Set or change waypoints in guided mode without MAVLINK

Archive
1

Hi,
Is there a possibility to change the actual waypoint in guided mode out of a userhook or in
control_guided.cpp without a mavlink message protocol?

In a way that it adjusts all second or tenth-second the actual position/waypoint?

With best regards, Marek

2

answered here diydrones.com/forum/topics/mavli … e=activity

3

simple flying in guided mode for SITL:

static unsigned short counter;

	Vector3f nextpos;
	Vector3f currentpos;
	currentpos = pv_location_to_vector(current_loc);
 	wp_nav.set_speed_xy(6 * 100.0f);

 	counter++;
 	
 	if (counter == 15)
 	{
	    nextpos.x = currentpos.x + 50*100.00f;
 	    nextpos.y = currentpos.y + 50*100.00f;
 	    nextpos.z = 30*100.00f;
 	    guided_set_destination(nextpos);
 	}
	if (counter == 30)
 	{
 		counter = 0;
		nextpos.x = currentpos.x + 50*100.00f;
		nextpos.y = currentpos.y - 50*100.00f;
		nextpos.z = 30*100.00f;
 	        guided_set_destination(nextpos);
 	}