How to control speed and direction of plane or VTOL plane by using MAVLink

Ground Control Software MAVLink
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1

Dear all,

I want to control the vtol plane to automatically land on moving target. Like this, A Robust and Accurate Landing Methodology for Drones on Moving Targets.

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On the Drone, we have successfully auto-landed on moving target by use POSITION_TARGET_LOCAL_NED API.
But, This API(POSITION_TARGET_LOCAL_NED) doesn’t work in plane or VTOL plane. The plane doesn’t change speed.

I have tried to use COMMAND_INT API to send command(MAV_CMD_DO_CHANGE_SPEED).
However, it doesn’t change speed.

I currently use MAVLink 1.0 protocol and GUIDED mode to control the plane. Is there an alternative API to control speed and direction of the plane or VTOL plane?
Many thanks.

I-Chia

2

Did you look at this forum post?

3

Thanks for your reply.

We will research this post.
By the way, have any mavLink api control speed when arduplane is in GUIDED mode?
Many thanks.

I-Chia

4

Yes, MAV_CMD_DO_CHANGE_SPEED.

5

Thanks for your reply.

I have tried to use COMMAND_INT API to send command(MAV_CMD_DO_CHANGE_SPEED).
However, it doesn’t change speed.
Is this API limited in AUTO mode, or any mode can excute by this API.

The Following is the function we use (MAV_CMD_DO_CHANGE_SPEED) API.

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Many thanks.

I-Chia

6

AFAIK, it should be sent as COMMAND_LONG, not implemented in COMMAND_INT yet.

7

Thanks for your reply.

We use COMMAND_LONG to send MAV_CMD_DO_CHANGE_SPEED, then it can work.
Many thanks.

I-Chia

1 Like
8

Hi,

May i know what parameters do you send in your POSITION_TARGET_LOCAL_NED API?

9

Dear limzw,
I use the following parameters:
coordinate_frame : MAV_FRAME_LOCAL_OFFSET_NED
vx,vy,vz and seting correspond mask.