Discussions

//TARGET DRONE
uint8_t _target_system = 178; // Target drone id of 178
uint8_t _target_component = 0; // Target component, 0 = all

uint16_t seq = 0; // Sequence is always set to 0
uint8_t frame = MAV_FRAME_GLOBAL; // Set target frame to global default
uint16_t command = MAV_CMD_NAV_WAYPOINT; // Specific command for APM as it uses different paramters than the standard MAVLINK implementation
uint8_t current = 2; // Guided mode waypoint
uint8_t autocontinue = 0; // Always 0
float param1 = 0; // Loiter time
float param2 = 1; // Acceptable range from target - radius in meters
float param3 = 0; // Pass through waypoint
float param4 = 0; // Desired yaw angle
float x = 52.464217; // Latitude - degrees
float y = -1.280222; // Longitude - degrees
float z = 200; // Altitude - meters

// Initialize the required buffers
mavlink_message_t msg;
uint8_t buf[MAVLINK_MAX_PACKET_LEN];

// Pack the message
// NOTE : _target_systen & _target_component are defined in setup
// found by searching mission item .h from mavlink library
mavlink_msg_mission_item_pack(sysid,compid, &msg, _target_system, _target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z);

// Copy the message to the send buffer
uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);

I've intercepted the command using QGC and it looks like this;

This however doesn't match exactly what the APM wants for a MAV_CMD_NAV_WAYPOINT, all the infomation the comand needs are there, but I am sending more information, will the APM just ignore this, and also do i have to fly in auto or guided mode?

I'm just looking for some clarification , specifically if I am correctly implement a MAV_CMD_NAV_WAYPOINT command within a mavlink_msg_mission_item packet?

Any help would be HUGELY appreciated,

Thanks!

Matt