I am writing an application on dart to create missions for UAVs. I have a problem with the fact that the TAKEOFF message for some reason does not load on the UAV, although all other messages are loaded.
The problem is definitely not sending the data, since they are all being sent, it is verified.
I will also clarify that I am not waiting for a response from the drone, as it is necessary according to the mission protocol. Maybe that’s the problem, but then it’s weird that all the other elements of the mission are loading.
I am using an autogenerated library in C for Mavlink 2.
Here is the log of the messages I am sending
[debug] | 17:41:44 672ms | Mission count sent [253, 4, 0, 0, 0, 1, 190, 44, 0, 0, 6, 0, 1, 1, 194, 102]
[debug] | 17:41:44 890ms | Takeoff sent [253, 34, 0, 0, 1, 1, 190, 73, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 192, 127, 232, 2, 176, 35, 72, 248, 17, 18, 0, 0, 128, 63, 0, 0, 22, 0, 1, 1, 230, 33]
[debug] | 17:41:45 116ms | Waypoint sent [253, 37, 0, 0, 2, 1, 190, 73, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 192, 127, 237, 2, 176, 35, 118, 246, 17, 18, 0, 0, 160, 64, 1, 0, 16, 0, 1, 1, 0, 0, 1, 29, 175]
[debug] | 17:41:45 343ms | Waypoint sent [253, 37, 0, 0, 3, 1, 190, 73, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 192, 127, 81, 3, 176, 35, 218, 246, 17, 18, 0, 0, 224, 64, 2, 0, 16, 0, 1, 1, 0, 0, 1, 29, 221]
[debug] | 17:41:45 568ms | Waypoint sent [253, 37, 0, 0, 4, 1, 190, 73, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 192, 127, 155, 6, 176, 35, 44, 252, 17, 18, 0, 0, 32, 65, 3, 0, 16, 0, 1, 1, 0, 0, 1, 220, 255]
[debug] | 17:41:45 807ms | Return to location sent [253, 34, 0, 0, 5, 1, 190, 73, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 4, 0, 20, 0, 1, 1, 75, 150]
Here is my C code to pack messages:
FFI_PLUGIN_EXPORT send_msg request_mission_count(uint16_t mission_count)
{
send_msg send;
mavlink_msg_mission_count_pack_chan(sysid_apm, MAV_COMP_ID_MISSIONPLANNER, MAVLINK_COMM_0, &tx_msg, sysid_apm, compid_apm, mission_count, MAV_MISSION_TYPE_MISSION);
tx_msg_len = mavlink_msg_to_send_buffer(tx_msg_buffer, &tx_msg);
send.tx_msg_len = tx_msg_len;
memcpy(send.tx_msg_buffer, tx_msg_buffer, tx_msg_len);
return send;
}
FFI_PLUGIN_EXPORT send_msg request_mission_nav_waypoint(uint16_t seq, int32_t lat, int32_t lng, int32_t alt)
{
send_msg send;
mavlink_msg_mission_item_int_pack_chan(sysid_apm, MAV_COMP_ID_MISSIONPLANNER, MAVLINK_COMM_0, &tx_msg, sysid_apm, compid_apm, seq, MAV_FRAME_GLOBAL, MAV_CMD_NAV_WAYPOINT,
0, 1, 0, 0, 0, NAN, lat, lng, alt, MAV_MISSION_TYPE_MISSION);
tx_msg_len = mavlink_msg_to_send_buffer(tx_msg_buffer, &tx_msg);
send.tx_msg_len = tx_msg_len;
memcpy(send.tx_msg_buffer, tx_msg_buffer, tx_msg_len);
return send;
}
FFI_PLUGIN_EXPORT send_msg request_mission_nav_takeoff(uint16_t seq, int32_t lat, int32_t lng, int32_t alt)
{
send_msg send;
mavlink_msg_mission_item_int_pack_chan(sysid_apm, MAV_COMP_ID_MISSIONPLANNER, MAVLINK_COMM_0, &tx_msg, sysid_apm, compid_apm, seq, MAV_FRAME_GLOBAL, MAV_CMD_NAV_TAKEOFF,
0, 0, 0, 0, 0, NAN, lat, lng, alt, MAV_MISSION_TYPE_MISSION);
tx_msg_len = mavlink_msg_to_send_buffer(tx_msg_buffer, &tx_msg);
send.tx_msg_len = tx_msg_len;
memcpy(send.tx_msg_buffer, tx_msg_buffer, tx_msg_len);
return send;
}
FFI_PLUGIN_EXPORT send_msg request_mission_nav_return_to_launch(uint16_t seq)
{
send_msg send;
mavlink_msg_mission_item_int_pack_chan(sysid_apm, MAV_COMP_ID_MISSIONPLANNER, MAVLINK_COMM_0, &tx_msg, sysid_apm, compid_apm, seq, MAV_FRAME_GLOBAL, MAV_CMD_NAV_RETURN_TO_LAUNCH,
0, 0, 0, 0, 0, 0, 0, 0, 0, MAV_MISSION_TYPE_MISSION);
tx_msg_len = mavlink_msg_to_send_buffer(tx_msg_buffer, &tx_msg);
send.tx_msg_len = tx_msg_len;
memcpy(send.tx_msg_buffer, tx_msg_buffer, tx_msg_len);
return send;
}
The result that I get in MP, there is no TAKEOFF
