flying in ACRO mode

ArduCopter Copter Simulation
1

Good afternoon I’m trying to make a drone control project without any external positioning sensors. It must lift and drag a load several meters, completely controlled by an external module that sends messages to the drone via mavlink using dronekit. I set the ACRO mode and try to control the engine speed by directly transmitting the roll, pitch, yaw and thrust values. But the drone does not respond to these messages at all. How can you get it off the ground in a sensorless mode like ACRO? Thank you in advance. Here is the code I use for the simulation in mission planer.`def setpoint(velocity_roll, velocity_pitch, velocity_yaw, thrast):
while not vehicle.is_armable:
print(" Waiting for vehicle to initialise…“)
time.sleep(1)
vehicle.mode = VehicleMode(“ACRO”)
vehicle.armed = True
while not vehicle.armed:
print(”- Waiting for arming…")
time.sleep(1)

msg = vehicle.message_factory.manual_setpoint_encode(
    0,
    velocity_roll,
    velocity_pitch,
    velocity_yaw,
    thrast,
    0, 
    0)
vehicle.send_mavlink(msg)

port = ‘tcp:127.0.0.1:5762’
vehicle = connect(port)
setpoint(0, 1, 8, 30)`

2

You should look into Guided No GPS mode, acro mode is not the right way to implement this.

3

Thank you. I used GUIDED_NOGPS mode and another command and it seems to work for me

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