Plane Commands in Guided Mode

ArduPlane Plane Simulation
1

Hi,

Trying to send commandInt (through ROS-mavros) in Guided mode.

According to this link: Plane Commands in Guided Mode — Dev documentation (ardupilot.org), we need to send MAV_CMD_NAV_WAYPOINT, encoded with “current = 2”.

When trying this, the respond from the simulation is “Got COMMAND_ACK: NAV_WAYPOINT: UNSUPPORTED”. See the picture below.

Skjermbilde
Skjermbilde1874×938 300 KB

Any suggestions on why this is not working?

Are there other ways to control a Plane in guided mode with MAVROS?
We don’t want to use the AUTO mode, because the fixed-wing needs get updated directional commands with a frequency of eg. 5 Hz.

  • Daniel
1 Like
2

It won’t probably won’t help you anymore now, but I see a couple of problems in your request message:

  1. command must be 192 (do reposition)
  2. x and y must be integers, latitude * 1e7 and longitude * 1e7
  3. z must be a floating point number

This is how you would do it with Python in ROS 2 using MAVROS:

import rclpy
from mavros_msgs.srv import CommandInt

# create ros node
rclpy.init()
node = rclpy.create_node("guided_waypoint")

# service client for sending integer commands to the vehicle
srv_cmd_int = node.create_client(CommandInt, "mavros/cmd/command_int")
srv_cmd_int.wait_for_service()

# create reposition request
command = CommandInt.Request()
command.frame = 3 # global, relative altitude
command.command = 192 # https://mavlink.io/en/messages/common.html#MAV_CMD_DO_REPOSITION
command.current = 2 # indicate move to message in guided mode
command.x = int(46.6127 * 1e7)
command.y = int(14.2652 * 1e7)
command.z = 50.0 # altitude above ground

# send waypoint to vehicle
future_command = srv_cmd_int.call_async(command)

rclpy.spin_until_future_complete(node, future_command)

if future_command.result().success:
    node.get_logger().info("Successfully send move to command to vehicle.")
else:
    node.get_logger().warn("Failed to send move to command to vehicle!")