WAYPOINT REACHED

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Penrose April 1, 2020 at 3:50am

Your script should be working fine! Add some Debug.Log() statements in a few areas. Try and output the current waypoint to see if it's actually switching to the next one, and the current waypoints position mcdvoice login

McDVOICE
Melvin September 12, 2017 at 6:00am

That worked?? I never tried that command since according to the API it doesn't stop the vehicle.

Evidlo said:
I figured this one out too. Just use MAV_CMD_CONDITION_DELAY to add delay commands after each waypoint.

# hold position at current location for given seconds
def delay(time):
return Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_CONDITION_DELAY, 0, 0, time, 0, 0, 0, 0, 0, 0)

Melvin said:

Yea, but i noticed that the "MISSION_ITEM_REACHED" message is thrown after the delay(atleast its like that in the simulation) and i need something to tell me when it has reached it at that exact moment. So im thinking of switchin to Loiter mode after the delay to see if it works just fine). Sadly i live in PR and still got no power to charge up my laptop(bless Irma) and test that.

Evidlo said:
Ah, nevermind. The first argument to MAV_CMD_NAV_WAYPOINT is the hold time.

Evidlo said:

Out of curiosity, how are you getting the quadcopter to stop at each waypoint?

Melvin said:

Great find Evan, works like a charm.
- Spice Agent > Melvin July 1, 2021 at 8:34am
  
  Sadly i live in PR and still got no power to charge up my laptop(bless Irma) and test that.
Evidlo September 11, 2017 at 10:09pm

I figured this one out too. Just use MAV_CMD_CONDITION_DELAY to add delay commands after each waypoint.

# hold position at current location for given seconds
def delay(time):
return Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_CONDITION_DELAY, 0, 0, time, 0, 0, 0, 0, 0, 0)

Melvin said:

Yea, but i noticed that the "MISSION_ITEM_REACHED" message is thrown after the delay(atleast its like that in the simulation) and i need something to tell me when it has reached it at that exact moment. So im thinking of switchin to Loiter mode after the delay to see if it works just fine). Sadly i live in PR and still got no power to charge up my laptop(bless Irma) and test that.

Evidlo said:
Ah, nevermind. The first argument to MAV_CMD_NAV_WAYPOINT is the hold time.

Evidlo said:

Out of curiosity, how are you getting the quadcopter to stop at each waypoint?

Melvin said:

Great find Evan, works like a charm.
Evidlo September 8, 2017 at 10:50am

I think the vehicle should come to a complete stop so long as the delay is nonzero. Not sure what the minimum is though.

Melvin said:

Yea, but i noticed that the "MISSION_ITEM_REACHED" message is thrown after the delay(atleast its like that in the simulation) and i need something to tell me when it has reached it at that exact moment. So im thinking of switchin to Loiter mode after the delay to see if it works just fine). Sadly i live in PR and still got no power to charge up my laptop(bless Irma) and test that.

Evidlo said:
Ah, nevermind. The first argument to MAV_CMD_NAV_WAYPOINT is the hold time.

Evidlo said:

Out of curiosity, how are you getting the quadcopter to stop at each waypoint?

Melvin said:

Great find Evan, works like a charm.
Melvin September 8, 2017 at 8:58am

Yea, but i noticed that the "MISSION_ITEM_REACHED" message is thrown after the delay(atleast its like that in the simulation) and i need something to tell me when it has reached it at that exact moment. So im thinking of switchin to Loiter mode after the delay to see if it works just fine). Sadly i live in PR and still got no power to charge up my laptop(bless Irma) and test that.

Evidlo said:
Ah, nevermind. The first argument to MAV_CMD_NAV_WAYPOINT is the hold time.

Evidlo said:

Out of curiosity, how are you getting the quadcopter to stop at each waypoint?

Melvin said:

Great find Evan, works like a charm.
Evidlo September 7, 2017 at 9:39pm

Ah, nevermind. The first argument to MAV_CMD_NAV_WAYPOINT is the hold time.

Evidlo said:

Out of curiosity, how are you getting the quadcopter to stop at each waypoint?

Melvin said:

Great find Evan, works like a charm.
Evidlo September 7, 2017 at 9:33pm

Out of curiosity, how are you getting the quadcopter to stop at each waypoint?

Melvin said:

Great find Evan, works like a charm.
Melvin September 4, 2017 at 1:35pm

Great find Evan, works like a charm.
Evidlo September 4, 2017 at 12:02pm

I figured out how to do this with observers the other day.

@vehicle.on_message('MISSION_ITEM_REACHED')
def on_waypoint(self, name, message):
print "Just reached item #{}".format(message.seq

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WAYPOINT REACHED

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