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    MAVSDK Python Example Hanging

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    • K
      kiprock
      last edited by 2 Apr 2021, 22:12

      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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      • M
        modaltb ModalAI Team
        last edited by 2 Apr 2021, 23:05

        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:

        https://gitlab.com/voxl-public/voxl-docker-images/voxl-docker-mavsdk-python/-/blob/master/offboard_position_ned2.py#L21

        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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        • K
          kiprock
          last edited by 2 Apr 2021, 23:13

          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
          
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          • K
            kiprock
            last edited by kiprock 3 Apr 2021, 00:12 3 Apr 2021, 00:00

            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
            
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            • M
              modaltb ModalAI Team
              last edited by 5 Apr 2021, 15:03

              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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              • K
                kiprock
                last edited by 5 Apr 2021, 17:11

                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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                • C
                  Chad Sweet ModalAI Team
                  last edited by 5 Apr 2021, 17:23

                  Good news. We will get that updated to be a little more clear.

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