Hi everyone,
To understand my problem please watch following video.
https://www.youtube.com/watch?v=LfFnjyTXZJU&feature=youtu.be
I am using following topic:
rostopic pub /mavros/setpoint_raw/local mavros_msgs/PositionTget ‘{header: {stamp: now, frame_id: “world”}, coordinate_frame: 8, type_mask: 3527, velocity: {x: 0, y: 0.0, z: -0.0}}’ -r 10
coordinate_frame: 8 --> uint8 FRAME_BODY_NED=8
type_mask: 3527 --> uint16 IGNORE_VX=8
uint16 IGNORE_VY=16
uint16 IGNORE_VZ=32
uint16 FORCE=512
In here, when I give 0 value to z, the drone must hang in the air. But, the drone is rising up like in video. What can be problem ? And I have to use this topic to use this feature FRAME_BODY_NED=8.
Details of the topic:
uint8 FRAME_LOCAL_NED=1
uint8 FRAME_LOCAL_OFFSET_NED=7
uint8 FRAME_BODY_NED=8
uint8 FRAME_BODY_OFFSET_NED=9
uint16 IGNORE_PX=1
uint16 IGNORE_PY=2
uint16 IGNORE_PZ=4
uint16 IGNORE_VX=8
uint16 IGNORE_VY=16
uint16 IGNORE_VZ=32
uint16 IGNORE_AFX=64
uint16 IGNORE_AFY=128
uint16 IGNORE_AFZ=256
uint16 FORCE=512
uint16 IGNORE_YAW=1024
uint16 IGNORE_YAW_RATE=2048
std_msgs/Header header
uint32 seq
time stamp
string frame_id
uint8 coordinate_frame
uint16 type_mask
geometry_msgs/Point position
float64 x
float64 y
float64 z
geometry_msgs/Vector3 velocity
float64 x
float64 y
float64 z
geometry_msgs/Vector3 acceleration_or_force
float64 x
float64 y
float64 z
float32 yaw
float32 yaw_rate
Thanks for all !
Best Regards.