Copter: Changing YAW while in LOITER


My client has a UAV with a camera that only tilts up and down; while executing a mission they’d like to be able to change to LOITER mode and change the YAW angle to pan the camera via ground station control. Can this be done with the MANUAL_CONTROL command? I’ve tried with both SITL and the client’s drone, but both seem to ignore the MANUAL_CONTROL commands. I’m sending MANUAL_CONTROL (x=0, y=0, z=0, r=, buttons=0, target=1 (AUTOPILOT1)).


How are you sending this command? What are you using for ‘r’, the yaw parameter? So you want to go to a pre-determined waypoint and do a pan? Have you looked at other mavlink commands, eg, MAV_CMD_NAV_LOITER_TURNS, SET_POSITION_TARGET_LOCAL_NED? Or tried with dronekit?