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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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telemetry.py only reports position data and eventually fails #637

Closed maciek01 closed 11 months ago

maciek01 commented 11 months ago

I am runing the latest version of telemetry.py example against arducopter 4.4.2 FC.

2 problems:

1: The example only reports position telementry. I does not report neither gps_info, in_air or battery

2: It eventually fails on a communication issue

example adjusted for my hardware port: https://github.com/maciek01/dronegprs-mavsdk/blob/main/mavsdk-examples/telemetry.py

output:

pi@uav7:~/dronegprs-mavsdk/mavsdk-examples $ ./telemetry.py 
Position: [latitude_deg: 42.5224921, longitude_deg: -71.18680859999999, absolute_altitude_m: 55.720001220703125, relative_altitude_m: -0.22700001299381256]
Position: [latitude_deg: 42.522490999999995, longitude_deg: -71.1868108, absolute_altitude_m: 55.67000198364258, relative_altitude_m: -0.23800000548362732]
Position: [latitude_deg: 42.5224901, longitude_deg: -71.1868114, absolute_altitude_m: 55.7400016784668, relative_altitude_m: -0.23800000548362732]
Position: [latitude_deg: 42.522489799999995, longitude_deg: -71.1868094, absolute_altitude_m: 55.85000228881836, relative_altitude_m: -0.20600001513957977]
Position: [latitude_deg: 42.5224869, longitude_deg: -71.1868077, absolute_altitude_m: 56.96000289916992, relative_altitude_m: -0.2110000103712082]
Position: [latitude_deg: 42.522484999999996, longitude_deg: -71.1868093, absolute_altitude_m: 57.2400016784668, relative_altitude_m: -0.2160000056028366]
Position: [latitude_deg: 42.5224833, longitude_deg: -71.1868093, absolute_altitude_m: 58.02000427246094, relative_altitude_m: -0.2110000103712082]
Position: [latitude_deg: 42.5224809, longitude_deg: -71.1868113, absolute_altitude_m: 58.1400032043457, relative_altitude_m: -0.22700001299381256]
Position: [latitude_deg: 42.5225578, longitude_deg: -71.18677869999999, absolute_altitude_m: 3.440000057220459, relative_altitude_m: -0.29200002551078796]
__anext__ grpc exception
Traceback (most recent call last):
  File "/usr/local/lib/python3.9/dist-packages/aiogrpc/utils.py", line 145, in cb
    fut.result()
  File "/usr/lib/python3.9/concurrent/futures/thread.py", line 52, in run
    result = self.fn(*self.args, **self.kwargs)
  File "/usr/local/lib/python3.9/dist-packages/aiogrpc/utils.py", line 131, in _next
    return next(self._iterator)
  File "/usr/local/lib/python3.9/dist-packages/grpc/_channel.py", line 541, in __next__
    return self._next()
  File "/usr/local/lib/python3.9/dist-packages/grpc/_channel.py", line 967, in _next
    raise self
grpc._channel._MultiThreadedRendezvous: <_MultiThreadedRendezvous of RPC that terminated with:
    status = StatusCode.UNAVAILABLE
    details = "Socket closed"
    debug_error_string = "UNKNOWN:Error received from peer ipv6:%5B::1%5D:50051 {created_time:"2023-11-19T18:07:41.912084974-05:00", grpc_status:14, grpc_message:"Socket closed"}"
>
Task exception was never retrieved
future: <Task finished name='Task-5' coro=<print_position() done, defined at /home/pi/dronegprs-mavsdk/mavsdk-examples/./telemetry.py:37> exception=<_MultiThreadedRendezvous of RPC that terminated with:
    status = StatusCode.UNAVAILABLE
    details = "Socket closed"
    debug_error_string = "UNKNOWN:Error received from peer ipv6:%5B::1%5D:50051 {created_time:"2023-11-19T18:07:41.912084974-05:00", grpc_status:14, grpc_message:"Socket closed"}"
>>
Traceback (most recent call last):
  File "/home/pi/dronegprs-mavsdk/mavsdk-examples/./telemetry.py", line 38, in print_position
    async for position in drone.telemetry.position():
  File "/usr/local/lib/python3.9/dist-packages/mavsdk/telemetry.py", line 3644, in position
    async for response in position_stream:
  File "/usr/local/lib/python3.9/dist-packages/aiogrpc/utils.py", line 154, in __anext__
    return await asyncio.shield(self._next_future)
  File "/usr/local/lib/python3.9/dist-packages/aiogrpc/utils.py", line 145, in cb
    fut.result()
  File "/usr/lib/python3.9/concurrent/futures/thread.py", line 52, in run
    result = self.fn(*self.args, **self.kwargs)
  File "/usr/local/lib/python3.9/dist-packages/aiogrpc/utils.py", line 131, in _next
    return next(self._iterator)
  File "/usr/local/lib/python3.9/dist-packages/grpc/_channel.py", line 541, in __next__
    return self._next()
  File "/usr/local/lib/python3.9/dist-packages/grpc/_channel.py", line 967, in _next
    raise self
grpc._channel._MultiThreadedRendezvous: <_MultiThreadedRendezvous of RPC that terminated with:
    status = StatusCode.UNAVAILABLE
    details = "Socket closed"
    debug_error_string = "UNKNOWN:Error received from peer ipv6:%5B::1%5D:50051 {created_time:"2023-11-19T18:07:41.912084974-05:00", grpc_status:14, grpc_message:"Socket closed"}"
>
__anext__ grpc exception
Traceback (most recent call last):
  File "/usr/local/lib/python3.9/dist-packages/aiogrpc/utils.py", line 145, in cb
    fut.result()
  File "/usr/lib/python3.9/concurrent/futures/thread.py", line 52, in run
    result = self.fn(*self.args, **self.kwargs)
  File "/usr/local/lib/python3.9/dist-packages/aiogrpc/utils.py", line 131, in _next
    return next(self._iterator)
  File "/usr/local/lib/python3.9/dist-packages/grpc/_channel.py", line 541, in __next__
    return self._next()
  File "/usr/local/lib/python3.9/dist-packages/grpc/_channel.py", line 967, in _next
    raise self
grpc._channel._MultiThreadedRendezvous: <_MultiThreadedRendezvous of RPC that terminated with:
    status = StatusCode.UNAVAILABLE
    details = "Socket closed"
    debug_error_string = "UNKNOWN:Error received from peer  {grpc_message:"Socket closed", grpc_status:14, created_time:"2023-11-19T18:07:41.867542748-05:00"}"
>
__anext__ grpc exception
Traceback (most recent call last):
  File "/usr/local/lib/python3.9/dist-packages/aiogrpc/utils.py", line 145, in cb
    fut.result()
  File "/usr/lib/python3.9/concurrent/futures/thread.py", line 52, in run
    result = self.fn(*self.args, **self.kwargs)
  File "/usr/local/lib/python3.9/dist-packages/aiogrpc/utils.py", line 131, in _next
    return next(self._iterator)
  File "/usr/local/lib/python3.9/dist-packages/grpc/_channel.py", line 541, in __next__
    return self._next()
  File "/usr/local/lib/python3.9/dist-packages/grpc/_channel.py", line 967, in _next
    raise self
grpc._channel._MultiThreadedRendezvous: <_MultiThreadedRendezvous of RPC that terminated with:
    status = StatusCode.UNAVAILABLE
    details = "Socket closed"
    debug_error_string = "UNKNOWN:Error received from peer  {created_time:"2023-11-19T18:07:41.911786966-05:00", grpc_status:14, grpc_message:"Socket closed"}"
>
__anext__ grpc exception
Traceback (most recent call last):
  File "/usr/local/lib/python3.9/dist-packages/aiogrpc/utils.py", line 145, in cb
    fut.result()
  File "/usr/lib/python3.9/concurrent/futures/thread.py", line 52, in run
    result = self.fn(*self.args, **self.kwargs)
  File "/usr/local/lib/python3.9/dist-packages/aiogrpc/utils.py", line 131, in _next
    return next(self._iterator)
  File "/usr/local/lib/python3.9/dist-packages/grpc/_channel.py", line 541, in __next__
    return self._next()
  File "/usr/local/lib/python3.9/dist-packages/grpc/_channel.py", line 967, in _next
    raise self
grpc._channel._MultiThreadedRendezvous: <_MultiThreadedRendezvous of RPC that terminated with:
    status = StatusCode.UNAVAILABLE
    details = "Socket closed"
    debug_error_string = "UNKNOWN:Error received from peer  {created_time:"2023-11-19T18:07:41.912327981-05:00", grpc_status:14, grpc_message:"Socket closed"}"
>
Task exception was never retrieved
future: <Task finished name='Task-2' coro=<print_battery() done, defined at /home/pi/dronegprs-mavsdk/mavsdk-examples/./telemetry.py:22> exception=<_MultiThreadedRendezvous of RPC that terminated with:
    status = StatusCode.UNAVAILABLE
    details = "Socket closed"
    debug_error_string = "UNKNOWN:Error received from peer  {grpc_message:"Socket closed", grpc_status:14, created_time:"2023-11-19T18:07:41.867542748-05:00"}"
>>
Traceback (most recent call last):
  File "/home/pi/dronegprs-mavsdk/mavsdk-examples/./telemetry.py", line 23, in print_battery
    async for battery in drone.telemetry.battery():
  File "/usr/local/lib/python3.9/dist-packages/mavsdk/telemetry.py", line 3980, in battery
    async for response in battery_stream:
  File "/usr/local/lib/python3.9/dist-packages/aiogrpc/utils.py", line 154, in __anext__
    return await asyncio.shield(self._next_future)
  File "/usr/local/lib/python3.9/dist-packages/aiogrpc/utils.py", line 145, in cb
    fut.result()
  File "/usr/lib/python3.9/concurrent/futures/thread.py", line 52, in run
    result = self.fn(*self.args, **self.kwargs)
  File "/usr/local/lib/python3.9/dist-packages/aiogrpc/utils.py", line 131, in _next
    return next(self._iterator)
  File "/usr/local/lib/python3.9/dist-packages/grpc/_channel.py", line 541, in __next__
    return self._next()
  File "/usr/local/lib/python3.9/dist-packages/grpc/_channel.py", line 967, in _next
    raise self
grpc._channel._MultiThreadedRendezvous: <_MultiThreadedRendezvous of RPC that terminated with:
    status = StatusCode.UNAVAILABLE
    details = "Socket closed"
    debug_error_string = "UNKNOWN:Error received from peer  {grpc_message:"Socket closed", grpc_status:14, created_time:"2023-11-19T18:07:41.867542748-05:00"}"
>
Task exception was never retrieved
future: <Task finished name='Task-3' coro=<print_gps_info() done, defined at /home/pi/dronegprs-mavsdk/mavsdk-examples/./telemetry.py:27> exception=<_MultiThreadedRendezvous of RPC that terminated with:
    status = StatusCode.UNAVAILABLE
    details = "Socket closed"
    debug_error_string = "UNKNOWN:Error received from peer  {created_time:"2023-11-19T18:07:41.911786966-05:00", grpc_status:14, grpc_message:"Socket closed"}"
>>
Traceback (most recent call last):
  File "/home/pi/dronegprs-mavsdk/mavsdk-examples/./telemetry.py", line 28, in print_gps_info
    async for gps_info in drone.telemetry.gps_info():
  File "/usr/local/lib/python3.9/dist-packages/mavsdk/telemetry.py", line 3932, in gps_info
    async for response in gps_info_stream:
  File "/usr/local/lib/python3.9/dist-packages/aiogrpc/utils.py", line 154, in __anext__
    return await asyncio.shield(self._next_future)
  File "/usr/local/lib/python3.9/dist-packages/aiogrpc/utils.py", line 145, in cb
    fut.result()
  File "/usr/lib/python3.9/concurrent/futures/thread.py", line 52, in run
    result = self.fn(*self.args, **self.kwargs)
  File "/usr/local/lib/python3.9/dist-packages/aiogrpc/utils.py", line 131, in _next
    return next(self._iterator)
  File "/usr/local/lib/python3.9/dist-packages/grpc/_channel.py", line 541, in __next__
    return self._next()
  File "/usr/local/lib/python3.9/dist-packages/grpc/_channel.py", line 967, in _next
    raise self
grpc._channel._MultiThreadedRendezvous: <_MultiThreadedRendezvous of RPC that terminated with:
    status = StatusCode.UNAVAILABLE
    details = "Socket closed"
    debug_error_string = "UNKNOWN:Error received from peer  {created_time:"2023-11-19T18:07:41.911786966-05:00", grpc_status:14, grpc_message:"Socket closed"}"
>
Task exception was never retrieved
future: <Task finished name='Task-4' coro=<print_in_air() done, defined at /home/pi/dronegprs-mavsdk/mavsdk-examples/./telemetry.py:32> exception=<_MultiThreadedRendezvous of RPC that terminated with:
    status = StatusCode.UNAVAILABLE
    details = "Socket closed"
    debug_error_string = "UNKNOWN:Error received from peer  {created_time:"2023-11-19T18:07:41.912327981-05:00", grpc_status:14, grpc_message:"Socket closed"}"
>>
Traceback (most recent call last):
  File "/home/pi/dronegprs-mavsdk/mavsdk-examples/./telemetry.py", line 33, in print_in_air
    async for in_air in drone.telemetry.in_air():
  File "/usr/local/lib/python3.9/dist-packages/mavsdk/telemetry.py", line 3692, in in_air
    async for response in in_air_stream:
  File "/usr/local/lib/python3.9/dist-packages/aiogrpc/utils.py", line 154, in __anext__
    return await asyncio.shield(self._next_future)
  File "/usr/local/lib/python3.9/dist-packages/aiogrpc/utils.py", line 145, in cb
    fut.result()
  File "/usr/lib/python3.9/concurrent/futures/thread.py", line 52, in run
    result = self.fn(*self.args, **self.kwargs)
  File "/usr/local/lib/python3.9/dist-packages/aiogrpc/utils.py", line 131, in _next
    return next(self._iterator)
  File "/usr/local/lib/python3.9/dist-packages/grpc/_channel.py", line 541, in __next__
    return self._next()
  File "/usr/local/lib/python3.9/dist-packages/grpc/_channel.py", line 967, in _next
    raise self
grpc._channel._MultiThreadedRendezvous: <_MultiThreadedRendezvous of RPC that terminated with:
    status = StatusCode.UNAVAILABLE
    details = "Socket closed"
    debug_error_string = "UNKNOWN:Error received from peer  {created_time:"2023-11-19T18:07:41.912327981-05:00", grpc_status:14, grpc_message:"Socket closed"}"
>
JonasVautherin commented 11 months ago

1: The example only reports position telementry. I does not report neither gps_info, in_air or battery

With ardupilot, don't you have to set_rate on those telemetry streams? Otherwise I think ardupilot may not be publishing anything by default.

maciek01 commented 11 months ago

let me add it... yes, this helped - thanks!

maciek01 commented 11 months ago

@JonasVautherin sorry - i know this has nothign to do with the issue i reported, but since i got your attention :) - any chance to add the following functionality:

If these are things related to the actual PX4 i can put my request over there

thanks!

julianoes commented 11 months ago

StatusCode.UNAVAILABLE

Is the mavsdk_server binary crashing?

Can you give me instructions how I can reproduce this?

maciek01 commented 11 months ago

@julianoes no, not since i added the set rate statements. Its been up now for 2 hours and will keep it overnight reporting telemetry. (matek h743 wing, AC 4.4.2, latest mavsdk).

Update: extended longevity test - 12 hours was successful.

Here is the full set of telem i am testing with:

    #register listeners

    await vehicle.telemetry.set_rate_position(1)
    await vehicle.telemetry.set_rate_in_air(1)
    await vehicle.telemetry.set_rate_landed_state(1)
    await vehicle.telemetry.set_rate_battery(5)
    await vehicle.telemetry.set_rate_gps_info(1)
    await vehicle.telemetry.set_rate_home(5)

    tasks.append(asyncio.create_task(onPX4_battery(vehicle)))
    tasks.append(asyncio.create_task(onPX4_mode(vehicle)))
    tasks.append(asyncio.create_task(onPX4_heading(vehicle)))
    tasks.append(asyncio.create_task(onPX4_statusText(vehicle)))
    tasks.append(asyncio.create_task(onPX4_gps_info(vehicle)))
    tasks.append(asyncio.create_task(onPX4_position(vehicle)))
    tasks.append(asyncio.create_task(onPX4_raw_gps(vehicle)))
    tasks.append(asyncio.create_task(onPX4_home(vehicle)))
    tasks.append(asyncio.create_task(onPX4_is_armed(vehicle)))