MAV doesn't respond with MISSION_ITEM_REACHED

[murtaza bagwala]

Hi All,

Actually I was looking for the way from which I can find out whether the MAV has reached the particular mission item or not then, I came across this message(MISSION_ITEM_REACHED(#46)) that announces the sequence number of the mission item that has been reached by the MAV. But, when I try it for testing I didn't get any message from the MAV like this. so what's wrong with this message ? Is Ardupilot firmware doesn't implement this message or something else ?

Thanks in advance for help.

Regards,

Murtaza Bagwala

[Enzo Buono]

Hi, have you find any solution? I have similar problem, I would to know if my drone reached a waypoint, and I don't know if there if a message that tell me this. I try to modify firmware and I have added this code " if(wp_nav.reached_wp_destination()) then send me a message" but I'm not sure that It works correctly. 

[Bill Bonney]

Hi,

There was some talk about annoucing MISSION_ITEM_REACHED in the latest APM code. I need to look to see if it was implemented. In the absence of the message you can determine when a waypoint has been reached as the MISSION_ITEM_CURRENT will update to the next mission item in the mission

Bill

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[Lorenz Meier]

I suggest to maybe consider reading the docs:
http://qgroundcontrol.org/mavlink/waypoint_protocol

And here is where the message is sent:

https://github.com/PX4/Firmware/blob/c62ae87c69963a4880c990c02000fd09e9b228f4/src/modules/mavlink/mavlink_mission.cpp#L285

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[Enzo Buono]

Thank you for the answers,

I read the protocol but It seems that is for auto mode, my goal is this: I send a Mission_Item with COMMAND_NAV_WAYPOINT for a specific waypoint, I would the drone tell me that the waypoint is reached,

I work in GUIDED MODE , so I have APM 2.6 and I have found this class in the firmware: AC_WPNav with the metod

reached_wp_destination(). I created a new mavlink message and do the follow code:

if(wp_nav.reached_wp_destination())

send me my message.

But I don't know if this method is good for my goal.

Sorry for my english I am Italian :)

[PIXHAWK]

Hi Enzo,

If you are using APM then that sounds about right, but the right contact point would be the drones-discuss Google group and to ask the APM devs there.

-Lorenz