I am trying to test general control using dronekit with a plane in OFFBOARD mode. I’m starting the SITL with make posix_sitl_default gazebo_plane then connecting with dronekit via udp:127.0.0.1:14540. I first tried to takeoff the plane in offboard mode, using the set_position_target_local_ned with both the regular typemask and the takeoff_position typemask. I’ve also tried to takeoff using velocity type_mask and no response from PX4. Next I tried to takeoff using MISSION commands which I achieved and then tried to switch into OFFBOARD mode after takeoff. I start sending set_position_target_local_ned commands and successfully switch into OFFBOARD mode, but the plane seems to hold altitude and have a locked heading. The plane just flys away in the same direction and doesn’t seem to react to set_position_target_local_ned commands for position or for velocity (each with the correct typemask). When I use the typemask to allow all controls, only sending x,y,z position and everything else 0, the plane just does a tight loiter. What am I missing here? How do I get the px4 to react to my set_position_target_local_ned commands?
Base on the link you just shared I would have to use SET_POSITION_TARGET_GLOBAL_INT and make sure it is being sent >2Hz before I try to change modes to offboard. Is this the correct way to think about it?
Really all I am trying to do is to make the plane fly in a particular direction then set desired attitudes of the vehicle. There may be a simpler way to do this then telling the plane to fly to a way point.