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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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Error cannot run examples #451

Closed huytd-pi closed 2 years ago

huytd-pi commented 2 years ago

I make run the examples of python mavsdk some examples like takeoff_and_land.py, telemetry.py, telemtry_flightmode.py ... are examples that can be run normally But examples like offboard*.py, maual_control.py, follow_me_example.py .. can't execute, drone in simulator only does arm, takeoff, land, in terminal only shows printout messages, do not execute set_attitude, set_velocity_ned ...

huytd@huytd-HP:~/Project/Drone/MAVSDK/MAVSDK-Python/examples$ python3 takeoff_and_land.py 
Waiting for drone to connect...
Drone discovered!
Waiting for drone to have a global position estimate...
Global position estimate ok
-- Arming
-- Taking off
-- Landing
huytd@huytd-HP:~/Project/Drone/MAVSDK/MAVSDK-Python/examples$ python3 offboard_attitude.py 
Waiting for drone to connect...
Drone discovered!
-- Arming
-- Setting initial setpoint
-- Starting offboard
-- Go up at 70% thrust
-- Roll 30 at 60% thrust
-- Roll -30 at 60% thrust
-- Hover at 60% thrust
-- Stopping offboard

I don't know what's wrong with it, need your answers!

julianoes commented 2 years ago

Could you share the output on the PX4 side please?

huytd-pi commented 2 years ago

Could you share the output on the PX4 side please?

[0/4] Performing build step for 'sitl_gazebo'
ninja: no work to do.
[3/4] cd /home/huytd/Project/Drone/PX4...e/PX4-Autopilot/build/px4_sitl_default
SITL ARGS
sitl_bin: /home/huytd/Project/Drone/PX4-Autopilot/build/px4_sitl_default/bin/px4
debugger: none
program: gazebo
model: none
world: none
src_path: /home/huytd/Project/Drone/PX4-Autopilot
build_path: /home/huytd/Project/Drone/PX4-Autopilot/build/px4_sitl_default
empty model, setting iris as default
GAZEBO_PLUGIN_PATH :/home/huytd/Project/Drone/PX4-Autopilot/build/px4_sitl_default/build_gazebo
GAZEBO_MODEL_PATH :/home/huytd/Project/Drone/PX4-Autopilot/Tools/sitl_gazebo/models
LD_LIBRARY_PATH /opt/ros/melodic/lib:/home/huytd/Project/Drone/PX4-Autopilot/build/px4_sitl_default/build_gazebo
empty world, setting empty.world as default
Using: /home/huytd/Project/Drone/PX4-Autopilot/Tools/sitl_gazebo/models/iris/iris.sdf
SITL COMMAND: "/home/huytd/Project/Drone/PX4-Autopilot/build/px4_sitl_default/bin/px4" "/home/huytd/Project/Drone/PX4-Autopilot/build/px4_sitl_default"/etc -s etc/init.d-posix/rcS -t "/home/huytd/Project/Drone/PX4-Autopilot"/test_data
Creating symlink /home/huytd/Project/Drone/PX4-Autopilot/build/px4_sitl_default/etc -> /home/huytd/Project/Drone/PX4-Au

[0______  __   __    ___ 
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
INFO  [init] found model autostart file as SYS_AUTOSTART=10016
INFO  [param] selected parameter default file eeprom/parameters_10016
INFO  [parameters] BSON document size 806 bytes, decoded 806 bytes (INT32:22, FLOAT:17)
[param] Loaded: eeprom/parameters_10016
INFO  [dataman] data manager file './dataman' size is 7866640 bytes
PX4 SIM HOST: localhost
INFO  [simulator] Waiting for simulator to accept connection on TCP port 4560
INFO  [simulator] Simulator connected on TCP port 4560.
INFO  [commander] LED: open /dev/led0 failed (22)
INFO  [navigator] Mission #3 loaded, 7 WPs
Gazebo multi-robot simulator, version 9.19.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.0.105
INFO  [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO  [init] setting PWM_AUX_OUT none
INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO  [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
INFO  [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] [logger] ./log/2022-03-16/02_12_47.ulg   
INFO  [logger] Opened full log file: ./log/2022-03-16/02_12_47.ulg
INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO  [px4] Startup script returned successfully
pxh> INFO  [mavlink] partner IP: 127.0.0.1
INFO  [tone_alarm] home set
WARN  [mc_pos_control] invalid setpoints
INFO  [tone_alarm] notify positive
julianoes commented 2 years ago

Ok, that looks ok. I'll try to reproduce that tomorrow.

huytd-pi commented 2 years ago

Ok, that looks ok. I'll try to reproduce that tomorrow.

I'm waiting for your reply, ,thanks!

JonasVautherin commented 2 years ago

WARN [mc_pos_control] invalid setpoints

What's that?

julianoes commented 2 years ago

@JonasVautherin it's noise, you find it everywhere. It's race conditions in the PX4 pubsub architecture, so some setpoints are sometimes NAN initially. It just gets ignored.

julianoes commented 2 years ago

@JonasVautherin you might be right that this is related to https://github.com/mavlink/MAVSDK/pull/1713. Let me try to update MAVSDK-Python with the latest and greatest.

julianoes commented 2 years ago

I made a release. @huytd-pi can you check with mavsdk 1.0.0? Some examples might still not work against latest PX4 as it had some failsafe and preflight check changes that we need to work through.