Flight stop after SET_POSITION_TARGET_GLOBAL_INT

ArduCopter Copter 3.6
1

Hi All

https://ardupilot.org/dev/docs/copter-commands-in-guided-mode.html#copter-commands-in-guided-mode-set-position-target-global-int

I was flying with the SET_POSITION_TARGET_GLOBAL_INT command.

And I want to stop flying.

So, I used DO_PAUSE_CONTINUE. (All parameters are 0)

However, the flight does not stop.

SET_POSITION_TARGET_GLOBAL_INT Code

        MAVLink.mavlink_set_position_target_global_int_t setPosition = new MAVLink.mavlink_set_position_target_global_int_t();

        setPosition.target_system = (byte)sysid;
        setPosition.target_component = (byte)compid;
        setPosition.time_boot_ms = 0;
        setPosition.lat_int = (int)(x * 10000000L); //lat
        setPosition.lon_int = (int)(y * 10000000L); //lon
        setPosition.alt = z; //high m
        setPosition.vx = 0;
        setPosition.vy = 0;
        setPosition.vz = 0;
        setPosition.afx = 0;
        setPosition.afy = 0;
        setPosition.afz = 0;
        setPosition.yaw = 0;
        setPosition.yaw_rate = 0;

        setPosition.type_mask = 0b0000111111111000;// (ushort)(MAVLink.POSITION_TARGET_TYPEMASK.X_IGNORE| MAVLink.POSITION_TARGET_TYPEMASK.Y_IGNORE| MAVLink.POSITION_TARGET_TYPEMASK.VX_IGNORE | MAVLink.POSITION_TARGET_TYPEMASK.VY_IGNORE);
        setPosition.coordinate_frame = (byte)MAVLink.MAV_FRAME.GLOBAL;

DO_PAUSE_CONTINUE Code

        MAVLink.mavlink_command_long_t req = new MAVLink.mavlink_command_long_t();

        req.target_system = sysid;
        req.target_component = compid;

        req.command = (ushort)MAVLink.MAV_CMD.DO_PAUSE_CONTINUE;
        req.param1 = 0;
        req.param2 = 0;
        req.param3 = 0;
        req.param4 = 0;
        req.param5 = 0;
        req.param6 = 0;
        req.param7 = 0;

I want to stop flying.
Please tell me how.

Thank you all.

2

Change flight mode to loiter.

3

If the remote controller switch is in the wrong position,
Drones Would not go to other places?

4

The flight mode change is done programaticaly using a mavlink command.
Yes the RC sticks need to be centered, but the person holding the RC controller should not play with it. :slight_smile: It is not a toy.

5

Tried without RC Control connected. And, drone crashed.
Our goal is to fly in the absence of RC Control. :face_with_thermometer:
I’m very disappointed. :disappointed_relieved:

6

You need to set RC3 to 1500 via mavlink.