Hello, I am testing a precision landing python script with SITL + Gazebo for a vectored yaw VTOL tricopter, where I have an April tag placed in the Gazebo world and a downcam streaming real time video feed to openCV. I send mav.landing_target_send messages based on the AprilTags position in frame messages and they are being received in my SITL terminal (I can see them show up when I do >watch LANDING_TARGET).
My SITL terminal has the following output once the target is seen:
AP: RC7: PrecisionLoiter HIGH // I set this in my script
AP: PrecLand: Target Found
AP: PrecLand: Init Failed
AP: PrecLand: Target Found
AP: PrecLand: Init Failed
AP: PrecLand: Target Found
AP: PrecLand: Init Complete
It then stays complete (does not lose the target again). Despite this, I get no movement from the vtol tricopter, it just remains suspended in QLOITER mode. Anyone encounter this, and any ideas what could be wrong?
here is the format of the mav messages im sending:
m.mav.landing_target_send(
int(time.time() * 1e6),
0,
mavutil.mavlink.MAV_FRAME_BODY_FRD,
float(ax), float(ay),
float(dist_m),
0.0, 0.0, # size_x, size_y
float(x), float(y), float(z),
(0.0, 0.0, 0.0, 1.0),
2,
1
)