Whether the parameter ///mission item.frame/// can be set to 9?

sudo · April 9, 2019, 3:32pm

I am wondering whether the parameter ///mission item.frame/// can be set to 9 ?
and how about 0-9 ?
0 MAV_FRAME_GLOBAL
1 MAV_FRAME_LOCAL_NED
2 MAV_FRAME_MISSION
3 MAV_FRAME_GLOBAL_RELATIVE_ALT
4 MAV_FRAME_LOCAL_ENU
5 MAV_FRAME_GLOBAL_INT
6 MAV_FRAME_GLOBAL_RELATIVE_ALT_INT
7 MAV_FRAME_LOCAL_OFFSET_NED
8 MAV_FRAME_BODY_NED
9 MAV_FRAME_BODY_OFFSET_NED
Thanks in advance.

JulianOes · April 10, 2019, 10:06am

Right, some of them are not supported in PX4.

Actually, if I look at the source all that are supported are:

MAV_FRAME_GLOBAL, MAV_FRAME_GLOBAL_RELATIVE_ALT, MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_MISSION.

See:

github.com

PX4/Firmware/blob/e1472818dcc7e984a5428ab2aaaad65f7b2178b5/src/modules/mavlink/mavlink_mission.cpp#L1276-L1279


	if (mavlink_mission_item->frame == MAV_FRAME_GLOBAL ||
	    mavlink_mission_item->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT ||
	    (_int_mode && (mavlink_mission_item->frame == MAV_FRAME_GLOBAL_INT ||
			   mavlink_mission_item->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT_INT))) {

github.com

PX4/Firmware/blob/e1472818dcc7e984a5428ab2aaaad65f7b2178b5/src/modules/mavlink/mavlink_mission.cpp#L1422


		default:
			mission_item->nav_cmd = NAV_CMD_INVALID;


			PX4_DEBUG("Unsupported command %d", mavlink_mission_item->command);


			return MAV_MISSION_UNSUPPORTED;
		}


		mission_item->frame = mavlink_mission_item->frame;


	} else if (mavlink_mission_item->frame == MAV_FRAME_MISSION) {


		// this is a mission item with no coordinates


		mission_item->params[0] = mavlink_mission_item->param1;
		mission_item->params[1] = mavlink_mission_item->param2;
		mission_item->params[2] = mavlink_mission_item->param3;
		mission_item->params[3] = mavlink_mission_item->param4;
		mission_item->params[4] = mavlink_mission_item->x;
		mission_item->params[5] = mavlink_mission_item->y;
		mission_item->params[6] = mavlink_mission_item->z;

sudo · April 11, 2019, 2:16am

Hey JulianOes, Thanks a lot for your replying. appreciate it.