is that, that I need to control plane from script depending of external sensor only way I found is use RC OVERRIDE but it is not a good way how I understand. Is there some way do it right? Thanks in advance

[myusf01]

I've been looking for the same but I couldn't found any related documentation about to set yaw, pitch, roll like commands like in send_ned_velocity function or CMD_CONDITION_YAW. RC_OVERRIDE looks complicated and dangerous as far as I've seen in issues.

[HefnySco]

You can use cruise, fbwa or fbwb with channel override. These modes will limit the max pitch and roll while gives you good navigation control.

On Thu, Oct 22, 2020, 16:20 Muhammed Yusuf notifications@github.com wrote:

I've been looking for the same but I couldn't found any related documentation about to set yaw, pitch, roll like commands like in send_ned_velocity https://github.com/dronekit/dronekit-python/blob/master/docs/guide/copter/guided_mode.rst#velocity-control function or CMD_CONDITION_YAW https://github.com/dronekit/dronekit-python/blob/master/docs/guide/copter/guided_mode.rst#velocity-control. RC_OVERRIDE looks complicated and dangerous as far as I've seen in issues.

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[domnantas]

This was a wild ride, but I managed to figure it out. First off, Ardupilot documentation lists MAV_CMD_NAV_WAYPOINT as the only message available for planes. Apparently that's not true, you can also use SET_ATTITUDE_TARGET! Dronekit does not mention that anywhere either. In fact, in set_attitude_target example it says (Copter Only). This was really confusing.

After browsing through some similar issues in this repo, I decided to try it out and it worked! Here's my implementation:

def send_set_attitude_target(roll=0, pitch=0, yaw=0, thrust=0.5):
    attitude = [np.radians(roll), np.radians(pitch), np.radians(yaw)]
    attitude_quaternion = quaternion.QuaternionBase(attitude)

    msg = vehicle.message_factory.set_attitude_target_encode(
        0, 0, 0,  # time_boot_ms, target_system, target_component
        0b10111000,  # type_mask https://mavlink.io/en/messages/common.html#ATTITUDE_TARGET_TYPEMASK
        attitude_quaternion,  # Attitude quaternion
        0, 0, 0,  # Rotation rates (ignored)
        thrust  # Between 0.0 and 1.0
    )

    vehicle.send_mavlink(msg)