Servers by jDrones

How and where is the mission logged in ardupilot?

arducopter
pixhawk
survey
waypoint

(Evgen) #1

Greetings.
I want to understand how to write waypoints in the memory ardupilot mission. In particular, the Survey site. I want to add a new option for all points on the Survey site.
If you look at the mission file qgroundcontrol * .plan, then the survey site looks like this:

{
"cameraTriggerDistance": 0,
                "cameraTriggerInTurnaround": false,
                "complexItemType": "survey",
                "fixedValueIsAltitude": true,
                "grid": {
                    "altitude": 5,
                    "angle": 0,
                    "entryLocation": 2,
"relativeAltitude": true,
                    "spacing": 60,
                    "turnAroundDistance": 7.77
                },
                "hoverAndCapture": false,
                "manualGrid": true,
                "polygon": [
                    [
                        55.75871982632224,
                        37.
61277845282967
                    ],
                    [
                        55.75871982632224,
                        37.61863432762277
                    ],
                    [
                        55.75720508238498,
                        37.61863432762277
                    ],
                    [
                        55.
75720508238498,
                        37.61277845282967
                    ]
                ],
                "refly90Degrees": false,
                "type": "ComplexItem",
                "version": 3
            }

And then this site is converted to a set of waypoints

            {
                "autoContinue": true,
"command": 22,
                "doJumpId": 1,
                "frame": 3,
                "params": [
                    15,
                    0,
                    0,
                    null,
                    55.75688245,
                    37.61474528,
                    5
**MY_NEW_PARAMETR**
                ],
"type": "SimpleItem"
            },

And if I understand correctly, after that, this written into memory of uav.
How to write a new parameter into memory for all waypoint of survey?


(Amilcar Lucas) #2

use dronekit-python.


(Evgen) #3

Thank you for the advice, but I want to use the qgc interface