goto_location results in the aircraft descending to 0m alt and crashing

I have tried the following multiple times, with varying altitudes and airframes (Iris and Plane). However each time this is called, the UAV seemingly just descends until it lands.

#!/usr/bin/env python3

import asyncio
from mavsdk import System, mission_raw

async def run():
    drone = System()
    await drone.connect(system_address="udp://:14540")

    print("Waiting for drone to connect...")
    async for state in drone.core.connection_state():
        if state.is_connected:
            print(f"Drone discovered with UUID: {state.uuid}")
            break
    
    await drone.action.goto_location(55.8688660,-4.2851267,40,0)

if __name__ == "__main__":
    loop = asyncio.get_event_loop()
    loop.run_until_complete(run())

System:

• Ubuntu 18.04 LTS
• Gazebo 9
• PX4 master

[julianoes]

Ok, good point @hamishwillee and @iwishiwasaneagle. In this case it I would suggest goto_location_home_relative_altitude 😃.

[JonasVautherin]

If it’s just a matter of preferences, I like 1 better 😇:

1. goto_location_absolute_altitude() and goto_location_relative_altitude()

EDIT: but then, how does “home” and “terrain” go in there?

One object-oriented way I could imagine would be to do:

goto_location(double lat, double lng, Altitude alt);

With Altitude being an abstract class, so you would have to instantiate one of AltitudeAboveTerrain, AltitudeAboveHome, AltitudeAboveSeaLevel or something like that. But we can’t generate that kind of stuff from our proto files, and I don’t know if that would generalize well to all languages 🤔…