GroundControl Set WayPoint

Ground Control Software MAVLink
1

Hello Guys,

We have been creating our own groundcontrol.

We are in the point to test guidemode waypoints.

So far we could Arm Set mode , Take Off even landing works. But whn we do :

1_Arm
2_Setmode(GuidedMode) http://ardupilot.org/copter/docs/common-mavlink-mission-command-messages-mav_cmd.html#mav-cmd-nav-waypoint
3_Take Off
This part works but then NavWayPoint says unsoported
4_MAV_CMD_NAV_WAYPOINT

Those are the parameters we are feeding :

MAV_CMD_NAV_WAYPOINT

Mission Param #1 Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)
Mission Param #2 Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)
Mission Param #3 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.
Mission Param #4 Desired yaw angle at MISSION (rotary wing)
Mission Param #5 Latitude
Mission Param #6 Longitude
Mission Param #7 Altitude

so one after another but all says unsopported
1 0 0 16 0.000000 0.000000 0.000000 0.000000 44.396601 8.679556 2.000000 1
2 0 0 16 0.000000 0.000000 0.000000 0.000000 44.396602 8.679771 2.000000 1
3 0 0 16 0.000000 0.000000 0.000000 0.000000 44.396451 8.679771 2.000000 1
4 0 0 16 0.000000 0.000000 0.000000 0.000000 44.396461 8.679551 2.000000 1

any clue if we need to execute any other command before the MAV_CMD_NAV_WAYPOINT

basicly we want to execute one point after another in GuidedMode.

any tips very welcome.

thank you in advance.

2

Just for info I also try the http://ardupilot.org/copter/docs/common-mavlink-mission-command-messages-mav_cmd.html#mav-cmd-nav-guided-enable but it also tell me unsopported .

also tried the DosetMode and the MAV_MODE_FLAG.CUSTOM_MODE_ENABLED but also unsopporeted ack.

i hope you guys could tell me the right order of commands and parameters to set the guided waypoints …

cheers

3

Hi Guys,

I,m still getting dificulty to make work the : NAVWAYPOINT or SET_POSITION_TARGET_GLOBAL_INT or SET_POSITION_TARGET_LOCAL_NED from my GroundStation using a quadcopter.

I,m trying to do it in Guided Mode.

As far as i read in Guided Mode you can only use : NAVWAYPOINT or SET_POSITION_TARGET_GLOBAL_INT or SET_POSITION_TARGET_LOCAL_NED

Surprisingly i get data out from the GlobalPositionInt Output which should not work in guided mode right ? .

But i can not set any position NAVWAYPOINT keeps saying unsopported in the ACK , i read something about change to param 2 but i did not understand where ?

SET_POSITION_TARGET_GLOBAL_INT or SET_POSITION_TARGET_LOCAL_NED do not make any reaction.

My values for testing are :

SET_POSITION_TARGET_GLOBAL_INT : LATint , LONint , Alt , Type mask
371609870 , -35839580 , 12 , 111111111000

SET_POSITION_TARGET_LOCAL_NED : X , Y , Z , Type mask
1, 1 , 1 , 111111111000

is there any general config or other command i should make before setting position in guidedmode in a quadcopter ?

Btw the versions we are using are : common.xml version 1.0 and mavlink protocol 1.0 IIRC

any help much apreciated ;D , thank you .