How can I make my copter roll without changing heading? I tried the following code with only velocity_y = 1 and it just makes my plane circle in SITL simulation.
def send_body_ned_velocity(velocity_x, velocity_y, velocity_z, vehicle = None):
if vehicle == None:
print("Vehicle info unknown, please take over controls.")
vehicle._master.mav.set_position_target_local_ned_send(#ned is currently abandoned
0, # time_boot_ms (not used)
0, 0, # target system, target component
mavutil.mavlink.MAV_FRAME_BODY_OFFSET_NED,
0b0000111111000111, # type_mask
0, 0, 0, # x, y, z positions (not used)
velocity_x, velocity_y, velocity_z, # m/s
0, 0, 0, # x, y, z acceleration
vehicle.attitude.yaw, 0)