Yaw setpoint is not working for SET_POSITION_TARGET_GLOBAL_INT

PX4 Autopilot
1

Hi

We are using a drone with PX4 version 1.14-dev in Gazebo HITL. When we send SET_POSITION_TARGET_GLOBAL_INT setpoints in Offboard mode, the drone refuses to yaw (even when all other fields are ignored via bitmask, for example 0b100111111111). Is this a version issue? If so, what command should we use?

Thank you,
Xiangliang

2

UPDATE:

I am another member of Xiangliang’s team. We are still unable to control yaw, even in SITL on the newest version of PX4. Our command is formatted as follows. We are able to move between GPS coordinates but the heading of the drone remains unchanged. If we try to ignore the position fields, the drone’s failsafe activates.

self.vehicle.mav.set_position_target_global_int_send(
                    0,
                    self.vehicle.target_system,
                    self.vehicle.target_component,
                    mavutil.mavlink.MAV_FRAME_GLOBAL_INT,
                    0b000111111000,
                    int(self._setpoint[0] * 1e7),
                    int(self._setpoint[1] * 1e7),
                    self._setpoint[2],
                    0, 0, 0,
                    0, 0, 0,
                    math.radians(self._setpoint[3]), math.radians(25)
)

Appreciate any help and guidance!