public static void GuidedPosition(double lat, double lng, double alt)
{
//const int MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE = ((1 << 0) | (1 << 1) | (1 << 2));
const int MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE = ((1 << 3) | (1 << 4) | (1 << 5));
const int MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE = ((1 << 6) | (1 << 7) | (1 << 8));
MAVLink.mavlink_set_position_target_global_int_t cmd = new MAVLink.mavlink_set_position_target_global_int_t();
// cmd.target_system = sysID;
// cmd.target_component = compID;
cmd.target_system = 0;
cmd.target_component = 1;
cmd.coordinate_frame = 5; // MAV_FRAME_GLOBAL_INT
// Use only speed
cmd.type_mask = MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE | MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE;
cmd.lat_int = (int)(lat * 10000000);
cmd.lon_int = (int)(lng * 10000000);
cmd.alt = (float)alt;
byte[] commandBytes = mavlink.GenerateMAVLinkPacket(MAVLink.MAVLINK_MSG_ID.SET_POSITION_TARGET_GLOBAL_INT, cmd);
SendPacket(commandBytes);
}
// Set velocity, in m/s
private static void SetVelocity(double vx, double vy, double vz)
{
const int MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE = ((1 << 0) | (1 << 1) | (1 << 2));
// const int MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE = ((1<<3) | (1<<4) | (1<<5));
const int MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE = ((1 << 6) | (1 << 7) | (1 << 8));
MAVLink.mavlink_set_position_target_global_int_t cmd = new MAVLink.mavlink_set_position_target_global_int_t();
// cmd.target_system = sysID;
// cmd.target_component = compID;
cmd.target_system = 1;
cmd.target_component = 0;
cmd.coordinate_frame = 5; // MAV_FRAME_GLOBAL_INT
// Use only speed
cmd.type_mask = MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE | MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE;
cmd.vx = (float)vx;
cmd.vy = (float)vy;
cmd.vz = (float)vz;
byte[] commandBytes = mavlink.GenerateMAVLinkPacket(MAVLink.MAVLINK_MSG_ID.SET_POSITION_TARGET_GLOBAL_INT, cmd);
SendPacket(commandBytes);
}
