gistfile1.txt

#!/usr/bin/env python

from pymavlink import mavutil
import time
import sys

radio_port = '/dev/ttyUSB2'
radio_baud = 57600

master = mavutil.mavserial(radio_port, radio_baud)
# for ground control
gcs = mavutil.mavudp('127.0.0.1:16789', input=False)

# Heartbeat
master.wait_heartbeat()
print("Heartbeat from system (system %u component %u)" % (master.target_system, master.target_system))

# Choose a mode
mode = 'OFFBOARD'

# Check if mode is available
if mode not in master.mode_mapping():
    print('Unknown mode : {}'.format(mode))
    print('Try:', list(master.mode_mapping().keys()))
    sys.exit(1)

# Get mode ID
mode_id = master.mode_mapping()[mode]
print('mode_id', mode_id)

# Set new mode
# master.mav.command_long_send(
#    master.target_system, master.target_component,
#    mavutil.mavlink.MAV_CMD_DO_SET_MODE, 0,
#    0, mode_id, 0, 0, 0, 0, 0) or:
# master.set_mode(mode_id) or:
master.mav.set_mode_send(
    master.target_system,
    mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED,
    mode_id)

while True:
    # Wait for ACK command
    ack_msg = master.recv_match(type='COMMAND_ACK', blocking=True)
    ack_msg = ack_msg.to_dict()

    # Check if command in the same in `set_mode`
    if ack_msg['command'] != mavutil.mavlink.MAVLINK_MSG_ID_SET_MODE:
        continue

    # Print the ACK result !
    print(mavutil.mavlink.enums['MAV_RESULT'][ack_msg['result']].description)
    break



-------------------------------ERROR-------------------------------------------------------
Heartbeat from system (system 1 component 1)
('mode_id', (29, 6, 0))
Traceback (most recent call last):
  File "test.py", line 40, in <module>
    mode_id)
  File "/home/.local/lib/python2.7/site-packages/pymavlink/dialects/v20/ardupilotmega.py", line 16131, in set_mode_send
    return self.send(self.set_mode_encode(target_system, base_mode, custom_mode), force_mavlink1=force_mavlink1)
  File "/home/.local/lib/python2.7/site-packages/pymavlink/dialects/v20/ardupilotmega.py", line 13783, in send
    buf = mavmsg.pack(self, force_mavlink1=force_mavlink1)
  File "/home/.local/lib/python2.7/site-packages/pymavlink/dialects/v20/ardupilotmega.py", line 7656, in pack
    return MAVLink_message.pack(self, mav, 89, struct.pack('<IBB', self.custom_mode, self.target_system, self.base_mode), force_mavlink1=force_mavlink1)
struct.error: cannot convert argument to integer
-------------------------------ERROR-------------------------------------------------------