Cant use Mavsdk! please Help!
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when I use the mavsdk-docker example it just stays here:
voxl2:~$ docker run -it --rm --privileged --net=host --ipc=host voxl-mavsdk:v1.2
root@m0054:/home# ./voxl2_takeoff_land.py
Waiting for the drone to connect...
Drone connected!
Waiting for the drone to have a global position estimation....it does nothing else, these are my configurations
{
"config_file_version": 1,
"en_localhost_mavlink_udp": true,
"localhost_udp_port_number": 14551,
"en_vio": true,
"vio_pipe": "qvio",
"secondary_vio_pipe": "ov",
"vfc_vio_pipe": "ov",
"en_reset_vio_if_initialized_inverted": true,
"vio_warmup_s": 3,
"send_odom_while_failed": true,
"horizon_cal_tolerance": 0.5,
"en_hitl": false,
"offboard_mode": "trajectory",
"follow_tag_id": 0,.....
i also made my own service that communicates with the docker-mavsdk to be able to send waypoints to the mapper (extend the plan to a point) and trigger commands to the tflite server between waypoints. but it does not work mainly because I have not been able to send instructions successfully to docker-mavsdk, from qgcontrol when I give arm I get this: MAV_CMD_COMPONENT_ARM_DISARM command temporarily rejected... this has me very blocked because I need to build this solution for a precision application.
please help!
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@Daniel-Rincon said in Cant use Mavsdk! please Help!:
Waiting for the drone to have a global position estimation....
Does your drone have GPS? Is the GPS getting a proper fix?
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@Eric-Katzfey Hi Erick! thanks for answering, yes my drone has GPS, we bought the Starling 2 with the most powerful construction (MRB-D0014-4-C27-M0-T0-K3), anyway, our flights will be indoor, although the tests I'm doing them from my studio, that despite being in a building, should get gps, I say this because I compare it with a Mavic 2 that if you get GPS right here, in the plotter of the portal I see activity but strangely says gps: 0, do you require to show you something specifically?
Because this has stopped our development I was thinking about turning it around to Mavros, to see if I get a different result.
The Workflow I have proposed is:
voxl-mission-manager (our service) -> sends takeoff and puts the drone in hold state sends waypoints -> mapper extended to receive waypoints instead of a plan to a point -> runs mission -> in turn the manager monitors the mission and at certain waypoints activates and deactivates the tflite server -> when the mission ends it runs RTL from Mapper -> manager activates precise landing with Apriltags.
all this we want to do autonomously, from takeoff to landing, is it possible or too ambitious?
thanks for your answers! -
@Daniel-Rincon It seems like all that should be possible with MAVSDK. I asked about GPS because of the message MAVSDK gave you about waiting for a global position.
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@Eric-Katzfey Hey Eric! I finally solved the problem by setting these variables:
RC=EXTERNAL in voxl-px4.conf
and
px4-param set COM_RC_IN_MODE 0
px4-param set COM_RC_OVERRIDE 1
px4-param set COM_ARM_WO_GPS 1
px4-param set COM_RC_LOSS_T 30.0This way I was able to make the takeoff autonomous, and also to have manual control for safety.
Now the problem I have is about the qvio, in several situations (most) ends up being very unstable, it makes erratic movements, like going much higher than the takeoff, as I see it seems something of decalibration, but how to standardize this to work well always, because the qvio so unstable is dangerous, what do you recommend me? or should I make a new thread for this question?
thanks in advance! -
@Daniel-Rincon Yes, please start a new post for the VIO question
