Hello, I am currently working on uploading flight plan to drone by sending command via mavlink. After some time i managed to send waypoints but waypoint with seq = 0 is never being sent. I always check how it looks in Mission planner and everything from seq = 1 is being written. I am using arducopter version stable 4.5.3, and mavlink v2. Here is the code for sending mission items:
#include “c_library_v2/ardupilotmega/mavlink.h”
void send_mission_item(int serial_fd, uint8_t sysid, uint8_t compid, uint8_t target_sys, uint8_t target_comp, uint16_t seq, float lat, float lon, float alt, uint16_t command) {
mavlink_message_t message;
uint8_t frame = MAV_FRAME_GLOBAL;
uint8_t current = (seq == 0) ? 1 : 0; // i set this based on .waypoints file that i saved from mission planner to see what kind of parameters its using, i get the same result with this being 0 all the time
mavlink_msg_mission_item_int_pack(sysid, compid, &message, target_sys, target_comp, seq,
frame, command, current, 1, 0, 0, 0, 0,
(int32_t)(lat * 1e7), (int32_t)(lon * 1e7), alt,
MAV_MISSION_TYPE_MISSION);
print_mavlink_message(&message);
send_mavlink_message(serial_fd, &message);
}
And this is the output i get:
Sending MAVLink message (length 16): FD 04 00 00 00 02 01 2C 00 00 04 00 01 01 71 5E
Received MISSION_REQUEST_INT for seq: 0
Sending MAVLink message (length 49): FD 25 00 00 01 02 01 49 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 92 EB E6 ED 16 CF E8 58 00 00 00 00 00 00 10 00 01 01 00 01 01 0C B3
Received MISSION_REQUEST_INT for seq: 1
Sending MAVLink message (length 49): FD 25 00 00 02 02 01 49 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 25 FB EB EA 16 CF E8 58 00 00 20 41 01 00 10 00 01 01 00 00 01 56 1A
Received MISSION_REQUEST_INT for seq: 2
Sending MAVLink message (length 49): FD 25 00 00 03 02 01 49 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 B6 70 E9 EA 78 96 EC 58 00 00 48 42 02 00 10 00 01 01 00 00 01 51 31
Received MISSION_REQUEST_INT for seq: 3
Sending MAVLink message (length 49): FD 25 00 00 04 02 01 49 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 27 EA E7 EA E1 1C EE 58 00 00 A0 41 03 00 10 00 01 01 00 00 01 C8 9E
Received MISSION_ACK: Mission accepted
When loading .waypoints file there is always command 16 (like with other waypoinst) for home position too so i dont think the issue is with needing different command to set home position. Result is also the same if i use common mavlink dialect.