Setting Guided mode and Waypoint by MAVLink

@SalahuddinAsh wrote:

I'm trying to set mode to Guided via MAVLink command but it fails. Following is my code

mavlink_msg_command_long_pack(mavlink_system.sysid, mavlink_system.compid, &msg, targetSysId, targetCompId,	MAV_CMD_DO_SET_MODE, 0, MAV_MODE_GUIDED_ARMED, 0, 0, 0, 0, 	0, 0);
	len = mavlink_msg_to_send_buffer(buf, &msg);

I also tried MAV_MODE_GUIDED_DISARMED but in both cases the result is
Got MAVLink msg: COMMAND_ACK {command : 176, result : 3} which means MAV_MISSION_UNSUPPORTED. How can I fix this?

I'm also trying to fly the drone to a position relative to the current position of the drone, i.e., moving to just one waypoint and not doing a full mission. I tried SET_POSITION_TARGET_LOCAL_NED at the beginning but it didn't work. Then I tried to follow the instructions here and here. Here is my code:

uint16_t targetSysId = 1;
uint16_t targetCompId = 1;

void mavMissionCount(uint8_t count)
{
	mavlink_msg_mission_count_pack(mavlink_system.sysid, mavlink_system.compid, &msg, targetSysId, targetCompId, count);
	len = mavlink_msg_to_send_buffer(buf, &msg);
       //Sending
}

void mavMissionClearAll(void)
{
     mavlink_msg_mission_clear_all_pack(mavlink_system.sysid, mavlink_system.compid, 	&msg, targetSysId, targetCompId);
     len = mavlink_msg_to_send_buffer(buf, &msg);
     //Sending
}

void mavMissionItem(int32_t xNed, int32_t yNed, int32_t zNed)
{
	mavlink_msg_mission_item_pack(mavlink_system.sysid, mavlink_system.compid, &msg, targetSysId, targetCompId, 1, MAV_FRAME_LOCAL_OFFSET_NED, MAV_CMD_NAV_WAYPOINT, 1, 1, 0, 2, 0, NAN, xNed,		yNed, zNed);
        len = mavlink_msg_to_send_buffer(buf, &msg);
        //Sending
}

int main(void)
{
    mavlink_system.sysid = 20;
    mavlink_system.compid = 20;
    ...
    mavMissionClearAll();
    mavMissionCount(1);
    mavReceive();
    //mavMissionItem(5, 0, 0);
    ...
}

But the output on MAVProxy console is
Got MAVLink msg: MISSION_ACK {target_system : 20, target_component : 200, type : 0}
not loading waypoints
Got MAVLink msg: MISSION_ACK {target_system : 1, target_component : 1, type : 0}
APM: Flight plan received
Got MAVLink msg: MISSION_ACK {target_system : 1, target_component : 1, type : 1}

And I receive COMMAND_ACK from MAVProxy and not MISSION_REQUEST.
Also, when I tried to get HEARTBEAT before sending these messages, I didn't receive anything from MAVProxy
How can I fix this?

Many thanks

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