Connect a jetson nano with pixhawk using dronekit

[irvinmarceloc]

Hello everyone, I am trying to connect a jetson nano with pixhawk using dronekit, the fact is that when I use the USB connection the program that I paste below indicates that the vehicle is unarmed when from the Mission Planner it appears that everything is in order, and when I do it by the UART protocol gets the following error.

jetbot@nano-4gb-jp45:~/repos/pidronescripts/dk/rover$ sudo python3 rover_velocity_based_movement.py --connect /dev/ttyTHS1 
WARNING:dronekit:Link timeout, no heartbeat in last 5 seconds
ERROR:dronekit.mavlink:Exception in MAVLink input loop
Traceback (most recent call last):
  File "/home/jetbot/.local/lib/python3.6/site-packages/dronekit/mavlink.py", line 211, in mavlink_thread_in
    fn(self)
  File "/home/jetbot/.local/lib/python3.6/site-packages/dronekit/_init_.py", line 1371, in listener
    self._heartbeat_error)
dronekit.APIException: No heartbeat in 30 seconds, aborting.
Traceback (most recent call last):
  File "rover_velocity_based_movement.py", line 105, in <module>
    vehicle = connectMyCopter()
  File "rover_velocity_based_movement.py", line 21, in connectMyCopter
    vehicle = connect(connection_string,baud=57600,wait_ready=True)
  File "/home/jetbot/.local/lib/python3.6/site-packages/dronekit/_init_.py", line 3166, in connect
    vehicle.initialize(rate=rate, heartbeat_timeout=heartbeat_timeout)
  File "/home/jetbot/.local/lib/python3.6/site-packages/dronekit/_init_.py", line 2275, in initialize
    raise APIException('Timeout in initializing connection.')
dronekit.APIException: Timeout in initializing connection.

For me it is something with the dronekit or the code that I am using. Could you help me how to solve this problem. Thanks greetings.

The python code used is the following

##########DEPENDENCIES#############
from dronekit import connect, VehicleMode,LocationGlobalRelative,APIException
import time
import socket
import exceptions
import math
import argparse
from pymavlink import mavutil

#########FUNCTIONS#################

def connectMyCopter():

    parser = argparse.ArgumentParser(description='commands')
    parser.add_argument('--connect')
    args = parser.parse_args()

    connection_string = args.connect
    vehicle = connect(connection_string,baud=57600,wait_ready=True)

    return vehicle

def arm():
    while vehicle.is_armable!=True:
        print("Waiting for vehicle to become armable.")
        time.sleep(1)
    print("Vehicle is now armable")

    vehicle.mode = VehicleMode("GUIDED")

    while vehicle.mode!='GUIDED':
        print("Waiting for drone to enter GUIDED flight mode")
        time.sleep(1)
    print("Vehicle now in GUIDED MODE. Have fun!!")

    vehicle.armed = True
    while vehicle.armed==False:
        print("Waiting for vehicle to become armed.")
        time.sleep(1)
    print("Vehicle is now armed.")

    return None

##Send a velocity command with +x being the heading of the drone.
def send_local_ned_velocity(vx, vy, vz):
    msg = vehicle.message_factory.set_position_target_local_ned_encode(
        0,
        0, 0,
        mavutil.mavlink.MAV_FRAME_BODY_OFFSET_NED,
        0b0000111111000111,
        0, 0, 0,
        vx, vy, vz,
        0, 0, 0,
        0, 0)
    vehicle.send_mavlink(msg)
    vehicle.flush()

def reverse(direction):
    # create the CONDITION_YAW command using command_long_encode()
    msg = vehicle.message_factory.command_long_encode(
        0, 0, # target system, target component
        mavutil.mavlink.MAV_CMD_DO_SET_REVERSE, #command
        0, #confirmation
        direction, #Param 1, 0 for forward 1 for backward.
        0,  #Param 2, yaw speed deg/s
        0, #Param 3, Direction -1 ccw, 1 cw
        0, # Param 4, relative offset 1, absolute angle 0
        0,0, 0) # Param 5-7 not used
    vehicle.send_mavlink(msg)
    vehicle.flush()

##Send a velocity command with +x being the heading of the drone.
def send_global_ned_velocity(vx, vy, vz):
    msg = vehicle.message_factory.set_position_target_local_ned_encode(
        0, # time_boot_ms (not used)
        0, 0, # target system, target component
        mavutil.mavlink.MAV_FRAME_LOCAL_NED, #frame
        0b0000111111000111, #type_mask (only speeds enabled)
        0, 0, 0, # x, y, z positions (not used)
        vx, vy, vz, # x, y, z velocity in m/s
        0, 0, 0, #x, y, z acceleration (not supported yet, ignored in GCS_Mavlink)
        0, 0) #yaw, yaw_rate (not supported yet, ignored in GCS_Mavlink)
    vehicle.send_mavlink(msg)
    vehicle.flush()

def backup(): ##rough function to easily reverse without needing to use a GPS navigation based movement
    vehicle.mode = VehicleMode("MANUAL")
    while vehicle.mode!='MANUAL':
        print("Waiting for drone to enter MANUAL flight mode")
        time.sleep(1)
    vehicle.channels.overrides = {'2':1400}
    time.sleep(1)
    vehicle.channels.overrides = {'2':1500}

    vehicle.mode = VehicleMode("GUIDED")
    while vehicle.mode!='GUIDED':
        print("Waiting for drone to enter GUIDED flight mode")
        time.sleep(1)

##########MAIN EXECUTABLE###########

vehicle = connectMyCopter()

arm()

counter=0
while counter < 5:
        send_local_ned_velocity(1,0,0) 
        print("Moving forward at 1 m/s with local NED")
        time.sleep(1)
        counter = counter + 1

counter=0
while counter < 5:
        send_local_ned_velocity(1,1,0)
        print("Turning to the right")
        time.sleep(2)
        send_local_ned_velocity(1,-1,0)
        print("Turning to the left")
        counter = counter + 1

counter=0
while counter < 5:
        send_global_ned_velocity(1,0,0)
        print("Moving TRUE NORTH")
        time.sleep(3)
        send_global_ned_velocity(-1,0,0)
        print("MOVING TRUE SOUTH")
        time.sleep(3)
        send_global_ned_velocity(0,1,0)
        print("MOVING TRUE EAST")
        time.sleep(3)
        send_global_ned_velocity(0,-1,0)
        print("MOVING TRUE WEST")
        time.sleep(3)
        counter=5

The wiring diagram is this (It's a Jetson nano instead of rasberry)

[Navron4500]

@irvinmarceloc Do you found any solutions please share?