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mavlink / MAVSDK-Java

MAVSDK client for Java.
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Connecting android example to SITL jmavsim #33

Closed Mark718real closed 4 years ago

Mark718real commented 4 years ago

Hello, I am a beginner. I try to run the android example and connect it to the SITL jmavsim. I wrote in "BACKEND_IP_ADDRESS" IP of network and added jmavsim port (4560). App is opened, but "takeoff" button does not work. How to connect to jmavsim correctly?

JonasVautherin commented 4 years ago

There are two ways of doing that:

  1. Run mavsdk_server on the Android phone, and listen to MAVLink messages coming from the (simulated) drone
  2. Run mavsdk_server on the computer, next to SITL, and have the Android phone connect to mavsdk_server

BACKEND_IP_ADDRESS is for the second case. But I believe you want the first one. In the first case, you need to tell jmavsim to send the MAVLink messages to your phone (the usual UDP broadcast will probably not work).

So if I'm right (you're trying 2 above), then you should not change the android-client, but you should point jmavsim to your phone.

An easy way to try that (if you use docker) is to use px4-gazebo-headless. It would just require you to run:

docker run --rm -it jonasvautherin/px4-gazebo-headless:1.10.1 <ip_of_your_phone>

with <ip_of_your_phone> being something like 192.168.1.12

Mark718real commented 4 years ago

Thanks, in px4-gazebo-headless, it works! But I think I should try Jmavsim too.

JonasVautherin commented 4 years ago

That works too, but you need to make jMAVSim send the MAVLink packets to your phone (which px4-gazebo-headless does for you).

Mark718real commented 4 years ago

Hello JonasVautherin I am a little bit confused about connecting to the jMAVSim. Where I should write the port to connect it to the phone?

julianoes commented 4 years ago

@Mark718real check these: https://dev.px4.io/master/en/simulation/#enable-mavbroadcast https://dev.px4.io/master/en/simulation/#modify-configuration-for-external-broadcasting

Mark718real commented 4 years ago

As understood I should set MAV_BROADCAST to 1 and write "mavlink start -t ? I apologize for the misunderstanding

julianoes commented 4 years ago

@Mark718real you can do either one. You can use MAV_BROADCAST to 1 to broadcast to the network and whoever connects to it first will grab it, or you can explicitly set the IP (e.g. in an office with multiple QGCs open potentially connecting!).