Flight Mode Finding Problem

rijun034 · September 11, 2017, 5:27am

Dear Friends,

My current project is with Pixhawk serial communication with Raspberry Pi 3. I got a successful connection, i can read certain values from pixhawk using Raspberry Pi. I got the accelerometer readings, altitude, position, velocity and all. My final aim is to get and identify the current Flight Mode using MAVLink protocol. Someone please help me to find the current Flight mode using MAVLink protocol using Heartbeat command or something else.

Something i found here, http://mavlink.org/messages/common type cntrl+f , search ‘#0’

tridge · September 11, 2017, 10:02am

flight mode is in the HEARTBEAT message, in the custom_mode field.
Note that you may find the source code of MAVProxy useful.
Cheers, Tridge

rijun034 · October 17, 2017, 5:58am

in MAVProxy, where they defined all the available modes as enumerators??

i saw defines.h for MAVLink, that they defined all the flight modes there.

rijun034 · October 17, 2017, 6:01am

Now i’m editing the MAVProxy and creating new modules to perform.
I can set position, velocity and altitude using MAVProxy, but how can i get the current values? Can I use High resolution imu readings through MAVProxy(python), not MAVLink (cpp) which I already have.

peterbarker · October 17, 2017, 8:28am

in MAVProxy, where they defined all the available modes as enumerators??

i saw defines.h for MAVLink, that they defined all the flight modes there.

github.com

ArduPilot/pymavlink/blob/master/mavutil.py#L1421


      
          def recv(self,n=None):
              if n is None:
                  n = self.mav.bytes_needed()
              return self.f.read(n)
          
          def write(self, buf):
              self.f.write(buf)
          
          def scan_timestamp(self, tbuf):
              '''scan forward looking in a tlog for a timestamp in a reasonable range'''
              while True:
                  (tusec,) = struct.unpack('>Q', tbuf)
                  t = tusec * 1.0e-6
                  if abs(t - self._last_timestamp) <= 3*24*60*60:
                      break
                  c = self.f.read(1)
                  if len(c) != 1:
                      break
                  tbuf = tbuf[1:] + c
              return t

peterbarker · October 17, 2017, 8:30am

Now i’m editing the MAVProxy and creating new modules to perform.
I can set position, velocity and altitude using MAVProxy, but how can i get
the current values? Can I use High resolution imu readings through

The example module has an… example of this

You generally can’t get “high resolution” IMU readings - the bandwidth
typically isn’t there to transport it.

rijun034 · October 17, 2017, 9:09am

Thank you very much sir.
now I’m trying to add some more flight modes.

peterbarker · October 17, 2017, 10:31am

Thank you very much sir.
now I’m trying to add some more flight modes.

Have fun! You might check my flight-mode-object branch, here:
https://github.com/peterbarker/ardupilot/tree/flight-mode-object-wip

rijun034 · October 17, 2017, 11:29am

Thank you again sir, it’s usefull. I’ll try to build a px4 code.

rijun034 · October 19, 2017, 10:52am

Sir
Can I read the current position and velocity reading through MAVProxy?
Can I get it in NED Frame?