mavlink
Running precision landing on the FCU with landing target plugin doesn't seem to be working
Hi all,
I am working on a precision landing problem where I have a custom vision node (aruco_detect) that runs on the companion computer (Ubuntu 16.04, ROS Kinetic) and passes the pose estimation to the landing_target.cpp plugin. The message type that I'm using is PoseStamped (geometry_msgs::PoseStamped) msg. I added a few print statements into landing_target.cpp and captured a snapshot of the data that the plugin is receiving.
When I'm testing, the drone arms, switches to the GUIDED mode, and takes off to 3m, then it flies over the aruco marker. I monitor the output of the vision node and when it starts publishing the pose estimation (a marker is being detected), the drone switches to the land mode and lands. I expect the drone to follow the landing target that is set while it's descending, which doesn't appear to be the case. It looks like it doesn't take corrective actions and instead it lands where it is.
MAVROS version and platform
Mavros: ?0.18.4? ROS: Kinetic Ubuntu: 16.04
Autopilot type and version
[ x ] ArduPilot [ ] PX4
Version: 3.6.11
Hello @canberkgurel Are you using AUTO.PRECLAND mode in ardupilot? This may help : https://docs.px4.io/v1.9.0/en/advanced_features/precland.html#software-configuration-parameters
@aydal We are using the APM software stack and in that the mode for precision landing is "land"(after setting the proper precland enable params).
@canberkgurel @khabbab-nazar @m1baldwin Were you able to see the messages in MAVlink inspector?
@DoneMan No, not at the time. We'll re-attempt soon with more recent mavros, mavlink, and PX4-Autopilot versions.
