Loiter turns always falling down

ArduCopter
, ,
1

Hi.
Now I’m trying to controll my drone with my Jetson board by using Pymavlink.
I wrote pymavlink script and need to validate it works well.
So I did these.

  1. Run Sim_vehicle
    " sim_vehicle.py -v ArduCopter --out=tcpin:0.0.0.0:5765"
  2. Connect sim with GCS, TCP:localhost:5765
  3. Connect sim with Pymavlink connection, TCP:localhost:5762
  4. Give Loiter_turn params
    " master.mav.command_long_send(
    master.target_system,
    master.target_component,
    mavutil.mavlink.MAV_CMD_NAV_LOITER_TURNS,
    0, # confirmation
    1, # number of turns
    0,
    10, # radius
    0, # reserved
    new_lat, # latitude
    new_lon, # longitude
    0 # altitude
    ) "
  5. Let it circle
    master.mav.set_mode_send(
    master.target_system,
    mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED,
    7)

These sequence make drone can circular but It falls down soon.

화면 캡처 2023-07-13 162957
화면 캡처 2023-07-13 1629571097×1021 181 KB

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2

It looks like the vehicle never arms. Start it in GUIDED mode, then switch to CIRCLE.

3

It looks like you are going to circle mode (not an auto mission with loiter turns). In circle mode the throttle from your RC controls altitude (like in alt-hold and loiter mode). Since you have no RC connected in the sim (i assume) its commanding a descent during the circle.

4

Thank you, but I started it in Guided by manually, then switched to Circle.
You can see message “Hit the ground” on GCS

5

Thank you, You mean If I don’t have any RC controller, I have to switch to Auto mode right?
So, Is that right to give Loiter turn params for Auto mode as mission?
then, It automatically do when I switch to Auto mode?
“MAV_CMD_NAV_LOITER_TURNS”

6

Yeah switch to auto with that in the mission - or somehow simulate middle throttle on a rc controller.

7

Thank you, but there is some issue.
When I tried to switch mode to Auto, error came out like “mode AUTO init failed”. There is no other log about why It can’t be Auto mode.

8

There is a setting to allow Auto mode when throttle is still at zero - usually you have to raise the throttle for Auto mode to take effect (like do a take off)

9

Maybe I understand. But I don’t want to control by RC controller. Only with my Jetson board with python scripts. I mean “autonomous”.
When I don’t connect RC controller, vehicle doesn’t have any throttle values. right?
So If I allow to auto mode when there is no throttle(but still flying in Guided mode), It automatically keep its altitude?

10

Modify the AUTO_OPTIONS parameter with the behavior you want.

11

Thanks a lot for all you guys’ advices.
I did many things, then I can enter auto mode as modifying AUTO_OPTIONS param.
But there is no other way to give mission item about LOITER_TURNS so I decided to make turn same as LOITER_TURNS in GUIDED mode.
There is my code and vehicle’s moving, of course I need to adjust some params about yaw and speed…
Thank you for your interests :smile: