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Mavlink Command C++

Posted by Enzo Buono on June 15, 2015 at 2:03am

Hi to all.

I have a problem. I am trying to command my 3dr robotics drone with mavlink message. I have write a c++ program and I am able to send mavlink commands. My code is

mavlink_message_t messaggio; //messaggio da inviare
mavlink_command_long_t comando; //struttura dati relativa al comando mavlink long
char buf[300];

comando.command = id_comando; //settaggio valori della struct relativa al comando
comando.target_system = 1;
comando.target_component = 250;
comando.confirmation = true;
comando.param1 = param1;
comando.param2 = param2;
comando.param3 = param3;
comando.param4 = param4;
comando.param5 = param5;
comando.param6 = param6;
comando.param7 = param7;

mavlink_msg_command_long_encode(1, 250, &messaggio, &comando);
unsigned len = mavlink_msg_to_send_buffer((uint8_t*)buf, &messaggio);
SP->WriteData(buf,len);

With this code I can arm and takeoff my drone. But If I send a CMD_NAV_WAYPOINT the command ack is 3, Command UNKNOWN/UNSUPPORTED. There is a way to send my drone in a specific waypoint ? I use APM 2.6. Sorry for my english

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Tags: copter, mavlink
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Replies

  • Souchet Camille April 20, 2017 at 7:23am

    You're welcome! I would like have this help2 month ago ;-)

    With some friend, we are involving in the "Dassault UAV Challenge", that mean we have one year to code an application in order to realize some mission designed by Dassault.

    Yes, we have a c_uart_interface and I am french.

    Camille

  • Thomas MAGNANI April 20, 2017 at 7:17am

    Thanks for this information !! I'm bit stuck in my intership and you have just saved my life ! ahah

    Can you explain me your project quickly ? Do you also use the c_uart_interface_example ?

    Are you french ? 

  • Souchet Camille April 20, 2017 at 6:32am

    Yes, I found why this didn't work:

    Indeed, when you are in GUIDED mode, you have only access to certain message like ARM, TAKE-OFF, LAND but you can not use WAYPOINT. The autopilot will give you a "3" response.

    You can find the list : http://ardupilot.org/dev/docs/copter-commands-in-guided-mode.html

    You can use SET_POSITION_TARGET_GLOBAL_INT

    Copter Commands in Guided Mode — Dev documentation
  • Thomas MAGNANI April 20, 2017 at 5:56am

    Hi everyone,

    I got approximatively same problem. Can we work together on this issue ?

    Thanks,

    Thomas

  • Souchet Camille February 20, 2017 at 6:11am

    Hey

    Thanks you to explain this problem, I have exactly the same!

    I will be really grateful, if someone could help us.

This reply was deleted.

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