Flying indoor with optitrack

PX4 Autopilot
19

Hi @Mario1577

Thank you for your quick reply.
Have you successfully flown your drone indoor?
We are sending the ATT_POS_MOCAP message to our FCU and can get the local position by listening to the LOCAL_POSITION_NED message. The position from vision and drone match each other, but we have another problem with takeoff. Our procedure is:

  1. set the drone to POSCTL mode
  2. arm the motors
  3. continuously send SET_POSITION_TARGET_LOCAL_NED message with type_mask = 0b0001111011000000, x = 0, y = 0, z = -0.5, vx = 0, vy = 0, vz = 0.1, coordinate_frame = MAV_FRAME_LOCAL_OFFSET_NED
    4.     on reaching the target altitude, we continuously send another NED message with type_mask = 0b0011111011111000, x = 0, y = 0, z = 0.

However, our drone still tries to jet to the higher altitude after reaching the target one. We have not figured out what wrong with it. Do you have any suggestion?

*we follow the setting type_mak of step 3 and 4 from Offboard automatic TakeOff / Landing using MAV_CMD_LAND/TAKEOFF_LOCAL