Hi everyone,
I’m now to ardupilot and I’m trying to get a precision landing project off the ground (pun not intended) using Yaw orientation based on the target’s orientation. I am using PyMavlink to land using the mav.landing_target_send command but it seems to only accept the Mavlink 1 format which is:
angle_x float rad X-axis angular offset of the target from the center of the image
angle_y float rad Y-axis angular offset of the target from the center of the image
distance float m Distance to the target from the vehicle
size_x float rad Size of target along x-axis
size_y float rad Size of target along y-axis
However that does not seem to allow for the use of orientations as the Mavlink 2 version of the command does:
frame uint8_t MAV_FRAME Coordinate frame used for following fields.
x float m X Position of the landing target in MAV_FRAME
y float m Y Position of the landing target in MAV_FRAME
z float m Z Position of the landing target in MAV_FRAME
q float[4] Quaternion of landing target orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
type uint8_t LANDING_TARGET_TYPE Type of landing target
position_valid uint8_t Boolean indicating whether these position field values are populated with valid position target information (1: valid, 0: invalid). The default is '0', so that if the fields are not populated the default-zero values are not interpreted as a valid target position.
I’ve tried querying the heartbeat to see which type of Mavlink the system is running to communicate and the result was:
** HEARTBEAT {type : 2, autopilot : 3, base_mode : 81, custom_mode : 0, system_status : 3, mavlink_version : 3} **
So I’m a little confused, why is the mav.landing_target_send command accepting the older format rather than the newer one?
Is it possible to use the newer format?
Thank you for reading, and any information is appericiated.