Guided Mode Movement and Commands for FIXED-WINGS

[Ayvazof]

The issue is that, that I need to control plane from script depending of external sensor only way I found is use RC OVERRIDE but it is not a good way how I understand. Is there some way do it right?
Thanks in advance

[myusf01]

I've been looking for the same but I couldn't found any related documentation about to set yaw, pitch, roll like commands like in send_ned_velocity function or CMD_CONDITION_YAW. RC_OVERRIDE looks complicated and dangerous as far as I've seen in issues.

[HefnySco]

You can use cruise, fbwa or fbwb with channel override. These modes will limit the max pitch and roll while gives you good navigation control.

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On Thu, Oct 22, 2020, 16:20 Muhammed Yusuf ***@***.***> wrote: I've been looking for the same but I couldn't found any related documentation about to set yaw, pitch, roll like commands like in send_ned_velocity <https://github.com/dronekit/dronekit-python/blob/master/docs/guide/copter/guided_mode.rst#velocity-control> function or CMD_CONDITION_YAW <https://github.com/dronekit/dronekit-python/blob/master/docs/guide/copter/guided_mode.rst#velocity-control>. RC_OVERRIDE looks complicated and dangerous as far as I've seen in issues. — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#1044 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AA75SNIAILWOVHKSQHH7Y7TSMA5UFANCNFSM4PGW5ZEQ> .

[domnantas]

This was a wild ride, but I managed to figure it out.
First off, Ardupilot documentation lists MAV_CMD_NAV_WAYPOINT as the only message available for planes. Apparently that's not true, you can also use SET_ATTITUDE_TARGET! Dronekit does not mention that anywhere either. In fact, in set_attitude_target example it says (Copter Only). This was really confusing.

After browsing through some similar issues in this repo, I decided to try it out and it worked! Here's my implementation:

def send_set_attitude_target(roll=0, pitch=0, yaw=0, thrust=0.5):
    attitude = [np.radians(roll), np.radians(pitch), np.radians(yaw)]
    attitude_quaternion = quaternion.QuaternionBase(attitude)

    msg = vehicle.message_factory.set_attitude_target_encode(
        0, 0, 0,  # time_boot_ms, target_system, target_component
        0b10111000,  # type_mask https://mavlink.io/en/messages/common.html#ATTITUDE_TARGET_TYPEMASK
        attitude_quaternion,  # Attitude quaternion
        0, 0, 0,  # Rotation rates (ignored)
        thrust  # Between 0.0 and 1.0
    )

    vehicle.send_mavlink(msg)