Different behavior of mavros-based mission and QGC plan

[dkati]

Hello again.

My main goal is, while in mission,to force UAV "rotate" (yaw) based on the next waypoint.

Making the plan on the QGC, this is being doing nice and smooth.

although , via mavros, it doesnt...

Here is my QGC plan

{
    "fileType": "Plan",
    "geoFence": {
        "circles": [
        ],
        "polygons": [
        ],
        "version": 2
    },
    "groundStation": "QGroundControl",
    "mission": {
        "cruiseSpeed": 15,
        "firmwareType": 12,
        "globalPlanAltitudeMode": 1,
        "hoverSpeed": 5,
        "items": [
            {
                "AMSLAltAboveTerrain": null,
                "Altitude": 10,
                "AltitudeMode": 1,
                "autoContinue": true,
                "command": 22,
                "doJumpId": 1,
                "frame": 3,
                "params": [
                    0,
                    0,
                    0,
                    null,
                    39.4327538,
                    22.7950964,
                    10
                ],
                "type": "SimpleItem"
            },
            {
                "AMSLAltAboveTerrain": null,
                "Altitude": 10,
                "AltitudeMode": 1,
                "autoContinue": true,
                "command": 16,
                "doJumpId": 2,
                "frame": 3,
                "params": [
                    0,
                    0,
                    0,
                    null,
                    39.4325341,
                    22.79418495,
                    10
                ],
                "type": "SimpleItem"
            },
            {
                "autoContinue": true,
                "command": 178,
                "doJumpId": 3,
                "frame": 2,
                "params": [
                    1,
                    5,
                    -1,
                    0,
                    0,
                    0,
                    0
                ],
                "type": "SimpleItem"
            },
            {
                "AMSLAltAboveTerrain": null,
                "Altitude": 15,
                "AltitudeMode": 1,
                "autoContinue": true,
                "command": 16,
                "doJumpId": 4,
                "frame": 3,
                "params": [
                    0,
                    0,
                    0,
                    null,
                    39.43295672,
                    22.79414203,
                    15
                ],
                "type": "SimpleItem"
            },
            {
                "AMSLAltAboveTerrain": null,
                "Altitude": 10,
                "AltitudeMode": 1,
                "autoContinue": true,
                "command": 16,
                "doJumpId": 5,
                "frame": 3,
                "params": [
                    0,
                    0,
                    0,
                    null,
                    39.43350364,
                    22.79497888,
                    10
                ],
                "type": "SimpleItem"
            },
            {
                "AMSLAltAboveTerrain": null,
                "Altitude": 10,
                "AltitudeMode": 1,
                "autoContinue": true,
                "command": 16,
                "doJumpId": 6,
                "frame": 3,
                "params": [
                    0,
                    0,
                    0,
                    null,
                    39.43342906,
                    22.79538658,
                    10
                ],
                "type": "SimpleItem"
            },
            {
                "autoContinue": true,
                "command": 20,
                "doJumpId": 7,
                "frame": 2,
                "params": [
                    0,
                    0,
                    0,
                    0,
                    0,
                    0,
                    0
                ],
                "type": "SimpleItem"
            }
        ],
        "plannedHomePosition": [
            39.4327538,
            22.7950964,
            54
        ],
        "vehicleType": 2,
        "version": 2
    },
    "rallyPoints": {
        "points": [
        ],
        "version": 2
    },
    "version": 1
}

and here is the function i have to send waypoints

Mission& Mission::addCMDGoTo(double lat, double lon, double alt,
                            bool isrelative) {
  mavros_msgs::Waypoint wp;

  wp.frame = isrelative ? mavros_msgs::Waypoint::FRAME_GLOBAL_REL_ALT
                        : mavros_msgs::Waypoint::FRAME_GLOBAL;
  wp.command = mavros_msgs::CommandCode::NAV_WAYPOINT;
  wp.is_current = false;
  wp.autocontinue = true;
  wp.x_lat = lat;
  wp.y_long = lon;
  wp.z_alt = alt;
  wp.param4 = NULL; // possibly unnecessary
  mWaypoints.request.waypoints.push_back(wp);
  return *this;
}

and i call it via a for loop.... Generally, it works, but UAV doesnt "rotate" when switching to the next waypoint, as QGC does

[vooon]

Try to upload mission by QGC then dump it with mavros. Then upload your mission trough mavros and do the dump again. It must have some difference.

[dkati]

i dont know what u mean by the term 'dump it'

[vooon]

mavwp dump.

[dkati]

a terminal command?i simply run

mavwp dump

at a fresh terminal?

(i am not at PC right now, thats why i ask)

[vooon]

On secondary terminal, while mavros node is running you need to run rosrun mavros mavwp dump mission1.txt. You might also use rosrun mavros mavwp show to see the table.

[dkati]

i did it. i reallized that the frame i used was wrong and i was sending yaw:0 . indeed, it needed yaw: std::numeric_limits::quiet_NaN();

you can close the issue safely :) Thanks a lot for that