Hi everybody. I am seeking assistance setting up a home position, fake GPS & printing or live updates of altitude information in Ardupilot via Mavros as a total beginner. I’ve been exploring ways to customize my location settings as I am planning to fly my drone indoors without the usage of a GPS along with printing of altitude information, but I’m finding the process quite challenging.
I would greatly appreciate it if someone could guide me through the steps or provide resources that explain the process in a beginner-friendly manner.
Hello @olesia.riman , thank you for your help! I have looked through what you have sent but was still not able to set it up. Its alright, i decided to switch to other modes that does not requires GPS/Home Position.
May i ask for help on automatic take off using MavROS along with hovering after take off? I am not allowed to plan waypoints as i am working on a project to fly my drone through gesture recognition. I have managed to get it armed, but taking off to no avail. I have look through the forums but could not seem to find anything.
This is the code i used:
#!/usr/bin/env python3
import rospy
from mavros_msgs.srv import CommandBool, SetMode
from geometry_msgs.msg import PoseStamped
from mavros_msgs.msg import State
class DroneController:
def init(self):
rospy.init_node(‘drone_controller’, anonymous=True)
self.current_state = State()
self.rate = rospy.Rate(20.0) # 20 Hz update rate
self.local_pos_pub = rospy.Publisher('/mavros/setpoint_position/local', PoseStamped, queue_size=10)
self.state_sub = rospy.Subscriber('/mavros/state', State, self.state_cb)
# Create services
self.arm_service = rospy.ServiceProxy('/mavros/cmd/arming', CommandBool)
self.set_mode_service = rospy.ServiceProxy('/mavros/set_mode', SetMode)
self.hover()
def state_cb(self, msg):
self.current_state = msg
def arm(self):
rospy.loginfo("Arming")
return self.arm_service(True)
def disarm(self):
rospy.loginfo("Disarming")
return self.arm_service(False)
def set_mode(self, mode):
rospy.loginfo(f"Setting mode to {mode}")
return self.set_mode_service(custom_mode=mode)
def hover(self):
self.set_mode("ALT_HOLD") # Change to ALT_HOLD mode for manual control if not already in ALT_HOLD mode
rospy.sleep(2)
# Arm the drone
if not self.current_state.armed:
self.arm()
# Set the initial position to the current position
initial_pose = PoseStamped()
initial_pose.pose.position.z = 0.0 # Start at ground level
for _ in range(100):
self.local_pos_pub.publish(initial_pose)
self.rate.sleep()
# Gradually increase altitude for takeoff
takeoff_pose = PoseStamped()
takeoff_pose.pose.position.z = 2.0 # Set the desired altitude for takeoff
rospy.loginfo("Automatic takeoff initiated...")
for _ in range(100):
self.local_pos_pub.publish(takeoff_pose)
takeoff_pose.pose.position.z += 0.02 # Increase altitude gradually
self.rate.sleep()
# Hover
rospy.loginfo("Hovering in ALT_HOLD mode...")
while not rospy.is_shutdown():
# Adjust altitude or other control parameters as needed
self.local_pos_pub.publish(takeoff_pose)
self.rate.sleep()
I am sure that the issue lies with the code as i have flown the drone manually without any issues. The problem came when i am trying to fly it automatically. Thank you.
