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mavlink / MAVSDK-Python

MAVSDK client for Python.
https://mavsdk.mavlink.io
BSD 3-Clause "New" or "Revised" License
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MAVSDK-Python goto_location function not working #304

Closed nugustmd closed 3 years ago

nugustmd commented 3 years ago

I'm using pixhawk 4 (firmware version: 1.11.3), and I'm running Hexarotor x expectation.

MAVSDK-Pyhon goto_location function does not work on real drone.

But the PX4 for gazebo simulation works fine.

Is there any way to solve it?

julianoes commented 3 years ago

Do you see any error message, maybe in QGroundControl? Can you try goto in QGroundControl by pressing somewhere in the map?

Do you have a logfile of a flight where you try it?

nugustmd commented 3 years ago

I don't get any errors in QGroundControl.

Goto works fine in QGroundContol (click anywhere on the map).

But it doesn't work for code written by MAVSDK-Python.

We upload log files and code files.

Thank you.

MAVSDK-PYTHON.zip

Additionally I downgrade to v1.11.0 to match the PX4 simulation and firmware version, but the function is not working the same.

julianoes commented 3 years ago

@nugustmd would you mind uploading the log to logs.px4.io and then share the link here? That's easiest.

JonasVautherin commented 3 years ago

FYI: Just tried from MAVSDK-Python using mavsdk_server v0.36.0 against SITL, and goto_location() works

nugustmd commented 3 years ago

@julianoes Log file when running goto in QGroundControl: https://logs.px4.io/plot_app?log=7838d87d-9a2e-46ec-a6e4-08af387005cc

The actual drone didn't listen to the command, so I couldn't log.

nugustmd commented 3 years ago

@JonasVautherin In SITL(GAZEBO) goto_location works fine.

But even sending commands(goto_location) to the real UAV(Hexarotor x) doesn't work.

There were no specific errors.

I am using MAVSDK VERSION 0.35.1.

If the time is okay, can you check my MAVSDK_python code once?

Thank you.

julianoes commented 3 years ago

Do you actually get a connection to the real drone? Do you see telemetry information, etc.?

JonasVautherin commented 3 years ago

If the time is okay, can you check my MAVSDK_python code once?

If it works with SITL, then the code should be fine. The only thing that could be wrong would be the setup, i.e. the lines that look like:

drone = System(something)
await drone.connect(something)

Could you paste here those lines? Would be more convenient than having to download an archive :see_no_evil:

nugustmd commented 3 years ago

@julianoes

It uses radio telemetry to connect with real drones.

The mavsdk server is running by writing the following command.

cmd command: ~/MAVSDK-Python/mavsdk/bin/./mavsdk_server -p 50050 serial:///dev/ttyUSB0:57600

If you use it as above, will it be a problem when using MAVSDK?

Reference ----------------------------------------------------------------------------------------------------------------------------

  1. ~/MAVSDK-Python/mavsdk/bin/./mavsdk_server -p 50050 serial:///dev/ttyUSB0:57600
  2. drone_1 = System(mavsdk_server_address="localhost", port=50050) await drone_1.connect()

1 = Server running 2 = Server connection

nugustmd commented 3 years ago

@JonasVautherin

MAVSDK server operation is operated by code 1 and server connection is operated by code 2.

  1. ~/MAVSDK-Python/mavsdk/bin/./mavsdk_server -p 50050 serial:///dev/ttyUSB0:57600
  2. drone_1 = System(mavsdk_server_address="localhost", port=50050) await drone_1.connect()

For both simulation and real drones, the server connection code is the same as code 2.

The simulation runs by connecting via UDP, but the real drone receives serial and makes it into a server before connecting. Will this be a problem?

JonasVautherin commented 3 years ago

Ok, that seems fine. Now what's the mavsdk_server output? Does it say that it detects the drone? Can you copy the log here?

nugustmd commented 3 years ago

@JonasVautherin 

lhs@lhs-ThinkPad-T480s:~$ sudo ~/MAVSDK-Python/mavsdk/bin/./mavsdk_server -p 50050 serial:///dev/ttyUSB-drone1:57600
[09:43:50|Info ] MAVSDK version: v0.35.1 (mavsdk_impl.cpp:21)
[09:43:50|Debug] New: System ID: 0 Comp ID: 0 (mavsdk_impl.cpp:418)
[09:43:50|Info ] Server started (grpc_server.cpp:45)
[09:43:50|Info ] Server set to listen on 0.0.0.0:50050 (grpc_server.cpp:46)
[09:43:50|Info ] Waiting to discover system on serial:///dev/ttyUSB-drone1:57600... (connection_initiator.h:21)
[09:43:50|Debug] Component Autopilot (1) added. (system_impl.cpp:324)
[09:43:51|Debug] Discovered 1 component(s) (UUID: 3762846554330968882) (system_impl.cpp:481)
[09:43:51|Info ] System discovered (connection_initiator.h:57)
[09:43:51|Debug] New: System ID: 51 Comp ID: 68 (mavsdk_impl.cpp:418)
[09:43:51|Debug] Component Unsupported component (68) added. (system_impl.cpp:324)
[09:43:51|Warn ] command denied (512). (mavlink_commands.cpp:166)
[09:43:52|Debug] Falling back to gimbal protocol v1 (mission_impl.cpp:130)
[09:43:52|Debug] Falling back to Gimbal Version 1 (gimbal_impl.cpp:58)
[09:43:52|Warn ] command denied (512). (mavlink_commands.cpp:166)
[09:44:45|Debug] MAVLink: critical: CAUTION: Avionics Power low:   4.60 Volt (system_impl.cpp:230)
[09:44:46|Debug] MAVLink: warning: Preflight: GPS Horizontal Pos Drift too high (system_impl.cpp:230)
[09:44:46|Debug] MAVLink: info: Armed by external command (system_impl.cpp:230)
[09:44:46|Debug] MAVLink: info: [logger] /fs/microsd/log/2021-02-16/00_44_45.ulg (system_impl.cpp:230)
[09:44:48|Debug] MAVLink: info: Using minimum takeoff altitude: 30.00 m (system_impl.cpp:230)
[09:44:48|Debug] MAVLink: info: Takeoff detected (system_impl.cpp:230)
---------------------------------------------------------------------------------------------------------------

command denied (512). (mavlink_commands.cpp:166) <- Could this warning be a problem? Is there a solution?

julianoes commented 3 years ago

command denied (512)

This just means that some messages could not be requested. It should not concern you. What should concern you is:

[09:44:45|Debug] MAVLink: critical: CAUTION: Avionics Power low: 4.60 Volt (system_impl.cpp:230) [09:44:46|Debug] MAVLink: warning: Preflight: GPS Horizontal Pos Drift too high (system_impl.cpp:230)

nugustmd commented 3 years ago

After changing to mavlink-router and changing the connection command as follows, it worked normally.

drone_1 = System() await drone_1.connect(system_address="udp://127.0.0.1:14540")

-------------- Add function (before take off) --------------------- print("Fetching amsl altitude at home location....") async for terrain_info in drone_1.telemetry.home(): absolute_altitude = terrain_info.absolute_altitude_m break

Thanks for your help.