'go to here guided mode' with mavros

[Ahrovan]

dronekit use simple_goto and mavlink code self._master.mav.mission_item_send(0, 0, 0, frame, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 2, 0, 0, 0, 0, 0, location.lat, location.lon, alt) for sent specific location for guided mode. but when use MAV_CMD_NAV_WAYPOINT in mavros says: rosrun mavros mavcmd long 16 0 0 0 0 0 0 1 Request failed. Check mavros logs. ACK: 3 in dev page copter-commands-in-guided-mode , I dont see MAV_CMD_NAV_WAYPOINT. but in GCS softwares(mission planner+apm planner+SITL_MAP ..) we can click on map and DO fly to, go to here in GUIDED mode. What is solution?

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Mavros: 0.18.4 ROS: Kinetic Ubuntu: 16.04 [OK] ArduPilot Last

[TSC21]

Did you already clarified this on the Arducopter channels?

[Ahrovan]

No, today working on it

[khancyr]

Hello, please use global or local setpoint in guided mode and not MAV_CMD_NAV_WAYPOINT. To use MAV_CMD_NAV_WAYPOINT like in dronekit/mavproxy/etc you need to set current field to 2 (http://mavlink.org/messages/common#COMMAND_INT) see https://github.com/ArduPilot/MAVProxy/blob/b2452edc85c6d8c83cc258e3e6219ac9b1268675/MAVProxy/modules/mavproxy_mode.py#L73

[TSC21]

Thanks for clarifying this Pierre.

[Ahrovan]

I can not solve that. I have two way and confusing

rostopic pub /mavros/mission/waypoints vros_msgs/WaypointList rostopipub /mavros/setpoint_raw/global mavros_msgs/GlobalPositionTarget or other way can be found?

[Ahrovan]

I check simple_goto function and see this: self._master.mav.mission_item_send(0, 0, 0, frame, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 2, 0, 0, 0, 0, 0, location.lat, location.lon, alt) and try with mavros: rostopic pub /mavros/mission/waypoints vros_msgs/WaypointList "waypoints:

• {frame: 3, command: 16, is_current: 2.0, autocontinue: false, param1: 0.0, param2: 0.0, param3: 0.0, param4: 0.0, x_lat: -35.363265991210938, y_long: 149.16523742675781, z_alt: 580}" but dont move copter in guided mode !

[Ahrovan]

@khancyr is_current is bool! `# see enum MAV_CMD and CommandCode.msg uint16 command

bool is_current bool autocontinue`

@khancyr are you say we can not use MAV_CMD_NAV_WAYPOINT in MAV_FRAME_GLOBAL_RELATIVE_ALT frame with mavros?

[Ahrovan]

I have not found a solution to this problem

[Ahrovan]

any idea?!

[Ahrovan]

When we using the software (Mission planner or QGC or APM Planner), right-click on the map and set target in GUIDED flight mode. then Arducopter start move to Specified coordinates (lat,lon). Now. I want to do this by programming. This done by drone-kit simplegoto function (referenced here) But I intend to do it with mavros (c++). I do not know exactly which topic of mavros should be used (some one say SET_POSITION_TARGET_GLOBAL_INT with setpointraw But it did not work) and how to use it. Of course I'm familiar with mavros and I'm not beginner in this.

[Ahrovan]

I check qgroundstation code and see: `void MissionManager::writeArduPilotGuidedMissionItem(const QGeoCoordinate& gotoCoord, bool altChangeOnly) { if (inProgress()) { qCDebug(MissionManagerLog) << "writeArduPilotGuidedMissionItem called while transaction in progress"; return; }

_transactionInProgress = TransactionWrite;

_connectToMavlink();

mavlink_message_t       messageOut;
mavlink_mission_item_t  missionItem;

memset(&missionItem, 8, sizeof(missionItem));
missionItem.target_system =     _vehicle->id();
missionItem.target_component =  _vehicle->defaultComponentId();
missionItem.seq =               0;
missionItem.command =           MAV_CMD_NAV_WAYPOINT;
missionItem.param1 =            0;
missionItem.param2 =            0;
missionItem.param3 =            0;
missionItem.param4 =            0;
missionItem.x =                 gotoCoord.latitude();
missionItem.y =                 gotoCoord.longitude();
missionItem.z =                 gotoCoord.altitude();
missionItem.frame =             MAV_FRAME_GLOBAL_RELATIVE_ALT;
missionItem.current =           altChangeOnly ? 3 : 2;
missionItem.autocontinue =      true;

_dedicatedLink = _vehicle->priorityLink();
mavlink_msg_mission_item_encode_chan(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(),
                                     qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(),
                                     _dedicatedLink->mavlinkChannel(),
                                     &messageOut,
                                     &missionItem);

_vehicle->sendMessageOnLink(_dedicatedLink, messageOut);
_startAckTimeout(AckGuidedItem);
emit inProgressChanged(true);

}`

[Ahrovan]

missionItem.current = altChangeOnly ? 3 : 2; is bool or uint8 ? rostopic pub -r 10 /mavros/mission/waypointmavros_msgs/WaypointList "waypoints:- {frame: 0, command: 0, is_current: false, autocontinue: false, param1: 0.0, param2: 0.0, param3: 0.0, param4: 0.0, x_lat: 0.0, y_long: 0.0, z_alt: 0.0}" is_current is Boolean type in Waypoint

[khancyr]

you need to publish in mavros/setpoint_raw/global then check you coordinate frame and your mask for position only : 0b0000111111111000 == 4088 works

[Ahrovan]

Thank you very much @khancyr

[Ahrovan]

Problem solved :)

[Akshath-Singhal]

Does this work for ArduPlane also? I tried doing it but it didnt work. I plan to update the location of guided waypoint for plane. How can it be done?

[LightningPORTO]

Any development on this topic? Im also trying to implement the Local position and velocity setpoints but with no luck

[gitdillo]

The following code works for position on a simulated copter that is already in the air in GUIDED mode:

import rospy
from mavros_msgs.msg import GlobalPositionTarget
from time import sleep

rospy.init_node('my_cool_node')

guided_waypoint_pub = rospy.Publisher('/mavros/setpoint_raw/global', GlobalPositionTarget, queue_size=1)
while guided_waypoint_pub.get_num_connections() == 0:
    sleep(.1)

g = GlobalPositionTarget()
g.altitude = ...
g.latitude = ...
g.longitude = ...
g.type_mask=4088
g.coordinate_frame=6

guided_waypoint_pub.publish(g)

[abhiramdapke]

Hi guys, @khancyr @vooon @TSC21 @Ahrovan @Akshath-Singhal @LightningPORTO Were you able to navigate the drone to multiple waypoints? I am also trying to accomplish the same in ardupilot (GUIDED mode) and using mavros_msgs::GlobalPositionTarget but end up with issues. Please if you could refer to https://github.com/mavlink/mavros/issues/1553 and help me with the issues, I would be very grateful. Thanks in advance!