From 637b582bbb6a170a3720b31b17c90e2aa6512524 Mon Sep 17 00:00:00 2001
From: Kush Makkapati <kush.makkapati@icloud.com>
Date: Sun, 13 Apr 2025 14:49:54 +0100
Subject: [PATCH 1/2] Update reposition function to use set global position int
 command

---
 .../app/controllers/flightModesController.py  |   1 -
 radio/app/controllers/navController.py        |  60 ++++++++++--------
 radio/app/drone.py                            |   2 -
 radio/requirements.txt                        | Bin 3134 -> 3136 bytes
 4 files changed, 35 insertions(+), 28 deletions(-)

diff --git a/radio/app/controllers/flightModesController.py b/radio/app/controllers/flightModesController.py
index 41dc4b37c..1ab678bf6 100644
--- a/radio/app/controllers/flightModesController.py
+++ b/radio/app/controllers/flightModesController.py
@@ -152,7 +152,6 @@ def setCurrentFlightMode(self, flightMode: int) -> Response:
             response = self.drone.master.recv_match(
                 type="COMMAND_ACK", blocking=True, timeout=3
             )
-            print(response)
 
             if commandAccepted(response, mavutil.mavlink.MAV_CMD_DO_SET_MODE):
                 self.drone.is_listening = True
diff --git a/radio/app/controllers/navController.py b/radio/app/controllers/navController.py
index b2f366026..c618d094d 100644
--- a/radio/app/controllers/navController.py
+++ b/radio/app/controllers/navController.py
@@ -194,38 +194,48 @@ def reposition(self, lat: float, lon: float, alt: float) -> Response:
         Returns:
             Response: The response from the reposition command
         """
+        guidedModeSetResult = self.drone.flightModesController.setGuidedMode()
+        if not guidedModeSetResult["success"]:
+            return guidedModeSetResult
+
         self.drone.is_listening = False
 
-        self.drone.sendCommandInt(
-            message=mavutil.mavlink.MAV_CMD_DO_REPOSITION,
-            param2=1,  # Change to Guided mode immediately
-            x=lat,
-            y=lon,
-            z=alt,
+        self.drone.master.mav.set_position_target_global_int_send(
+            0,
+            self.drone.target_system,
+            self.drone.target_component,
+            mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
+            65016,
+            int(lat * 1e7),
+            int(lon * 1e7),
+            alt,
+            0,
+            0,
+            0,
+            0,
+            0,
+            0,
+            0,
+            0,
         )
 
-        try:
-            response = self.drone.master.recv_match(type="COMMAND_ACK", blocking=True)
-            self.drone.is_listening = True
+        self.drone.logger.info(f"Reposition command sent to {lat}, {lon}, {alt}m")
 
-            if commandAccepted(response, mavutil.mavlink.MAV_CMD_DO_REPOSITION):
-                self.drone.logger.info("Reposition command send successfully")
-                return {
-                    "success": True,
-                    "message": "Reposition command sent successfully",
-                    "data": {
-                        "lat": lat,
-                        "lon": lon,
-                        "alt": alt,
-                    },
-                }
-            else:
-                return {
-                    "success": False,
-                    "message": "Could not reposition",
-                }
+        self.drone.is_listening = True
+
+        try:
+            return {
+                "success": True,
+                "message": "Reposition command sent successfully",
+                "data": {
+                    "lat": lat,
+                    "lon": lon,
+                    "alt": alt,
+                },
+            }
         except serial.serialutil.SerialException:
             self.drone.is_listening = True
+            self.drone.logger.error("Reposition command not accepted, serial exception")
             return {
                 "success": False,
                 "message": "Could not reposition, serial exception",
diff --git a/radio/app/drone.py b/radio/app/drone.py
index fbb318bdf..777c321b5 100644
--- a/radio/app/drone.py
+++ b/radio/app/drone.py
@@ -485,8 +485,6 @@ def checkForMessages(self) -> None:
                 elif msg.msgname == "STATUSTEXT":
                     self.logger.info(msg.text)
 
-                # self.logger.debug(msg.msgname)
-
                 if msg.msgname in self.message_listeners:
                     self.message_queue.put([msg.msgname, msg])
 
diff --git a/radio/requirements.txt b/radio/requirements.txt
index 803c0801d8bb121340e4f254af3b3254e1ef4b59..50cbdb97756fd433ffaab62ec9e84c2f4f889d16 100644
GIT binary patch
delta 18
ZcmdldaX@0jCr(yF20aGT&0je^nE*eP1@8a=

delta 16
XcmX>gu}@;dCr)NP2BXd2IX#&GHq`~Y


From acb55952f68f07ab1ed7830c9e1a9c9d8bdd4ca6 Mon Sep 17 00:00:00 2001
From: Kush Makkapati <kush.makkapati@icloud.com>
Date: Sun, 13 Apr 2025 14:53:36 +0100
Subject: [PATCH 2/2] Add comment for bitmask value

---
 radio/app/controllers/navController.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/radio/app/controllers/navController.py b/radio/app/controllers/navController.py
index c618d094d..8a5dcca02 100644
--- a/radio/app/controllers/navController.py
+++ b/radio/app/controllers/navController.py
@@ -205,7 +205,7 @@ def reposition(self, lat: float, lon: float, alt: float) -> Response:
             self.drone.target_system,
             self.drone.target_component,
             mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
-            65016,
+            65016,  # Bitmask to ignore all values except for x, y and z
             int(lat * 1e7),
             int(lon * 1e7),
             alt,