Waypoint Protocol

[Scott Yantek]

Hi all,

I'm just getting started with mavlink, and my immediate goal is using pymavlink to send waypoints to a PX4FMU. The documentation for the protocol (found here http://qgroundcontrol.org/mavlink/waypoint_protocol) is very detailed, but it appears to be for mavlink 2 rather than mavlink 3, which is the current version. Mavlink 3 does not even have most of the messages described in the waypoint protocol in the xml documents. Is there an updated version of the protocol page, or somewhere with that information? I looked through the pymavlink examples, but I couldn't find one with the information I'm looking for. 

Thanks in advance,

Scott

[Arthur Benemann]

This is my implementation of the waypoint transaction protocol for DroidPlanner (Android/Java):

https://github.com/arthurbenemann/droidplanner/blob/master/DroidPlanner/src/com/droidplanner/drone/variables/WaypointMananger.java

I hope it's helpful. It works with MAVLink v1.0.

2013/9/12 Scott Yantek <scott....@gmail.com>

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Arthur Benemann

[Scott Yantek]

Thanks Arthur,

I looked through your code and it seemed like everything was correct with what I had. 

After messing around with it for a couple hours I eventually figured out that for some reason, sending the waypoint twice in quick succession caused the PX4 to acknowledge the waypoint. I'm not sure why this is the case, but I now have all the waypoints on the PX4 and it sends back a MISSION_ACK.

-Scott

[Kevin Hester]

Are you making sure the sequence number gets incremented with each new send?

[Scott Yantek]

Yes, the issue was that it wasn't asking for waypoint 1 after the GCS sent waypoint 0. For some reason sending each waypoint twice, one right after the other, fixed that problem. I know it's not  very good way to do it, but it worked.