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ArduPilot / MissionPlanner

Mission Planner Ground Control Station for ArduPilot (c# .net)
http://ardupilot.org/planner/
GNU General Public License v3.0
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GCS Link Quality indicator incorrect with MavProxy redundant connection #1440

Open custeve opened 7 years ago

custeve commented 7 years ago

Using MavProxy, I have two links to the same Pixhawk (APM plane 3.7.1): Link 0: USB-->SOCAT (on OpenWRT)-->UDP port 14506 over WiFi Mesh -->MavProxy Link 1: 3dr 915Mhz radio --> MavProxy

Mavproxy command is: mavproxy.py --master=udpin:0.0.0.0:14506 --master=/dev/ttyUSB0 --out=udpbcast:192.168.10.255:14550

Mission Planner (1.3.43) connects using UDP to 14550, and that works fine. These connections work very well individually, the link quality indicator in MP reads accurately. However, when I use it as above, in a redundant configuration, the link quality indicator reads 3% (though it's clear by observing the status tab that the mavlink stream is coming through just fine). It also fails over and re-establishes just fine when either connection is lost.

My guess is that something in the mavlink sequence is different between the merged USB and 3DR connections, causing MP to misjudge the link quality. There is also a possibility the issue is with MavProxy.

meee1 commented 7 years ago

what happens when you connect both to mission planner at the same time? to do this just connect to the first normally, then right click the top menu bar and pick connection options, and connect the second link

meee1 commented 7 years ago

the underlying issue is that mavproxy is multiplexing the 2 streams together. anything received of that stream will show very poor/random sequence id's. MP can handle the streams as 2 separate streams, and will report correctly. I don't really see an answer to this issue as it stands at the moment.

magicrub commented 7 years ago

This question has come up a few times. I wonder if the is a way to detect two intermixed streams?

On Dec 28, 2016 3:25 PM, "Michael Oborne" notifications@github.com wrote:

the underlying issue is that mavproxy is multiplexing the 2 streams together. anything received of that stream will show very poor/random sequence id's. MP can handle the streams as 2 separate streams, and will report correctly. I don't really see an answer to this issue as it stands at the moment.

— You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub https://github.com/ArduPilot/MissionPlanner/issues/1440#issuecomment-269557754, or mute the thread https://github.com/notifications/unsubscribe-auth/AEj7G4MwLNljqLhIXh2cJTyx8kmv-6h5ks5rMu_8gaJpZM4LXJvQ .

custeve commented 7 years ago

Thanks, Michael and Tom.

I was afraid that would be the answer. However, I was under the impression that redundant connections to the vehicle is not a new thing. In the current configuration, MP seems to be working just fine, only the link quality reading seems effected. I can try the dual links directly from MP, but I think we know what to expect. Unfortunately, that’s not a feasible solution for our application. Perhaps a better failover method in MavProxy would appropriate, or writing our own proxy script that accomplishes the same thing. Or other suggestions?

Thanks much,

magicrub commented 7 years ago

How about using different sysid's?

On Dec 28, 2016 3:42 PM, "custeve" notifications@github.com wrote:

Thanks, Michael and Tom.

I was afraid that would be the answer. However, I was under the impression that redundant connections to the vehicle is not a new thing. In the current configuration, MP seems to be working just fine, only the link quality reading seems effected. I can try the dual links directly from MP, but I think we know what to expect. Unfortunately, that’s not a feasible solution for our application. Perhaps a better failover method in MavProxy would appropriate, or writing our own proxy script that accomplishes the same thing. Or other suggestions?

Thanks much,

  • Steve

From: Michael Oborne [mailto:notifications@github.com] Sent: Wednesday, December 28, 2016 4:26 PM To: ArduPilot/MissionPlanner MissionPlanner@noreply.github.com Cc: Steve Borenstein Steve.Borenstein@Colorado.EDU; Author < author@noreply.github.com> Subject: Re: [ArduPilot/MissionPlanner] GCS Link Quality indicator incorrect with MavProxy redundant connection (#1440)

the underlying issue is that mavproxy is multiplexing the 2 streams together. anything received of that stream will show very poor/random sequence id's. MP can handle the streams as 2 separate streams, and will report correctly. I don't really see an answer to this issue as it stands at the moment.

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHubhttps://github.com/ ArduPilot/MissionPlanner/issues/1440#issuecomment-269557754, or mute the threadhttps://github.com/notifications/unsubscribe-auth/ AXqnFIReH5GB607U4VGDm5fgFgUD5HBsks5rMu_-gaJpZM4LXJvQ.

— You are receiving this because you commented. Reply to this email directly, view it on GitHub https://github.com/ArduPilot/MissionPlanner/issues/1440#issuecomment-269559429, or mute the thread https://github.com/notifications/unsubscribe-auth/AEj7G3VDi_0vy5PSSnYoTpj5VwS5ciVOks5rMvPZgaJpZM4LXJvQ .