Velocity and position command in guided mode

Hi. I’m using ArduCopter 4.1.1 in guided mode.
I want velocity and position command via mavlink to ardupilot but I require to velocity command in axis x,y and position command just in axis z. it means that my type_mask is 0b101111100011.
and my function with dronekit pkg is here:
def send_enu_pos_z_vel_xy(velocity_x, velocity_y, pos_z, yaw):
yaw = (math.pi/180)*yaw
msg = vehicle.message_factory.set_position_target_local_ned_encode(
0, # time_boot_ms (not used)
0, 0, # target system, target component
mavutil.mavlink.MAV_FRAME_LOCAL_NED, # frame
0b0000101111100011, # type_mask
0, 0, -pos_z, # x, y, z positions
velocity_y, velocity_x, 0, # x, y, z velocity in m/s
0, 0, 0, # x, y, z acceleration (not supported yet, ignored in GCS_Mavlink)
yaw, 0) # yaw, yaw_rate (not supported yet, ignored in GCS_Mavlink)

Can anyone have an idea for this?
thanks for your attention.

Can you retest with arduCopter github master branch?

Yes, I can.
Do you mean that this option has been added to master branch?

I think it was added in 4.1 branch, but I might be wrong. But yes it is in master.

Hi @A_manafi,

I’m afraid that we don’t support providing horizontal velocity and vertical position as a single command. Feel free to add an enhancement request to the issues list but I can’t promise when anyone will get to it. I agree that it is a totally reasonable request to be able to do this.

By the way, I’ve recently improved our MAVLink interface wiki pages.


I test with master branch but it didn’t work.

Try velocity only, or position only. Both should work fine.

If those work, then open a github issue

Any of them working good.
But horizontal velocity with vertical position doesn’t work.
Thank you.