Pixhawk support for Region of Interest (ROI) command

Just recently built a DJI F450 quadcopter and coming to terms with it. Very new to this so it’s been quite a learning curve. The end goal is to get some decent videos and pictures.

The autopilot is a Pixhawk 2.4.8 and I used QGroundcontrol to load the PX4 stack firmware version 1.4.1dev. I originally tried to use Mission Planner 1.3.39 to upload the APM Quad Copter V3.3.3 firmware and configure the quad but I could never get it to calibrate the accelerometers. No problem with calibration in QGroundcontrol.

I’m using a Graupner MZ-18 transmitter and GR-24L reciever. I’ve also fitted a Tarot T-2D V2 Gimbal with a GoPro Hero 3.

All these parts seem to be working together. I’ve managed to set up the transmitter with 6 flight modes plus RTL and kill switch and the gimbal pitch control is set up on a proportional dial switch.

I’m now trying to get a handle on the automated mission side of things. I’ve managed to get it to do the basics; takeoff, move to a way point, return and land. I want to get it to fly a path past or around a location or feature with the camera orientated towards that location or feature.

QGroundcontrol includes a command to set up a waypoint as a Region of Interest, “MAV_CMD_NAV_ROI”, which I think looks like it should do what I want it to do. When I try and upload a mission to the quad with this command in it I get an error message telling me that the “Command is not supported (MAV_MISSION_UNSUPPORTED)”.

Information I got from the QGroundcontrol forum points to the error message being related to the Pixhawk firmware. So I’m asking if anybody has a fix, workaround or another approach to achieving the desired result?

I am trying to do a similar flight and would like the ROI command. It seems to be mostly implemented in the current development firmware (https://github.com/PX4/Firmware/pull/5389) but still isn’t working from QGroundControl when I flash a new build. Any update on when this will be finalized?


I just added mission support for the ROI command to master, https://github.com/PX4/Firmware/pull/5615. However not all ROI commands are supported, take a look at https://github.com/PX4/Firmware/blob/master/src/drivers/vmount/input_mavlink.cpp#L122-L147
It might be better to use the CMD_DO_MOUNT_CONFIGURE commands.