Hello there,
I am trying to get my airplane to takeoff autonomously with the following service call :
ros2 service call /mavros/cmd/takeoff mavros_msgs/srv/CommandTOL "{min_pitch: 0.0, yaw: 0.0, latitude: 0.0, longitude: 0.0, altitude: 10.0}" (or via rqt)
Which return :
waiting for service to become available...
requester: making request: mavros_msgs.srv.SetMode_Request(base_mode=0, custom_mode='TAKEOFF')
response:
mavros_msgs.srv.SetMode_Response(mode_sent=False)
It works well with a copter but I can’t get it to work with a plane.
In MP, I need to use the mode “TAKEOFF” to make my plane takeoff and I am not using :
that only work with a copter.
I tried to set the mode to takeoff by calling the mavros dedicated service but I hasn’t work, expected has it is not existing in the command.
# set FCU mode
#
# Known custom modes listed here:
# http://wiki.ros.org/mavros/CustomModes
# basic modes from MAV_MODE
uint8 MAV_MODE_PREFLIGHT = 0
uint8 MAV_MODE_STABILIZE_DISARMED = 80
uint8 MAV_MODE_STABILIZE_ARMED = 208
uint8 MAV_MODE_MANUAL_DISARMED = 64
uint8 MAV_MODE_MANUAL_ARMED = 192
uint8 MAV_MODE_GUIDED_DISARMED = 88
uint8 MAV_MODE_GUIDED_ARMED = 216
uint8 MAV_MODE_AUTO_DISARMED = 92
uint8 MAV_MODE_AUTO_ARMED = 220
uint8 MAV_MODE_TEST_DISARMED = 66
uint8 MAV_MODE_TEST_ARMED = 194
uint8 base_mode # filled by MAV_MODE enum value or 0 if custom_mode != ''
string custom_mode # string mode representation or integer
---
bool mode_sent # Mode known/parsed correctly and SET_MODE are sent
So, do you know how to correct that ?
Thank you =) !
Step