根据命令设置不同飞行状态以及目标

SET_POSITION_TARGET_LOCAL_NED 84

time_boot_ms
uint32_t
ms
Timestamp (time since system boot).
target_system
uint8_t
System ID
target_component
uint8_t
Component ID
coordinate_frame
uint8_t
MAV_FRAME
坐标系配置 支持机体坐标系以及NED坐标系
type_mask
uint16_t
POSITION_TARGET_TYPEMASK
Bitmap决定使用什么方式控制飞行
x
float
m

X坐标(NED坐标系)
y
float
m

Y坐标(NED坐标系)
z
float
m

Z坐标(NED坐标系)
vx
float
m/s

X速度(NED坐标系)
vy
float
m/s

Y速度(NED坐标系)
vz
float
m/s

Z速度(NED坐标系)
afx
float
m/s/s
0
afy
float
m/s/s
0
afz
float
m/s/s
0
yaw
float
rad
角度
yaw_rate
float
rad/s
角速率

type_mask参数说明

Value
Name
Description
1
POSITION_TARGET_TYPEMASK_X_IGNORE
Ignore position x
2
POSITION_TARGET_TYPEMASK_Y_IGNORE
Ignore position y
4
POSITION_TARGET_TYPEMASK_Z_IGNORE
Ignore position z
8
POSITION_TARGET_TYPEMASK_VX_IGNORE
Ignore velocity x
16
POSITION_TARGET_TYPEMASK_VY_IGNORE
Ignore velocity y
32
POSITION_TARGET_TYPEMASK_VZ_IGNORE
Ignore velocity z
64
POSITION_TARGET_TYPEMASK_AX_IGNORE
Ignore acceleration x
128
POSITION_TARGET_TYPEMASK_AY_IGNORE
Ignore acceleration y
256
POSITION_TARGET_TYPEMASK_AZ_IGNORE
Ignore acceleration z
512
POSITION_TARGET_TYPEMASK_FORCE_SET
Use force instead of acceleration
1024
POSITION_TARGET_TYPEMASK_YAW_IGNORE
Ignore yaw
2048
POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE
Ignore yaw rate




coordinate_frame 为机体坐标系参数
目前设置为两个参数
MAV_FRAME_LOCAL_NED 大地坐标系(NED坐标)
MAV_FRAME_BODY_FRD 机体坐标系(遵循右手定则)

返回command = MAV_CMD_REQUEST_MESSAGE
返回值 param1 84 执行命令id
返回值 param2 0或1 是否执行成功
返回值 param3 失败代码
失败代码列表
0 无异常
1 无法初始化无人机飞行控制
2 获取无人机控制权失败
3 未知坐标系
4 销毁FRU坐标系移动线程失败
5 销毁NED坐标系移动线程失败
6 创建FRU坐标系移动线程失败
7 创建NED坐标系移动线程失败

python测试脚本

import time
from pymavlink import mavutil

timestamp = int(time.time() * 1000)
millis = int(time.time() * 1000)

master = mavutil.mavlink_connection('udpin:0.0.0.0:14550')
master.wait_heartbeat()
boot_time = time.time()


def ready():
    master.mav.command_long_send(
        master.target_system,
        master.target_component,
        mavutil.mavlink.MAV_CMD_NAV_TAKEOFF,
        0,
        0, 0, 0, 0, 0, 0, 0
    )


def fly():
    # test pos mod use ned frame
    print('test pos mod use ned frame')
    master.mav.set_position_target_local_ned_send(
        int(1e3 * (time.time() - boot_time)),  # ms since boot
        master.target_system,
        master.target_component,
        coordinate_frame=mavutil.mavlink.MAV_FRAME_LOCAL_NED,
        type_mask=(
            # mavutil.mavlink.POSITION_TARGET_TYPEMASK_X_IGNORE |
            # mavutil.mavlink.POSITION_TARGET_TYPEMASK_Y_IGNORE |
            # mavutil.mavlink.POSITION_TARGET_TYPEMASK_Z_IGNORE |
            mavutil.mavlink.POSITION_TARGET_TYPEMASK_VX_IGNORE |
            mavutil.mavlink.POSITION_TARGET_TYPEMASK_VY_IGNORE |
            mavutil.mavlink.POSITION_TARGET_TYPEMASK_VZ_IGNORE |
            mavutil.mavlink.POSITION_TARGET_TYPEMASK_AX_IGNORE |
            mavutil.mavlink.POSITION_TARGET_TYPEMASK_AY_IGNORE |
            mavutil.mavlink.POSITION_TARGET_TYPEMASK_AZ_IGNORE |
            mavutil.mavlink.POSITION_TARGET_TYPEMASK_FORCE_SET |
            mavutil.mavlink.POSITION_TARGET_TYPEMASK_YAW_IGNORE |
            mavutil.mavlink.POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE
        ),
        x=10, y=10, z=-10,
        vx=0, vy=0, vz=0,
        afx=0, afy=0, afz=0,
        yaw=0, yaw_rate=0
    )

    # test yaw rate mod
    time.sleep(10)
    print('test yaw rate mod')
    master.mav.set_position_target_local_ned_send(
        int(1e3 * (time.time() - boot_time)),  # ms since boot
        master.target_system,
        master.target_component,
        coordinate_frame=mavutil.mavlink.MAV_FRAME_LOCAL_NED,
        type_mask=(
            mavutil.mavlink.POSITION_TARGET_TYPEMASK_X_IGNORE |
            mavutil.mavlink.POSITION_TARGET_TYPEMASK_Y_IGNORE |
            mavutil.mavlink.POSITION_TARGET_TYPEMASK_Z_IGNORE |
            mavutil.mavlink.POSITION_TARGET_TYPEMASK_VX_IGNORE |
            mavutil.mavlink.POSITION_TARGET_TYPEMASK_VY_IGNORE |
            mavutil.mavlink.POSITION_TARGET_TYPEMASK_VZ_IGNORE |
            mavutil.mavlink.POSITION_TARGET_TYPEMASK_AX_IGNORE |
            mavutil.mavlink.POSITION_TARGET_TYPEMASK_AY_IGNORE |
            mavutil.mavlink.POSITION_TARGET_TYPEMASK_AZ_IGNORE |
            mavutil.mavlink.POSITION_TARGET_TYPEMASK_FORCE_SET |
            mavutil.mavlink.POSITION_TARGET_TYPEMASK_YAW_IGNORE
            # mavutil.mavlink.POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE
        ),
        x=0, y=0, z=0,
        vx=0, vy=0, vz=0,
        afx=0, afy=0, afz=0,
        yaw=0, yaw_rate=90
    )

    # test velocity mod fru mod
    time.sleep(10)
    print('test velocity mod fru mod')
    x = 0
    while x < 200:
        master.mav.set_position_target_local_ned_send(
            int(1e3 * (time.time() - boot_time)),  # ms since boot
            master.target_system,
            master.target_component,
            coordinate_frame=mavutil.mavlink.MAV_FRAME_BODY_FRD,
            type_mask=(
                mavutil.mavlink.POSITION_TARGET_TYPEMASK_X_IGNORE |
                mavutil.mavlink.POSITION_TARGET_TYPEMASK_Y_IGNORE |
                mavutil.mavlink.POSITION_TARGET_TYPEMASK_Z_IGNORE |
                # mavutil.mavlink.POSITION_TARGET_TYPEMASK_VX_IGNORE |
                # mavutil.mavlink.POSITION_TARGET_TYPEMASK_VY_IGNORE |
                # mavutil.mavlink.POSITION_TARGET_TYPEMASK_VZ_IGNORE |
                mavutil.mavlink.POSITION_TARGET_TYPEMASK_AX_IGNORE |
                mavutil.mavlink.POSITION_TARGET_TYPEMASK_AY_IGNORE |
                mavutil.mavlink.POSITION_TARGET_TYPEMASK_AZ_IGNORE |
                mavutil.mavlink.POSITION_TARGET_TYPEMASK_FORCE_SET |
                mavutil.mavlink.POSITION_TARGET_TYPEMASK_YAW_IGNORE |
                mavutil.mavlink.POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE
            ),
            x=0, y=0, z=0,
            vx=5, vy=0, vz=-5,
            afx=0, afy=0, afz=0,
            yaw=0, yaw_rate=0)
        x += 1
        time.sleep(0.25)
        print('----------------' + str(x))

    # test yaw mod
    time.sleep(10)
    print('test yaw mod')
    master.mav.set_position_target_local_ned_send(
        int(1e3 * (time.time() - boot_time)),  # ms since boot
        master.target_system,
        master.target_component,
        coordinate_frame=mavutil.mavlink.MAV_FRAME_LOCAL_NED,
        type_mask=(
            mavutil.mavlink.POSITION_TARGET_TYPEMASK_X_IGNORE |
            mavutil.mavlink.POSITION_TARGET_TYPEMASK_Y_IGNORE |
            mavutil.mavlink.POSITION_TARGET_TYPEMASK_Z_IGNORE |
            mavutil.mavlink.POSITION_TARGET_TYPEMASK_VX_IGNORE |
            mavutil.mavlink.POSITION_TARGET_TYPEMASK_VY_IGNORE |
            mavutil.mavlink.POSITION_TARGET_TYPEMASK_VZ_IGNORE |
            mavutil.mavlink.POSITION_TARGET_TYPEMASK_AX_IGNORE |
            mavutil.mavlink.POSITION_TARGET_TYPEMASK_AY_IGNORE |
            mavutil.mavlink.POSITION_TARGET_TYPEMASK_AZ_IGNORE |
            mavutil.mavlink.POSITION_TARGET_TYPEMASK_FORCE_SET |
            # mavutil.mavlink.POSITION_TARGET_TYPEMASK_YAW_IGNORE |
            mavutil.mavlink.POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE
        ),
        x=0, y=0, z=0,
        vx=0, vy=0, vz=0,
        afx=0, afy=0, afz=0,
        yaw=-110, yaw_rate=0
    )


def land():
    master.mav.command_long_send(
        master.target_system,
        master.target_component,
        mavutil.mavlink.MAV_CMD_NAV_LAND,
        0,
        0, 0, 0, 0, 0, 0, 0
    )


ready()
time.sleep(10)
fly()
time.sleep(10)
land()
作者：bai  创建时间：2024-09-14 16:11
最后编辑：bai  更新时间：2024-12-03 09:16
当不忽略x,y,z时 此命令为位置飞行当不忽略vx,vy,vz时 此命令为速度飞行当不忽略yaw时 此命令为角度设置当不忽略yaw_rate时 此命令为角速率命令