MAVSDK W/ Fixed Wing

Dronecode
1

The question is “Does MAVSDK work with Fixed Wing”

I attempted the following modes/features in mavsdk-python

Goto
Mission
Offboard

All of them worked. Here is the video: Exploring MavSDK with FixedWing 🚀 | Loom

2

Amazing, thanks!

It looks like the offboard attitude interface worked indeed. It would be interesting to know which of the other ones work as well, so velocity and position. I’m never sure with those and fixedwing.

3

Position seemed to work, but velocity seemed…awkward.

I just ran the examples you had in mavsdk: Off-Board Commands Overview ✈️ | Loom

recorded a video. dont really dive into the details. I think the negative values for velocity might be messing things up.

anyways, was just curious

1 Like
4

Right, funny. It looks like the scripts don’t make a lot of sense for fixedwing, might be worth adding examples specifically that go a little further.

5

Hello @AWilkins_Ascend ,

Thanks for sharing the examples and narrowing down on which mode works for fixedwing.

Do you happen to get attitude control working with ROS2 in offboard mode? Particularly with UXCRE agent topics?

It does seem to be responding to attitude commands but it is quite unclear for me which combination works for attitude_setpoint topics. You have the body rates, quarernion and thrust.

From what I understand, a combination of body rates and thrust work together or quaternion and thrust.

Let me know if you or anyone else managed to get an example for attitude control working for a set of waypoints.

6

We were able to get attitude control working, but if you drop down into offboard mode…and send attitude setpoints you arent going to really be hitting waypoints. for mission mode. might be misunderstanding

7

Thank you @AWilkins_Ascend for your response. When you say, you aren’t going to be able to hit waypoints, what do you mean exacly? I am trying to get a fixed wing to follow a certain path. Position control does not seem to suffice since we have no control over how the fixed wing will reach the waypoint. I am more interested in controlling the path it takes rather than just reaching the waypoint.