MAVSDK Python Example Hanging
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Hello! I tried the MAVSDK python example this afternoon and it looks like it's hanging while waiting for global position estimate:
root@apq8096:/home# python3 takeoff_and_land2.py Waiting for mavsdk_server to be ready... Connected to mavsdk_server! Waiting for drone to connect... Drone discovered with UUID: 3762846593019032885 Waiting for drone to have a global position estimate...Suggestions for debugging?
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Hey Kip,
I'm guessing you have GPS lock right? You can see this if you have QGC connected, there's a little satellite icon on the top bar.
To be honest I think it could be commented out, this was a copy/pasta from the MAVSDK examples.
For your use case we discussed, here's another example that should be in the container as well, showing how to set the "waypoints" using VIO:
Here's the video for that one as reference (NOTE: the April Tag in the video isn't being used. BUT, this is a good example of how you could configure april tags on the ground and program their locations. Then during this flight, the m500 could do a course correction if needed for higher accuracy). https://www.youtube.com/watch?v=V3vVs8fEOZs
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QGC says "No GPS Lock for Vehicle" and gps status is set to 0.
I'm having another strange problem that might be related... when trying to run voxl-vision-px4 the system is crashing entirely.
~ # voxl-vision-px4 --debug_fixed_frame loading config file ================================================================= Parameters as loaded from config file: qgc_ip: 192.168.0.218 en_localhost_mavlink_udp 1 en_secondary_qgc: 0 secondary_qgc_ip: 192.168.1.214 en_vio: 1 en_voa: 0 en_send_vio_to_qgc: 0 en_send_voa_to_qgc: 0 en_adsb: 0 adsb_uart_bus: 7 adsb_uart_baudrate: 57600 px4_uart_bus: 5 px4_uart_baudrate: 921600 offboard_mode: off R_imu_to_body: 0.0000 1.0000 0.0000 1.0000 0.0000 0.0000 0.0000 0.0000 -1.0000 T_imu_wrt_body: 0.0680 -0.0150 -0.0080 height_body_above_ground_m: 0.050 land_on_tag_id: 0 follow_tag_id: 0 en_apriltag_fixed_frame: 1 en_transform_mavlink_pos_setpoints_from_fixed_frame:1 n_fixed_apriltags: 1 Fixed apriltag #0: tag id: 0 R_tag_to_fixed: 0.0000 -1.0000 0.0000 1.0000 0.0000 0.0000 0.0000 0.0000 1.0000 T_tag_wrt_fixed: 0.0000 0.0000 0.0000 T_stereo_wrt_body: 0.1000 -0.0400 0.0000 en_fixed_frame_pipe: 0 fixed_frame_filter_len: 5 ================================================================= WARNING, exising instance of voxl-vision-px4 found, attempting to stop it starting geometry module starting uart mavlink -
The flight computer doesn't seem to be getting any positional data for some reason. Is this normal? (see the last line below)
~ # systemctl restart voxl-vision-px4 ~ # ~ # ~ # systemctl status voxl-vision-px4 ● voxl-vision-px4.service - voxl-vision-px4 Loaded: loaded (/usr/bin/voxl-vision-px4; enabled; vendor preset: enabled) Active: active (running) since Sat 2021-04-03 00:11:47 UTC; 5s ago Main PID: 4007 (voxl-vision-px4) CGroup: /system.slice/voxl-vision-px4.service └─4007 /usr/bin/voxl-vision-px4 Apr 03 00:11:47 apq8096 voxl-vision-px4[4007]: LNX_8074 supported? 1 Apr 03 00:11:47 apq8096 voxl-vision-px4[4007]: LNX_8096 supported? 1 Apr 03 00:11:47 apq8096 voxl-vision-px4[4007]: LNX_IA64 supported? 1 Apr 03 00:11:47 apq8096 voxl-vision-px4[4007]: WINDOWS supported? 0 Apr 03 00:11:47 apq8096 voxl-vision-px4[4007]: FASTCV: fcvAvailableHardware Linux Apr 03 00:11:47 apq8096 voxl-vision-px4[4007]: FASTCV: fcvAvailableHardware Linux Apr 03 00:11:47 apq8096 voxl-vision-px4[4007]: [146.135049] SNAV INFO: CameraManager is finished initializing. Apr 03 00:11:47 apq8096 voxl-vision-px4[4007]: [146.135099] SNAV INFO: Starting camera image streaming... Apr 03 00:11:47 apq8096 voxl-vision-px4[4007]: [146.146347] SNAV ERROR: Error starting camera streaming. Exiting. Apr 03 00:11:47 apq8096 voxl-vision-px4[4007]: ERROR: failed to start modalai vision lib -
Hey @kiprock ,
Checking in with ya, we had a side email going and I believe getting the camera configuration setup got voxl-vision-px4 going.
Were you able to get a GPS signal going? Depending on the reception, we sometimes need to move outside of our building to pickup satellites.
Thanks!
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I was able to resolve. I had been following the ModalAI Vision Lib documentation and selected the wrong camera configuration, which causes failures and problems with the core voxl-vision software. The default is #1, but the m500 is #3 (hires + stereo + tracking). Problem solved. Thanks!
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Good news. We will get that updated to be a little more clear.
