@brahim Thanks for this advice!
I'm working on Windows with WSL and it is impossible for me to build the docker image by following the instructions on the voxl-docker-mavsdk README.
I'm still unsure why the image build on the VOXL and not on my WSL Ubuntu, but at least I got it to work.
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.
I've got a Starling Max 2 (VOXL2) connected to my home network. My laptop is also connected to that same network. I'm trying to connect to the drone using MAVSDK-Python but it just doesn't work. I've lost count of everything I've tried, nothing related to MAVSDK has worked for me.
I've updated the configuration file’s primary_static_gcs_ip field at /etc/modalai/voxl-mavlink-server.conf to my laptops IP address.
I'm able to connect with it using pymavlink. I can adb shell in and see the messages coming in by running voxl-inspect-mavlink mavlink_from_gcs. But like I said, MAVSDK just does not connect to the VOXL2...
Here's an actual snippet I'm trying to run:
#!/usr/bin/env python3
import asyncio
import time
from mavsdk import System
from pymavlink import mavutil
async def send_heartbeat_and_param_requests(target_ip="192.168.1.187", target_port=14550):
"""Send MAVLink heartbeats and parameter requests to initiate connection with VOXL2"""
print(f"Sending heartbeats to {target_ip}:{target_port}")
# Create a UDP connection to VOXL2
connection = mavutil.mavlink_connection(f'udpout:{target_ip}:{target_port}')
# Important: Set specific system and component IDs
# System ID should not be 1 (typically the vehicle) or 255
# Component ID should NOT be 0 as that's invalid for a source
connection.source_system = 2 # Use 2 for a secondary GCS
connection.source_component = 1 # Use 1 for autopilot component
# Send heartbeats in a loop
counter = 0
while True:
# Send a heartbeat message
connection.mav.heartbeat_send(
mavutil.mavlink.MAV_TYPE_GCS, # Type: Ground Control Station
mavutil.mavlink.MAV_AUTOPILOT_INVALID, # Autopilot type
0, # Base mode
0, # Custom mode
mavutil.mavlink.MAV_STATE_ACTIVE # System status
)
counter += 1
if counter % 5 == 0: # Every 5 seconds
# Send a parameter request list (this is what QGC does on connection)
connection.mav.param_request_list_send(
1, # Target system (default autopilot is usually 1)
190 # Target component (default autopilot component)
)
# Send a ping message
connection.mav.ping_send(
int(time.time() * 1000), # Unix timestamp in milliseconds
0, # Sequence
connection.source_system, # System ID
connection.source_component # Component ID
)
print(f"Heartbeat sent (count: {counter})")
await asyncio.sleep(1) # Send heartbeats at 1Hz
async def connect_to_drone():
print("Connecting to VOXL2...")
drone = System()
# Different connection string formats to try
await drone.connect(system_address="udp://:14550")
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():
# Start sending heartbeats in the background
heartbeat_task = asyncio.create_task(send_heartbeat_and_param_requests())
# Wait to ensure heartbeats are being received
await asyncio.sleep(5)
# 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}")
# Clean up the heartbeat task
heartbeat_task.cancel()
try:
await heartbeat_task
except asyncio.CancelledError:
print("Heartbeat task cancelled")
if __name__ == "__main__":
# Run the asyncio loop
asyncio.run(main())
It never even gets to print out the "Waiting for drone to connect..." mesage. The code doesn't execute past the await drone.connect(system_address="udp://:14550") line.
For the await drone.connect(system_address="udp://:14550") line I've tried every permutation I've found. With or without the VOXL2 IP address. I've used udpout and all other variants, none work.
I've tried with and without sending the messages using pymavlink in case there is some conflict.
I've tried connecting with specific sysid and compid like below:
# Create a System object with specific system ID and component ID
# These match the IDs we're using in the heartbeat sender
drone = System(sysid=2, compid=1)
I don't know what else to do. Any help will be greatly appreciated.