@ne0fhyk, I've raised an issue for Tower here to do with Guided mode. Basically it's sending the wrong frame type for the altitude. So it's requesting an absolute altitude when I think it means to send a relative altitude. DroidPlanner/Tower#1761
This problem has been hidden because previously Copter didn't use the frame at all. In Copter-3.4 though it supports absolute and relative terrain altitudes.
@guantau Thank you so much!!! the change from 2.7.+ to 2.7.0 worked! I've been searching everywhere for this
One other quick question. If I flip the controller from STD to LTR and then send commands to the drone using an android device, will it move or will it just loiter at the launch point?
And if it just loiters at the launch point, how can I keep the drone in a stabilizing mode while I send it move commands. As of now I'm trying to make it move in a square with a payload but if its in standard mode it doesn't self stabilize and the weight throws it way off
Hi all, I'm currently trying to implement the use of loiter_to_alt waypoints. I've created two classes. LoiterToAlt and LoiterToAltImpl. Both classes seem to have the same functionality as the other types of waypoints. get/set for each param, pack and unpack functions, the mission type function.
however i'm unable to get the waypoints to write to the drone. I'm assuming mavMsg.command = MAV_CMD.MAV_CMD_NAV_LOITER_TO_ALT; is what tells the drone which type of waypoint is being set. However even when I change this in some of the other classes (Circle to be exact) It still uses a loiter_turns wp. Is there something obvious that i'm missing?
@ne0fhyk Thanks for the quick reply! Yes, I did. I'm pretty confident I've linked everything properly and written code to implement it where needed. When using it as a waypoint in tower a waypoint appears my spinner appears and the values i'm using as defaults inside LoiterToAlt appear. However, it won't write to the drone. If I were to change what the mavMSG.command is equal to inside of the CircleImpl class would it change the type of command that is being written? say if I changed it from MAV_CMD.MAV_CMD_NAV_LOITER_TURNS to DO_LAND_START. Would it create it do land start waypoint instead?
@ne0fhyk So the drone, in the software, needs to be set to GUIDED. But what about the switch on the controller? If I put it in standard it doesn't self stabilize from the moment of takeoff.
The switch is either STD (Standard, which doesn't stabilize), LRT (Which does stabilize, but will it obey commands if the switch on the controller is in this mode?), and AUTO (which is for pre-set geopoints. I'm trying to make decisions on the fly)
@mwrightE38 can you provide the implementation for your LoiterToAltImpl class. And yes, if you were to change the command field (and provide the adequate arguments for that command), it would change the command that's written to the drone
@mwrightE38 in addition, are you sure your drone can support the new command you added? did you try to load that command with another tool?
@MrTate8 using software like mission planner on pc, you can map the hardware switch to different mode
@MrTate8 but the drone will stay in whatever mode it was put in last, regardless of the switch position, so if you put the switch in STD, but change the mode to GUIDED via Tower, then the drone will be (and remain) in the GUIDED mode.