How can i add current location as a waypoint via python while proceeding a mission?

enesyurt · March 3, 2022, 7:03am

Hello, I am trying to create a system like;
While my plane/drone is going to a waypoint, the minute it detects something with image processing I need to get the target’s location and i need to add this location as a waypoint with python automatically for the next tour. I have ben researching it for days but i couldn’t find the adding this location as a waypoint yet. Can you walk me through a way to do this?
Thanks in adance.

Corrado_Steri · March 3, 2022, 7:20am

Start from here, you can manipulate mission with lua. In the script there is an example on how to add current position to the end of wp list.

github.com

ArduPilot/ardupilot/blob/master/libraries/AP_Scripting/examples/mission-edit-demo.lua

-- mission editing demo lua script.
-- by Buzz 2020
current_pos = nil
home = 0
a = {}
demostage = 0 
eventcounter = 0

function update () -- periodic function that will be called
    current_pos = ahrs:get_location()

  -- adds new/extra mission item at the end by copying the last one and modifying it
  -- get number of last mission item
  wp_num = mission:num_commands()-1
  --get last item from mission
  m = mission:get_item(wp_num) 
  -- get first item from mission
  m1 = mission:get_item(1) 

  if wp_num >  0 then

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There are also different way of doing it, you could read current position, store it and than add it to the file mission using python or whatever language you are familiar with. Just make sure to follow file format while editing it.

Lua i think is the easiest and more elegant at the moment.

A walk trough is a bit difficult, just start researching the link and ask whenever you find a problem you can’t solve.