Offboard automatic TakeOff / Landing using MAV_CMD_LAND/TAKEOFF_LOCAL

tdo · September 29, 2016, 11:51am

I’ve managed to make automatic Takeoff/Landing without using MAV_CMD_TAKEOFF_LOCAL and MAV_CMD_LAND_LOCAL.

As reported here http://www.gitterforum.com/discussion/mavlink-mavros?page=289, there is an hidden feature in the bitmask field of the SET_POSITION_TARGET_LOCAL_NED message

In Px4 firmware there are 4 undocummented values :

github.com

PX4/Firmware/blob/2f48317a9ea7b05d8c61b3d1c44f8229491350b1/src/modules/mavlink/mavlink_receiver.cpp#L678-L681


		bool is_takeoff_sp = (bool)(set_position_target_local_ned.type_mask & 0x1000);
		bool is_land_sp = (bool)(set_position_target_local_ned.type_mask & 0x2000);
		bool is_loiter_sp = (bool)(set_position_target_local_ned.type_mask & 0x3000);
		bool is_idle_sp = (bool)(set_position_target_local_ned.type_mask & 0x4000);

By ORing the bitmask with 0x2000, the UAV automatically landed even if the Z setpoint was 4meters above the ground.
Tested on px4 flightstack v1.4.4

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Offboard automatic TakeOff / Landing using MAV_CMD_LAND/TAKEOFF_LOCAL

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