UPDATE
I've simplified my snippet and I'm now able to "connect" to the VOXL2 via MAVSDK. It's still now working as I would expect it to, but first, here's my new script:
#!/usr/bin/env python3
import asyncio
from mavsdk import System
target_ip="192.168.1.187"
target_port=14550
async def connect_to_drone():
print("Connecting to VOXL2...")
# Create a System object with specific system ID and component ID
# These match the IDs we're using in the heartbeat sender
print("Creating System object...")
drone = System()
# Different connection string formats to try
print("Connecting to drone...")
await drone.connect(system_address=f"udp://{target_ip}:{target_port}")
print("Waiting for drone to connect...")
timeout = 60 # Extended timeout
start_time = asyncio.get_event_loop().time()
try:
async for state in drone.core.connection_state():
print(f"Connection state: {state}")
if state.is_connected:
print(f"Connected to drone!")
return drone
# Check if we've timed out
current_time = asyncio.get_event_loop().time()
if current_time - start_time > timeout:
print(f"Connection timed out after {timeout} seconds")
break
await asyncio.sleep(1)
except Exception as e:
print(f"Connection error: {e}")
return None
async def main():
# Try to connect to the drone
drone = await connect_to_drone()
# If connected, do something with the drone
if drone and drone.core:
try:
# Print basic information
info = await drone.info.get_version()
print(f"Version Info: {info}")
except Exception as e:
print(f"Could not get info: {e}")
if __name__ == "__main__":
# Run the asyncio loop
asyncio.run(main())
When I run this script I see only 3 logs:
Connecting to VOXL2...
Creating System object...
Connecting to drone...
When I adb shell and run voxl-inspect-mavlink mavlink_from_gcs I now see that the VOXL2 is receiving a heartbeat:
ID
Mavlink MSG Name
Counter
Hz
0
heartbeat
5
1.1
But like I mentioned above, the code doesn't execute past await drone.connect(system_address=f"udp://{target_ip}:{target_port}").
I've tried udpout and nothing changes.
