Bug? Help needed with MAV_CMD_DO_REPOSITION and heading values

[Superluminal (Max van Daalen)]

Hi all,

I’ve written a simple mission executive that runs on a Raspberry Pi companion computer. It issues MAVLink commands in Guided Mode to ArduPilot and subscribes to various messages to determine ACK/NACK, command completion (has a waypoint been reached) etc.

However, I have a question that I’m hoping someone can help me with…

I’m using MAV_CMD_DO_REPOSITION to fly to waypoints and have configured the heading as a Float.NaN in order to allow ArduPilot to determine and set the heading towards the destination. This all works as expected, no issues.

However, if I specify an explicit heading it appears to be ignored.

Is this expected behavior, a bug or is there something else I need to do?

Many thanks!

Max

[Mustafa_Gokce]

It might be unimplemented, I need to check but in the answer in here

Set_position_target_local_ned cannot fly backward

I just tested this in SITL and it is working. Start an SITL instance and connect to it using MAVProxy, and then: module load message And after then: message set_position_target_local_ned 0 0 0 8 0 -100 0 0 0 0 0 0 0 0 0 0 It just goes 100 meters backward. Also note that, you set the velocity with that command.

I was able to hold the heading and move backwards.

[Superluminal (Max van Daalen)]

My current work around is to issue a SET_POSITION_TARGET_GLOBAL_INT with the appropriate frame and mask bits.

However, I’d prefer to use MAV_CMD_DO_REPOSITION as it gets ACKed by ArduPilot, i.e. I know that the command has been seen by the flight controller.

[Mustafa_Gokce]

Got your point.
I have a pr about sending other target values on position target global int messages.

Copter: Send target velocity, acceleration, yaw and yaw rate in POSITION_TARGET_GLOBAL_INT

Feel free to use to patch the firmware with it if you’re working on simulation.
Hope it goes into the master soon.