Packets needed for takeoff

borune · October 5, 2016, 1:48pm

Hey folks,

Could anybody write down the sequence of MAVLink packets for taking off the vehicle?

dagar · October 5, 2016, 2:54pm

You need to ARM and then either send NAV_TAKEOFF or a mission with a takeoff waypoint and mode change.

Send these as COMMAND_LONG

MAV_CMD_COMPONENT_ARM_DISARM
MAV_CMD_NAV_TAKEOFF

borune · October 6, 2016, 5:39am

Thanks. And if i use HIL, it will be the same?

dagar · October 7, 2016, 4:41am

Those commands yes, but depending on what you’re doing if you need to send a HEARTBEAT you’ll have to add the HIL flag.