WOD_GSC guided commands ack 3 :(

Ground Control Software Other GCS
1

Hello all, pls help

I have problem with GUIDED commands in c++.
All other commands working perfect, just all GUIDED comands ( 221,222,92 ) give me back error 3 :frowning:
dron normal change mode to GUIDED and base mode show me 89 ( disarmed ) , or 217 armed .

Target sys id 1
target comp 1

in finalizing message system id 255 ( gcs ) comp 0

still same problem … ack 3 :frowning:

MAY DAY

2

mavlink_msg_set_position_target_global_int_pack( GCS_SYSTEM_ID, GCS_COMPONENT_ID, &msg, 0, TARGET_SYSTEM_ID1, MAV_COMP_ID_MISSIONPLANNER, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, 0b0000111111111000, location.coordinate.latitude*1e7, // lat_int - X Position in WGS84 frame in 1e7 * meters, location.coordinate.longitude*1e7, // lon_int - Y Position in WGS84 frame in 1e7 * meters, location.altitude, // Distance relative above home alt. 0.0, 0.0, 0.0, // Velocity m/s (x/y/z) 0.0, 0.0, 0.0, // Acceleration (x/y/z) 0.0, 0.0); // yaw, yaw/rate

GCS COMP ID IS 1

This will send the drone to a Lat/lon

3

ok bill i will try it :wink: NED frame body offset dont work ?
do i need some setings before this, or this comand supost to work imeddiately after
switch to guided ?

THANKS FOR HELP BILL :wink:

4

supost this mesage (86) give me back ACK (msg 77 ) ?? becouse its dont…

5

so may i found problem, i was on mavlink 1.1 :wink:
so upgrading to v2 :wink:

6

so after upgrade work NO MESSAGE … receiving all mesages like before, this is not problem .
Problem is sending :frowning:

for example :

msg21.target_system=1;
msg21.target_component=1;
mavlink_msg_param_request_list_pack(255,1,&buff,msg21.target_system,msg21.target_component);

len=mavlink_msg_to_send_buffer(b,&buff);
sendArray(b,len);

WHATS WRONG ON THIS ? :frowning:

so back on mavlink 1 , i think arducopter 3.3 dont use mavlink 2 . atleast my opinion :wink:

7

i found one mistake , my buffer for sending was short ( 43 chars ) , but after i make him larger, still no ACK for message 84/86 .

8

AC3.3.3 is MAVLink 1.1 (you can see this in the source) ie checkout the Copter-3.3 branch of ArduPilot.

The other thing is setup SITL. See developer section in docs. This means you can test easier and you can see the response of the vehicle in a simulated environment.

If you need more detailed help, PM me and we can discuss options.

9

i realy dont find way how PM you here :wink:

for start i need just know IF mesage 84/86 SUPOST TO RETURN ACK ( msg 77 ) . if yes, is some thing wrong in my encode proces :wink: becouse both of those messages dont give me back ACK !

then also if is posible tell me seqention of guided comands LIke

  1. change mode,
  2. set master
  3. start mission
  4. 84/86 msg

for now i switch my drone to GUIDED with out problem, but then i get for all guided cmd ack 3 and msg 84/86 are ignored with out ack
all other commands work perfect ( change mode, arm,disarm,takeoff, land, etc)

10

so partly fixed, ack 3 still remain, but by your comand dron move :wink: NO ACK THIS COMMAND, this IS STRANGE !!!

11

I don’t think the command sends an ACK. Though you can check out the options by looking in the ArduPilot code https://github.com/ardupilot/ardupilot/blob/master/ArduCopter/GCS_Mavlink.cpp#L1774

12

bill i sended you PM on http://diydrones.com , please watch it :wink:
next question, what units is for ALT ? milimeters ?

13

navigation complete fixed now :wink: err 3 all time for rest functions, but this not so big deal :wink: thx for help