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ArduPilot / MAVProxy

MAVLink proxy and command line ground station
GNU General Public License v3.0
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PingRX ADS-B causes MAVProxy to lose flight mode mapping #598

Open RickReeser opened 5 years ago

RickReeser commented 5 years ago

Making an issue from this discuss post: https://discuss.ardupilot.org/t/pingrx-spamming-mavlink/38472/8?u=anubis

Basically, when I have a PingRX plugged in and ADSB_ENABLED = 1, MAVProxy doesn't know what flight modes are available. I get these errors when trying to change or list flight modes:

LOITER> loiter
LOITER> ERROR in command: argument of type 'NoneType' is not iterable
Unknown command 'loiter'
LOITER> mode
LOITER> No mode mapping available

My guess is that the Ping's heartbeats are being handled as flight controller heartbeats, and fails to get a flight mode list because the MAV_AUTOPILOT parameter (or whichever is used to determine available flight modes) is 0. I suppose Mavproxy should be able to discriminate heartbeats based on their component ID or type.

Peter Barker added a provision to pymavutil to do this, but I'm still experiencing flight mode problems after applying this fix.

peterbarker commented 5 years ago

On Thu, 28 Feb 2019, RickReeser wrote:

Which pymavlink are you using?

RickReeser commented 5 years ago 
pip list | grep -i mav
pymavlink (2.3.4)
MAVProxy (1.8.5)

Also have your pymavutil PR.

peterbarker commented 5 years ago

Could you supply a short tlog, please?

RickReeser commented 5 years ago

2019-03-19 12-18-49.tlog.zip

Here's a tlog. It's not a .zip, just remove the .zip extension. It's just a bare Pixhawk 2 with a GPS and ADS-B on my bench. Let me know if that's enough.

RickReeser commented 5 years ago

Just encountered another symptom. I flew the drone with the Ping plugged into my Pixhawk, but with ADSB_ENABLE = 0, which caused the mode errors to disappear. However, as soon as the drone armed, Mavproxy spammed these messages repeatedly, at about 1 Hz:

DISARMED                                                                        |
ARMED                                                                           |
Arming checks disabled                                                          |
DISARMED                                                                        |
ARMED                                                                           |
Arming checks disabled                                                          |
DISARMED                                                                        |
height 0                                                                        |
ARMED                                                                           |
Arming checks disabled                                                          |
DISARMED                                                                        |
ARMED                                                                           |
Arming checks disabled                                                          |
DISARMED                                                                        |
ARMED                                                                           |
Arming checks disabled

The messages stopped as soon as the drone disarmed. I assume this is just another symptom of the same problem, but maybe it will be helpful.