返航命令以及取消返航命令

MAV_CMD_NAV_RETURN_TO_LAUNCH 20

param1 0为返航 1为取消返航
返回command = MAV_CMD_REQUEST_MESSAGE
返回值 param1 20 执行命令id
返回值 param2 0或1 是否执行成功
返回值 param3 失败代码
失败代码列表
0 无异常
1 无法初始化无人机飞行控制
2 返航失败
3 取消返航失败

python测试脚本

import time
from pymavlink import mavutil

timestamp = int(time.time() * 1000)
millis = int(time.time() * 1000)

master = mavutil.mavlink_connection('udpin:0.0.0.0:14550')
master.wait_heartbeat()
boot_time = time.time()

def return_to_base(cancleReturn):
    master.mav.command_long_send(
        master.target_system,
        master.target_component,
        mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH,
        0,
        cancleReturn, 0, 0, 0, 0, 0, 0
    )

return_to_base(0)
time.sleep(10)
return_to_base(1)
while True:
    msg = master.recv_match()
    if not msg:
        continue
    if msg.get_type() == 'COMMAND_LONG':
        print("\n\n*****Got message: %s*****" % msg.get_type())
        print("Message: %s" % msg)
        print("\nAs dictionary: %s" % msg.to_dict())