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Dennis AVR 2023 Waypoint Mission Test
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| # Launch AVR Sim | |
| root@ubuntu:~/AVR-2022/VMC# ./start.py -s -l run simulator mqtt fcm web | |
| # Publish to FCM topic on MQTT Broker | |
| avr/fcm/actions | |
| # Absolute | |
| {"action":"upload_mission","payload":{"waypoints":[{"type":"takeoff", "lat": 32.8085506, "lon": -97.1563441, "alt": 3},{"type":"goto","lat":32.8085769115908,"lon":-97.15634413537362,"alt":2},{"type":"goto","lat":32.808576911586705,"lon":-97.15631207121733,"alt":2},{"type":"goto","lat":32.80854996212819,"lon":-97.15631207121733,"alt":2},{"type":"goto","lat":32.80854996212411,"lon":-97.15634413536391,"alt":2},{"type":"land", "lat":32.80854996212411,"lon":-97.15634413536391, "alt": 0}]}} | |
| # Relative | |
| {"action":"upload_mission","payload":{"waypoints":[{"type":"takeoff", "alt": 3},{"type":"goto", "n": 5, "e": 0, "d": -3},{"type":"goto", "n": 5, "e": 5, "d": -3},{"type":"goto", "n": 0, "e": 5, "d": -3},{"type":"goto", "n": 0, "e": 0, "d": -3}{"type":"land"}]}} | |
| # Local (WIP) | |
| { | |
| "action": "takeoff", | |
| "payload": {"alt": 3} | |
| } | |
| # Forward | |
| { | |
| "action": "goto_location_ned", | |
| "payload": {"n": 5, "e": 0, "d": -3, "heading": 0} | |
| } | |
| # Front Right | |
| { | |
| "action": "goto_location_ned", | |
| "payload": {"n": 5, "e": 5, "d": -3, "heading": 0} | |
| } | |
| { | |
| "action": "goto_location_ned", | |
| "payload": {"n": 0, "e": 5, "d": -3, "heading": 0} | |
| } | |
| { | |
| "action": "goto_location_ned", | |
| "payload": {"n": 0, "e": 0, "d": -3, "heading": 0} | |
| } | |
| { | |
| "action": "land", | |
| "payload": {} | |
| } |
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