from pymavlink import mavutil
import pymavlink.mavutil as utility
import pymavlink.dialects.v20.all as dialect




vehicle = utility.mavlink_connection(device="udpin:127.0.0.1:14550")


fi = - 35.21435
lam = 145.21334
alt = 15
message = dialect.MAVLink_mission_item_int_message(
    target_system=vehicle.target_system,
    target_component=vehicle.target_component,
    seq=0,
    frame=dialect.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
    command=dialect.MAV_CMD_NAV_WAYPOINT,
    current=2,
    autocontinue=0,
    param1=0,
    param2=0,
    param3=0,
    param4=0,
    x=int(fi * 1e7),
    y=int(lam * 1e7),
    z=alt)
vehicle.mav.send(message)

while True:
    msg = vehicle.recv_match(type='COMMAND_ACK', blocking=True)
    if msg and msg.command == mavutil.mavlink.MAV_CMD_NAV_WAYPOINT:
        print("Command acknowledged!")
        break
    time.sleep(0.1)