FlytSim Yaw parameter in SetWaypoint

#1

Hello @srv-admin @Dhirajd , I’m asking for help because i’m trying to make a mission in the FlytSim. I would like to propose a flight like on the picture. What I need the YAW parameter for, is that the drone should keep pointing towards the B point all the time, while flying on the path.
mission
I need to set the parameter YAW - it should be set in degrees but I dont know why it doesn’t work. I tried to set it with python code and also directly in the GCS. Here is my code.

My first try was using another method - the “Global Position Setpoint” and there the yaw parameter worked correctly, but i need to
set other parameters like in the “Set Waypoints”. Please, can you tell me where is the mistake? Thank you very much.

import time
from flyt_python import api

drone = api.navigation(timeout=120000) # instance of flyt droneigation class

#. at least 3sec sleep time for the drone interface to initialize properly
time.sleep(3)

wp3 = [{‘frame’: 3,
‘command’: 16,
‘is_current’: True,
‘autocontinue’: False,
‘param1’: 5,
‘param2’: 5,
‘param3’: 5,
‘param4’: 5,
‘x_lat’: 37.4296725,
‘y_long’: -122.083047,
‘z_alt’: 10
},
{‘frame’: 3,
‘command’: 16,
‘is_current’: False,
‘autocontinue’: False,
‘param1’: 0,
‘param2’: 0,
‘param3’: 0,
‘param4’: 55,
‘x_lat’: 37.42960865,
‘y_long’: -122.08383,
‘z_alt’: 10
},
{‘frame’: 3,
‘command’: 16,
‘is_current’: False,
‘autocontinue’: False,
‘param1’: 0,
‘param2’: 0,
‘param3’: 0,
‘param4’: 5,
‘x_lat’: 37.4290271,
‘y_long’: -122.0837903,
‘z_alt’: 10
}]

#. set list of current waypoints
drone.waypoint_set(wp3)

print ‘Land’
drone.disconnect()