Hi everyone,
I have a ground based vehicle (Ackermann rover) running px4 1.16.0 that i want to be able to send waypoints from qgroundcontrol through a telemetry link.
What I have tried:
-Arm the vehicle
-Switch to position mode
-Go to qgroundcontrol ‘map’ section
-Click on the map where I want the vehicle to go
-Click on ‘Go Here’
-Slide the bar from left to right to confirm the waypoint to be sent
After I do these steps, the vehicle immediately switchs to ‘Loiter mode’ and doesn’t move at all.
Any idea what could be causing this?
I’m guessing here, but as I understand it QGC implements its guided mode on PX4 as AUTO_LOITER (that’s hold mode). I am not sure how it implements the command to goto, but probably as a MAV_CMD_DO_REPOSITION.
It may be that Ackermann simply does not support this.
You could check that by inspecting what is sent by QGC (either in code or better via Wireshark to simulator), and then look at the handling code for whatever message is emitted.
The rover modules never directly act on mav link commands, but in the commander module it seems to get translated to the PositionSetpointTriplet.msg which is handled by the module.
1.16.0 is quite behind in terms of rover development, I’d recommend building the rover modules from main which might fix the issue.
I think the module version that is in 1.16 does not support Hold mode, which is why the rover doesn’t move.
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