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mavlink / MAVSDK

API and library for MAVLink compatible systems written in C++17
https://mavsdk.mavlink.io
BSD 3-Clause "New" or "Revised" License
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fly_qgc_mission issue: Mission int messages not supported #914

Closed petergerten closed 3 years ago

petergerten commented 4 years ago

When trying to upload a QGC plan file via fly_qgc_mission I get the below error:

[07:50:24|Info ] MAVSDK version: 0.21.4 (mavsdk_impl.cpp:25)
Connection URL: udp://:14550
Importing mission from mission plan: testmission01.plan
Waiting to discover system...
[07:50:25|Info ] New system on: 192.168.42.1:14551 (udp_connection.cpp:263)
[07:50:25|Debug] New: System ID: 1 Comp ID: 100 (mavsdk_impl.cpp:390)
[07:50:25|Debug] Component Camera 1 (100) added. (system_impl.cpp:401)
[07:50:25|Debug] Discovered 1 component(s) (UUID: 1) (system_impl.cpp:561)
Discovered system with UUID: 1
System ready
[07:50:25|Warn ] UNSUPPORTED mission item command (20) (mission_impl.cpp:1541)
Found 2 mission items in the given QGC plan.
Uploading mission...
[07:50:25|Warn ] Mission int messages not supported (mission_impl.cpp:366)
Mission upload failed: Error

What does "Mission int messages not supported" mean? (My mission is a trvial mission to fly to one waypoint created in QGC).

Is the "Mission upload failed: Error" due to the above warning or might be unrelated (as it is a warning and not an error)?

julianoes commented 4 years ago

It looks like you are connecting to a camera only but no autopilot and given the error it then finds that the camera doesn't support mission upload. Could that be the case?

petergerten commented 4 years ago

I just noticed that I get the same error message even when only using thefly_mission example:

[07:55:28|Info ] MAVSDK version: 0.21.4 (mavsdk_impl.cpp:25)
Waiting to discover system...
[07:55:28|Info ] New system on: 192.168.42.1:14551 (udp_connection.cpp:263)
[07:55:28|Debug] New: System ID: 1 Comp ID: 100 (mavsdk_impl.cpp:390)
[07:55:28|Debug] Component Camera 1 (100) added. (system_impl.cpp:401)
[07:55:28|Debug] Discovered 1 component(s) (UUID: 1) (system_impl.cpp:561)
Discovered system with UUID: 1
System ready
Creating and uploading mission
Uploading mission...
[07:55:28|Warn ] Mission int messages not supported (mission_impl.cpp:366)
Mission upload failed (Error), exiting.
petergerten commented 4 years ago

@julianoes It is a Yuneec H520 where the main connection is made to the camera, but the flightcontroller is connected on the same mavlink link as well.

petergerten commented 4 years ago 
[08:00:32|Info ] MAVSDK version: 0.21.4 (mavsdk_impl.cpp:25)
Connection URL: udp://:14550
Importing mission from mission plan: testmission01.plan
Waiting to discover system...
[08:00:33|Info ] New system on: 192.168.42.1:14551 (udp_connection.cpp:263)
[08:00:33|Debug] New: System ID: 1 Comp ID: 100 (mavsdk_impl.cpp:390)
[08:00:33|Debug] Component Camera 1 (100) added. (system_impl.cpp:401)
[08:00:33|Debug] Discovered 1 component(s) (UUID: 1) (system_impl.cpp:561)
Discovered system with UUID: 1
[08:00:33|Debug] Component Autopilot (1) added. (system_impl.cpp:401)
[08:00:33|Debug] MAVLink: info: data link #0 lost (system_impl.cpp:308)
[08:00:33|Debug] MAVLink: info: data link #0 regained (system_impl.cpp:308)
[08:00:33|Debug] Component Gimbal (154) added. (system_impl.cpp:401)
System ready
[08:00:38|Warn ] UNSUPPORTED mission item command (20) (mission_impl.cpp:1541)
Found 2 mission items in the given QGC plan.
Uploading mission...
[08:00:38|Warn ] Mission int messages not supported (mission_impl.cpp:366)
Mission upload failed: Error

Here it detected the autopilot and I got an additional warning regarding (UNSUPPORTED mission item command (20) ) but still the same error message

petergerten commented 4 years ago

ok, I found it in the code in mission_impl.cpp:

    if (!_parent->does_support_mission_int()) {
        LogWarn() << "Mission int messages not supported";
        report_mission_result(callback, Mission::Result::ERROR);
        return;
    }

So the warning does result in the mission upload error. I could not figure out what does_support_mission_int() is or what is does though.

julianoes commented 4 years ago

Oh you're right, the autopilot is also found:

[08:00:33|Debug] Component Autopilot (1) added. (system_impl.cpp:401)

That's odd then.

julianoes commented 4 years ago

I can reproduce the problem. I'm looking into it.

julianoes commented 4 years ago

Ok, I believe this is a problem of the H520. It seems like the latest version does not send a heartbeat from the autopilot anymore.

@darioxz @Stifael could you check this?

petergerten commented 4 years ago

@julianoes thanks for looking into it!

I actually can reproduce the issue with px4 SITL as well. Can you provide some background on what does_support_mission_int() means?

julianoes commented 4 years ago

@darioxz @Stifael could you check this?

Nevermind! It's fine in QGC, so it's probably a regression in MAVSDK.

julianoes commented 4 years ago

Can you provide some background on what does_support_mission_int() means?

Don't worry about this in specific. It's just a side effect given that the heartbeat and autopilot version don't arrive.

julianoes commented 4 years ago

Ok so here is what is happening:

  1. The H520 sends heartbeats from the camera only at first.
  2. MAVSDK does not send heartbeats back unless it manages to initialize an autopilot component which it doesn't see.
  3. Once H520 camera receives a heartbeat it starts forwarding packets from the autopilot.

@petergerten a quick hack is to comment out this line: https://github.com/mavlink/MAVSDK/blob/d9c09d238ed496a44cfe9b9213c240ab1d4b2cef/src/core/system_impl.cpp#L323

For the longer term, I want to refactor some of this discovery/connection logic and clean it up. It then should send out heartbeats even if only a camera and no autopilot has communicated yet.

petergerten commented 4 years ago

@julianoes the hack you described did not work for me. I eventually got it working my removing the !_parent->does_support_mission_int()) check in mission_impl.cpp

julianoes commented 4 years ago

@petergerten I doubt you correctly did the hack then. Did you make sure to rebuild the library and install it again? You will likely run into other problems with your hack.

petergerten commented 4 years ago

@julianoes ok, will check again.

Anyway, I would still appreciate if someone could explain what does_support_mission_int() means. I sometimes get it with px4 SITL as well - not only with the H520.

Searching for it (https://github.com/mavlink/MAVSDK/search?q=does_support_mission_int&unscoped_q=does_support_mission_int) does not give many clues and honestly makes the codebase here a bit difficult to approach.

julianoes commented 4 years ago

Ok MAVSDK needs to receive the message AUTOPILOT_VERSION once because it needs to know about the capabilities flags. One of those flags is MAV_PROTOCOL_CAPABILITY_MISSION_INT.

This flag means that the vehicle supports the _INT version of the mission protocol which has better accuracy than the legacy one.

The fact that you get the does_support_mission_int() = false is because you have not received the AUTOPILOT_VERION message indicating the capabilities but does not actually mean that _INT messages are not allowed. Therefore, I've been trying to fix the problem of not receiving AUTOPILOT_VERSION instead of removing the check for mission int which is just a symptom but not the root cause!

petergerten commented 4 years ago

@julianoes thanks for the explanation!

julianoes commented 3 years ago

I believe this can be closed now.