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Takeoff with MAVlink command

Posted by Ryan Rasmussen on March 9, 2013 at 10:36am

I'm working on an Android gcs for a college project and need the ArduCopter to takeoff when pushing a button on the phone.  From going through the source code, it looks like I need to send a mission item with current set to '2' for a guided waypoint.  I'm also setting the lat and long to the current location of the ArduCopter.  I receive a mission ack from the copter, but nothing happens.  Does anyone know what the problem could be?

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Replies

  • Gonzalo Garat November 5, 2014 at 5:23am

    Have you tried using MAV_CMD_NAV_TAKEOFF as your first mission item?

    I'm working on a similar issue for another platform but I haven't tried this yet but for what I see on the forums this might be the easier way to solve your problem.

    My aproach would be the following.

    1. use android device to store all WP info on the APM (as backup)
    2. clear all WP info on APM
    3. upload new WP with current GPS data and MAV_CMD_NAV_TAKEOFF type.
    4. when alt is desired , set mode to ALT_HOLD or something.
    5. Reload the backedup WP info from step 1.
    6. Tell APM to continue with mission.

    Good luck!

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