Hello,
I noticed there is a “waypoint” interface in mavros. Does it support OFFBOARD mode? If it supports, how to start the mission without QGC?
What I want to do is use a Raspberry Pi to control the drone. Now I can takeoff and land. And I know the “setpoint_position” can achieve the goal, but I want to use the global coordinates.
Thanks for any reply.
You can write a mission with global coordinates to the drone through the mavros service mavros/mission/push. This mission will be stored on SD card and then it can be read through the QGC. But I have the same problem. I do not know how to run this mission without the RC.
My Python code to write mission:
def waypoint_push_client(data):
waypoint_clear_client()
wl = WaypointList()
wp = Waypoint()
wp.frame = 3
wp.command = 22 # takeoff
wp.is_current = True
wp.autocontinue = True
wp.param1 = data[0]['altitude'] # takeoff altitude
wp.param2 = 0
wp.param3 = 0
wp.param4 = 0
wp.x_lat = data[0]['latitude']
wp.y_long = data[0]['longitude']
wp.z_alt = data[0]['altitude']
wl.waypoints.append(wp)
for point in data:
wp = Waypoint()
wp.frame = 3
wp.command = 16 # simple point
wp.is_current = False
wp.autocontinue = True
wp.param1 = 0 # takeoff altitude
wp.param2 = 0
wp.param3 = 0
wp.param4 = 0
wp.x_lat = point['latitude']
wp.y_long = point['longitude']
wp.z_alt = point['altitude']
wl.waypoints.append(wp)
try:
service = rospy.ServiceProxy(
'mavros/mission/push', WaypointPush)
if service.call(wl.waypoints).success:
print 'write mission success'
else:
print 'write mission error'
except rospy.ServiceException, e:
print "Service call failed: %s" % e
def waypoint_clear_client():
try:
response = rospy.ServiceProxy(
'mavros/mission/clear', WaypointClear)
return response.call().success
except rospy.ServiceException, e:
print "Service call failed: %s" % e
return False
Does anyone know how to run a mission without RC?
Thank you very much.
Dose the mission must be read through the QGC? I push some waypoints through the mavros service and then change the mode to AUTO.MISSION, the mission will start if I run the QGC (SITL). It’s no problem. But how to start the mission without QGC?
Maybe this will be helpful for you: http://forum.erlerobotics.com/t/solved-waypoint-for-ros-take-off-land-script/611/9
I apparently had the wrong settings for PX4 in the SITL. Recompilation of the project SITL helped me. In the SITL, the mission now starts normally. On a real drone mission is also launched and even without the RC.
The mission itself is read and displayed in the QGC