First time posting so apologies if this is in the wrong place/missing something obvious/title is bad
I am attempting to get April-tag (vision) precision landing running on my SITL + Gazebo iris drone. I have followed setup according to here, adjusting the
PLND* parameters for Gazebo and SITL. I have also added a SITL rangefinder.
I am attempting to publish
LandingTarget messages with
mavros in the interest of performing precision landing onto a target. I have a ROS node which publishes
LandingTarget messages on the
/mavros/landing_target/raw topic, which the simulated drone is subscribing to.
First and foremost, my simulated FCU does not seem to receive the
LandingTarget messages, throwing “
FCU: Precland: Failsafe measures” which, after digging around in the source code, suggests that the targets were “never seen”. When switching to LAND mode via mavproxy I see this Info/warning message and the drone lands vertically rather than my target nearby (~3m away in both x and y in the sim)
Upon looking at
mavros/landing_target/raw appears. I presume this topic is the one that allows my FCU to “see” the targets, but I can’t say for sure.
A secondary problem is that I cannot see
LANDING_TARGET messages appear in Mission Planner’s Mavlink Inspector even after sending “raw” mavlink messages through
dronekit's python package.
I should mention that all vision-side stuff (target detection, camera transforms) are working, the only thing missing for me is a conversion from the target relative pose to a landing target message that Ardupilot’s LAND mode can use for precision landing. My SITL firmware is Copter 4.3.0-dev (I just cloned the default ArduPilot branch)
My question is a bit two-fold, but has the goal of achieving precision landing given a target position in the frame of the drone camera using
- Is there something I am missing for the FCU to not be receiving
LandingTargetmessages? Sent through both
- How can I fix my issues and have the drone accept my
LandingTargetmessages + land properly?
Please let me know if you need more info – I’ll try my best to provide missing info
Thanks in advance for any help that can be provided!