mavros_examples.waypoint_mission_manager module

class mavros_examples.waypoint_mission_manager.WaypointMissionManager(*args: Any, **kwargs: Any)

Bases: Node

Manager node.

clear_waypoints() → bool

Clear all waypoints from the flight controller.

Returns:

True if successful, False otherwise

create_sample_mission(home_lat: float = -35.363262, home_lon: float = 149.165237, home_alt: float = 2.0) → List[mavros_msgs.msg.Waypoint]

Create a sample square mission with takeoff and landing.

Parameters:

• home_lat – Home latitude

• home_lon – Home longitude

• home_alt – Home altitude

Returns:

List of waypoints

create_waypoint(lat: float, lon: float, alt: float, frame: int = 0, command: int = 16, is_current: bool = False, autocontinue: bool = True, param1: float = 0.0, param2: float = 0.0, param3: float = 0.0, param4: float = 0.0) → mavros_msgs.msg.Waypoint

Create a MAVLink waypoint.

Parameters:

• lat – Latitude in degrees

• lon – Longitude in degrees

• alt – Altitude in meters

• frame – MAVLink frame (0=GLOBAL, 3=GLOBAL_RELATIVE_ALT, etc.)

• command – MAVLink command (16=WAYPOINT, 22=TAKEOFF, 21=LAND, etc.)

• is_current – Whether this is the current waypoint

• autocontinue – Auto-continue to next waypoint

• param1-4 – Command-specific parameters

Returns:

Waypoint message

static get_command_name(command: int) → str

Convert MAVLink command number to name.

static get_frame_name(frame: int) → str

Convert MAVLink frame number to name.

print_waypoint_info(waypoints: List[mavros_msgs.msg.Waypoint])

Print information about waypoints.

pull_waypoints() → List[mavros_msgs.msg.Waypoint] | None

Download waypoints from the flight controller.

Returns:

List of waypoints or None if failed

push_waypoints(waypoints: List[mavros_msgs.msg.Waypoint]) → bool

Upload waypoints to the flight controller.

Parameters:

waypoints – List of Waypoint messages

Returns:

True if successful, False otherwise

set_current_waypoint(wp_seq: int) → bool

Set the current active waypoint.

Parameters:

wp_seq – Waypoint sequence number to set as current

Returns:

True if successful, False otherwise

set_mode(mode: str = 'AUTO') → bool

Set the flight mode.

Parameters:

mode – Flight mode string (e.g., ‘AUTO’, ‘GUIDED’, ‘STABILIZE’, ‘LOITER’)

Returns:

True if successful, False otherwise

wait_for_services()

Wait for all MAVROS services to become available.

waypoint_reached_callback(msg: mavros_msgs.msg.WaypointReached)

waypoints_callback(msg: mavros_msgs.msg.WaypointList)

mavros_examples.waypoint_mission_manager.main(args=None)