Hello,
I am trying to be able to send commands via MavROS to my quad (Running 4.0.0) in order to make it take off, reach a desired altitude, take a desired heading and start flying forward.
My approach is: 1st enable Guided_No_GPS and then use SET_ATTITUDE_TARGET. How ever I am getting some problems:
a) I cannot enable Guided_No_GPS, I am using rosrun mavros mavsys mode - c 0 to change mode, it works for mode 0 (stabilize) and mode 1 (acro) but when I use mode 20 ( that is supposed to be Guided_No_GPS) I do not see any change when I do rostpic echo/mavros/state
b) I have studied this link https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET but I do not really understand how the structure works. If somebody could give an example of how to make the drone fly at 10 m from the ground heading south and be tilted 20 degrees in the pitch axis, it would be really helpful for me.
c) It is possible using SET_ATTITUDE_TARGET in for example Altitude hold mode?
Thank you in advance