Sample waypoint input file for MAVproxy

Ground Control Software MAVProxy
1

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 going on this?

thanks

2

If you are sending using txt file, you need a mission planner. You can save your mission opening it to get an idea.

If you are sending directly through mavproxy or mavlink, then you have to script it using python or c.

3

The answer you need is on mavlink website.

4

I am using Fedora, so MissionPlanner is of limited use. I will look into mono, as I see it is available for Fedora.

Can you point me to examples with mavlink using python?

I have been doing some python scripting so probably could get that working.

5

But where? I already have spend a couple hours going through that website and not see any example of the actual command input formats, nor any example of a flight via waypoints.

But your prior comment that Python or c is needed may point to where I have to look. I was expecting an input file option into mavlink.

6

For MP, do you mean a xxx.waypoints like this?:

QGC WPL 110
0	1	0	16	0	0	0	0	33.74113111	-118.374600	178	1
1	0	10	22	0	0	0	0	33.74116111	-118.374600	1.00	1
2	0	10	201	0	0	0	0	33.74111111	-118.375	1.00	1
3	0	0	93	0.001	0	0	0	0	0	0	1
4	0	10	16	0	0	0	0	33.74111111	-118.37472222	4.00	1
5	0	10	16	0	0	0	0	33.74117111	-118.37472222	1.00	1
6	0	10	16	0	0	0	0	33.74124111	-118.37472222	4.00	1
7	0	10	16	0	0	0	0	33.74117111	-118.37472222	1.00	1
8	0	10	16	0	0	0	0	33.74111111	-118.37472222	4.00	1
9	0	10	16	0	0	0	0	33.74105111	-118.37472222	1.00	1
10	0	10	16	0	0	0	0	33.74099111	-118.37472222	4.00	1
11	0	10	16	0	0	0	0	33.74105111	-118.37472222	1.00	1
12	0	10	177	3	3	0	0	0	0	0	1
13	0	0	93	0.001	0	0	0	0	0	0	1
14	0	3	16	0	0	0	0	33.74111111	-118.37472222	20.00	1
15	0	10	16	0	0	0	0	33.74117111	-118.37472222	1.00	1
16	0	3	16	0	0	0	0	33.74124111	-118.37472222	20.00	1
17	0	10	16	0	0	0	0	33.74117111	-118.37472222	1.00	1
18	0	3	16	0	0	0	0	33.74111111	-118.37472222	20.00	1
19	0	10	16	0	0	0	0	33.74105111	-118.37472222	1.00	1
20	0	3	16	0	0	0	0	33.74099111	-118.37472222	20.00	1
21	0	10	16	0	0	0	0	33.74105111	-118.37472222	1.00	1
22	0	3	177	13	3	0	0	0	0	0	1
23	0	10	21	0	0	0	0	33.74119111	-118.374600	0.00	1

You can modify it with a column selection editor (Textpad, Geany…) or with a spreadsheet. If the first column gets messy, copy and paste it from one generated in a spreadsheet. Other columns to change manually may be the waypoint type, or the coordinates, copying and pasting them with column selection.

I think that in MP you get a similar result if you create one and use something as save as, but for manual modifications you can go this way.

MP is ported to Linux and MacOS, but it is not very comfortable to use.

7

https://mavlink.io/en/mavgen_python/

Here.

8

I use raspian or armbian. Maybe once ubuntu on a micro computer. Nowadays stick to rasbian for easy portability between raspberry.

9

Where is a definition of all the columns? I get the log/lat/alt, but not the rest.

And I did see one post about the first line that to use spaces, not tables, but again no definition of those fields.

Thank you for your help.

10

Great! I will plow through this python page.

11

It follows the mavlink input. You can find the mavlink waypoint command in mavlink common page.

12

I think it is somehow documented here and there, and somehow in MP, but above example, with a variety of manual modifications, shows it (from fifth are parameters, which may be meaningless depending on the waypoint type):

  • third: (3/10) is waypoint reference (absolute/relative);
  • fourth: type;
  • fifth/sixth: for 93 (0.001) delay, for 177 (3/3, 13/3) jump to/jumps;
  • etc.

I use tabs all the time, since that makes it easier to read. I don’t know if spaces are valid for first line.

13

It looks like I can use socat to create a virtual null modem for testing. e.g.

socat -d -d pty,rawer,echo=0 pty,rawer,echo=0

which on my system is creating /dev/pts/18 & 19

I can do something as simple as

cat < /dev/pts/19

and have mavproxy write to /dev/pts/18 and see it working.

14

Hi @rgmhtt,

I am meeting the same issue like you do.

May I ask how you to write a txt file defining waypoints and how to make Ardupilot to trach these waypoints using MAVproxy?