Hi, I am struggling to get our drone to do terrain follow while using a global go to command. When I send the command to the drone while it is in GUIDED, it does not move, there are no warning or error messages received / broadcasted.
Details on my setup:
- Using copter 4.1.5.
- Using a mavlink type rangefinder (distance data is calculated and sent using a distance sensor message)
- Distance sensor message has type MAV_DISTANCE_SENSOR_LASER, and orientation MAV_SENSOR_ROTATION_PITCH_270, min and max are at 80cm and 1000cm
- Go to command is sent using a set_position_target_global_int_send message, with the frame set as MAV_FRAME_GLOBAL_TERRAIN_ALT_INT.
- Type mask for go to message is 0b0000110111000000
- Distance sensor message, and go to command are both sent by a onboard companion computer connected via pymavlink.
The Rangefinder data can be seen in mission planner as Rangefinder 1, and the values are reasonable. I have verified that the go to command works by using every other available frame, which makes the drone move as expected.
The relevant parameters I have set are below:
TERRAIN_ENABLE 0 (this makes sure I don not use terrain data, which I do not provide)
RNGFND1_TYPE 10
RNGFND1_MIN_CM 80
RNGFND1_MAX_CM 1000
RNGFND1_POS_Z 1
RNGFND1_ORIENT 25
The only parameter I cannot find in mission planner, is TERRAIN_FOLLOW, is this not in later version of Arducopter or is there a parameter I have missed that makes it available?