Mavproxy Send Mission, Non-GPS

[Tristan_Redish]

I am using an Optitrack system and would like to make autonomous missions.

So in reference to this discussion.

Sample waypoint input file for MAVproxy

I am pulling out what little hair I have here on what to put into a txt file to feed a mission in waypoints to MAVproxy. I have looked at: https://ardupilot.org/mavproxy/docs/getting_started/examples.html And no sample input files. I have looked at: https://ardupilot.org/copter/docs/common-mavlink-mission-command-messages-mav_cmd.html#mav-cmd-mission-start And I see some commands, but not what format in a txt file for uploading. Can someone point me to some sample files that can get me go…

I see you can send a mission via Mavproxy, but I am wondering what the procedure is for Non-GPS applications. The shown examples are only using lat/long.

The Optitrack system works well in Loiter and Circle mode but I would like to make specific routes to follow, along with takeoff and landing.

Any ideas or input is appreciated.

Thanks.

[stephendade (Stephen)]

@Tristan_Redish

I see you can send a mission via Mavproxy, but I am wondering what the procedure is for Non-GPS applications. The shown examples are only using lat/long.

ArduPilot missions operate in a global frame. All missions need to be specified in lat/long format.

As per Optitrack for Non-GPS Navigation — Copter documentation, you will need to set GPS_GLOBAL_ORIGIN to map the Optitrack coordinates to lat/long coordinates.

[Tristan_Redish]

@stephendade, Thank you for the confirmation about that we need to convert from the optitrack lat/long.

Is there any documentation or methods to establish the correct methods to do this?

Thanks, Tristan.

[stephendade (Stephen)]

@Tristan_Redish

Is there any documentation or methods to establish the correct methods to do this?

As per my previous message, you need to send the GPS_GLOBAL_ORIGIN MAVLink message to the flight controller to map the local frame 0,0,0 origin to a global frame long/lat.

I assume you’re using MAVProxy? In that case use setorigin LAT(deg) LON(deg) ALT(m) command to set the origin.

[Tristan_Redish]

@stephendade

Thank you for that confirmation.

I see in Optitrack page that the actual location is not critical. but then the next coordinate must be the correct distance.

I will try using mavproxy or try to get the mavlink to fwd to mission planner.

Thanks again for the confirmations.

[Tristan_Redish]

@stephendade Thanks, so far is working but if you can see my topic about RTL.

RTL Not using RTL_ALT

Hi there Everyone, So I am using an indoor non-gps system for tracking ( Optitrack) I have working Loiter and automated modes like Circle. I use the setorigin command in mayproxy to set home pos, but then when I try to use RTL, the copter tries to rise above the setting in RTL_ALT (set to 30cm). I can see in Misson planner that the copter hits 2M alt on the HUD ( and seems to be trying to climb more.) I am working on a 2m indoor area so going up for RTL is not really an option. I have insur…

Thanks.

[stephendade (Stephen)]

I’m not really a copter expert, so probably wouldn’t be able to assist there. In any case, an attached logfile showing the issue would help other devs diagnose your issue.