Hi,
I’m trying to use Collision Prevention with OBSTACLE_DISTANCE message.
PX4 used is v1.11
For this purpose, the OBSTACLE_DISTANCE dummy message was transmitted to the PX4 through telem2 at intervals of 100ms. The dummy message was written by referring to the link below.
https://discuss.px4.io/t/question-on-distances-array-in-obstacle-distance/12911
The dummy message is below.
frame = MAV_FRAME_BODY_FRD
increment = 0
angle_offset = 0
distance data = [500, UINT16_MAX, UINT16_MAX …]
mavlink_msg_obstacle_distance_pack(SYSTEM_ID,
COMPONENT_ID,
&msg_dist,
(uint64_t)(HAL_GetTick() * 1000),
MAV_DISTANCE_SENSOR_RADAR,
distance,
0,
50,
4000,
0,
0,
MAV_FRAME_BODY_FRD);
And set CP_DIST to 1 in PX4 position mode. but PX4 changed to Hold mode soon.
According to the data loss description of collision prevention of PX4, it is mentioned below.
After 5 seconds of not receiving any data, the vehicle will switch into HOLD mode.
Am I doing something wrong with filling in the message?
Any help will be appreciated. Thanks.