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PX4 / PX4-Avoidance

PX4 avoidance ROS node for obstacle detection and avoidance.
http://px4.io
BSD 3-Clause "New" or "Revised" License
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[Local Planner] Avoidance system not ready #568

Open SwiftGust opened 4 years ago

SwiftGust commented 4 years ago

Describe the bug A clear and concise description of what the bug is. With current master of avoidance, Firmware cannot able to arm even mavros/companion_status/status message is updated well as state = 4 (MAV_STATE_ACTIVE) component = 196 (MAV_COMP_ID_OBSTACLE_AVOIDANCE)

Firmware - built 02.18 mavlink-gbp-release(https://github.com/mavlink/mavlink-gbp-release/tree/upstream/2020.2.2

To Reproduce Steps to reproduce the behavior:

  1. Drone switched on
  2. Set parameter COM_OBS_AVOID = 1 & reboot
  3. Try to arm
  4. Prearm check fails with Avoidance system not ready

Expected behavior Vehicle should be able to arm without error

Log Files and Screenshots Always provide a link to the flight log file: TBA

Jaeyoung-Lim commented 4 years ago

@SwiftGust Which firmware version are you running?

It also looks like you are not sending the onboard computer status message status field

SwiftGust commented 4 years ago

@Jaeyoung-Lim No problem found in Firmware, issue found in mavros. The problem is found from the Firmware is the mavros was not setting system id set in CompanionProcessStatus Plugin.

The vehicle i was using was set to sys_id =11 (PX4) but heartbeat generated form CompanionProcessStatus plugins found to be set to 1 and the Firmware checks system id coming in except it is GCS heartbeat.

Jaeyoung-Lim commented 4 years ago

@SwiftGust How did you solve the problem?

SwiftGust commented 4 years ago

Since heartbeat mavlink message definition does not have system_id field, just set to vehicle sys_id to 1 for the quick fix. https://mavlink.io/en/messages/common.html#HEARTBEAT

Did not test using mavros hidden system_id parameter yet https://github.com/mavlink/mavros/blob/dcef73674718a80202d68336cb0aa6e88142a71d/mavros/src/lib/mavros.cpp#L56 & https://github.com/mavlink/c_library_v2/blob/e8bdbcfbacccd79fc678f5c6755c8fb680021199/common/mavlink_msg_heartbeat.h#L92