Hi,
I am trying to send a position (lattitude, longitude and altitude) through a script. While the script is able to parse the data it needs to send the MavConsle shows me the prompt of
Got MISSION_ACK: TYPE_MISSION: ERROR → when trying to set the location through the mission_item_int_send command
and
Got COMMAND_ACK: DO_REPOSITION: DENIED → when trying to send the location through MAV_CMD_DO_REPOSITION through command_int_send command
this is how i’m sending it through code
can anyone tell what I’m missing here?
master.mav.command_int_send(
master.target_system,
master.target_component,
command = mavutil.mavlink.MAV_CMD_DO_REPOSITION,
frame = mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
current = 2,
autocontinue = 0,
param1= 0, # Speed in m/s
param2 = 1, # Bitmask of option flags
param3 = int(0.0), # Loiter radius for planes (m)
param4 = int(0.0), # Yaw heading (degrees)
x = int(14.5228713 * 1e7), # Latitude
y = int(76.5737484 * 1e7), # Longitude
z = int(50.0) # Altitude (m)
)
master.mav.mission_item_int_send(
master.target_system, # target_system
master.target_component, # target_component
3, # seq
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, # frame
mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, # command
2, # current (0: not current item, 1: current item)
1, # autocontinue (1: autocontinue to next waypoint)
0, # param1 (hold time in decimal seconds)
0, # param2 (acceptance radius in meters)
0, # param3 (pass through waypoint, 0: absolute angle, 1: pass through)
0, # param4 (desired yaw angle at waypoint)
int(14.5228713 * 1e7), # x (latitude, scaled)
int(76.5737484 * 1e7), # y (longitude, scaled)
int(50.0) # z (altitude, scaled)
)
i’m following this documentation Plane Commands in Guided Mode — Dev documentation
I’m also checking the acceptance through the code by
while True:
msg = master.recv_match(blocking=True)
if msg.get_type() == 'COMMAND_ACK' and msg.command == mavutil.mavlink.MAV_CMD_DO_REPOSITION:
if msg.result == mavutil.mavlink.MAV_RESULT_ACCEPTED:
print(" command accepted.")
else:
print(" command denied.")
somehow the command is not accepted and I’m unsure of the reasons