mavlink
Stuck on "Vehicle is getting ready to arm" in autopilot_server
I am using the main branch of MAVSDK, installed libmavsdk-dev_1.4.16_ubuntu20.04_amd64.deb on Ubuntu 20.04
I built MAVSDK and autopilot_server:
`MAVSDK$ cmake -DCMAKE_BUILD_TYPE=Debug -Bbuild/default -H.
MAVSDK$ cmake --build build/default -j8
MAVSDK/examples/autopilot_server$ cmake -Bbuild -H.
MAVSDK/examples/autopilot_server$ cmake --build build
MAVSDK/examples/autopilot_server$ ./build/autopilot_server It stucks on "Vehicle is getting ready to arm" in autopilot_server[02:41:10|Info ] MAVSDK version: v1.4.0-511-gfadfe22e (mavsdk_impl.cpp:23)
[02:41:10|Info ] MAVSDK version: v1.4.0-511-gfadfe22e (mavsdk_impl.cpp:23)
Connected!
[02:41:10|Debug] Initializing connection to remote system... (mavsdk_impl.cpp:692)
Connected autopilot server side!
MissionRawServer created
[02:41:10|Info ] New system on: 127.0.0.1:59362 (with system ID: 1) (udp_connection.cpp:192)
[02:41:10|Debug] New system ID: 1 Comp ID: 1 (mavsdk_impl.cpp:694)
[02:41:10|Debug] Component Autopilot (1) added. (system_impl.cpp:379)
[02:41:10|Debug] Discovered 1 component(s) (system_impl.cpp:548)
Discovered Autopilot from Client
[02:41:10|Debug] New: System ID: 245 Comp ID: 190 (mavsdk_impl.cpp:357)
[02:41:10|Debug] Component Ground station (190) added. (system_impl.cpp:379)
[02:41:10|Debug] Discovered 1 component(s) (system_impl.cpp:548)
[02:41:20|Debug] Setting interval for msg id: 245 interval_ms:1000 (telemetry_server_impl.cpp:36)
[02:41:21|Warn ] sending again after 0.50947 s, retries to do: 3 (512). (mavlink_command_sender.cpp:308)
[02:41:21|Warn ] Request was for msg ID: 242 (mavlink_command_sender.cpp:314)
[02:41:21|Warn ] sending again after 1.01834 s, retries to do: 2 (512). (mavlink_command_sender.cpp:308)
[02:41:21|Warn ] Request was for msg ID: 242 (mavlink_command_sender.cpp:314)
[02:41:22|Warn ] sending again after 1.52732 s, retries to do: 1 (512). (mavlink_command_sender.cpp:308)
[02:41:22|Warn ] Request was for msg ID: 242 (mavlink_command_sender.cpp:314)
[02:41:22|Error] Retrying failed (512) (mavlink_command_sender.cpp:336)
[02:41:25|Warn ] sending again after 0.509327 s, retries to do: 3 (512). (mavlink_command_sender.cpp:308)
[02:41:25|Warn ] Request was for msg ID: 242 (mavlink_command_sender.cpp:314)
[02:41:25|Warn ] sending again after 1.01831 s, retries to do: 2 (512). (mavlink_command_sender.cpp:308)
[02:41:25|Warn ] Request was for msg ID: 242 (mavlink_command_sender.cpp:314)
[02:41:26|Warn ] sending again after 1.52706 s, retries to do: 1 (512). (mavlink_command_sender.cpp:308)
[02:41:26|Warn ] Request was for msg ID: 242 (mavlink_command_sender.cpp:314)
[02:41:26|Debug] Falling back to gimbal protocol v1 (mission_impl.cpp:128)
[02:41:26|Error] Retrying failed (512) (mavlink_command_sender.cpp:336)
[02:41:27|Warn ] sending again after 0.509157 s, retries to do: 3 (512). (mavlink_command_sender.cpp:308)
[02:41:27|Warn ] Request was for msg ID: 280 (mavlink_command_sender.cpp:314)
[02:41:27|Warn ] sending again after 1.01795 s, retries to do: 2 (512). (mavlink_command_sender.cpp:308)
[02:41:27|Warn ] Request was for msg ID: 280 (mavlink_command_sender.cpp:314)
[02:41:28|Warn ] sending again after 1.52667 s, retries to do: 1 (512). (mavlink_command_sender.cpp:308)
[02:41:28|Warn ] Request was for msg ID: 280 (mavlink_command_sender.cpp:314)
[02:41:28|Error] Retrying failed (512) (mavlink_command_sender.cpp:336)
[02:41:29|Warn ] sending again after 0.508854 s, retries to do: 3 (512). (mavlink_command_sender.cpp:308)
[02:41:29|Warn ] Request was for msg ID: 242 (mavlink_command_sender.cpp:314)
[02:41:29|Warn ] sending again after 1.01681 s, retries to do: 2 (512). (mavlink_command_sender.cpp:308)
[02:41:29|Warn ] Request was for msg ID: 242 (mavlink_command_sender.cpp:314)
[02:41:30|Warn ] sending again after 1.52338 s, retries to do: 1 (512). (mavlink_command_sender.cpp:308)
[02:41:30|Warn ] Request was for msg ID: 242 (mavlink_command_sender.cpp:314)
[02:41:30|Warn ] Ignoring request_read message - param name not found: MY_PARAM (mavlink_parameter_server.cpp:369)
[02:41:30|Error] Retrying failed (512) (mavlink_command_sender.cpp:336)
[02:41:31|Warn ] sending again, retries to do: 5 (mavlink_parameter_client.cpp:1044)
[02:41:31|Warn ] Ignoring request_read message - param name not found: MY_PARAM (mavlink_parameter_server.cpp:369)
[02:41:31|Warn ] sending again, retries to do: 4 (mavlink_parameter_client.cpp:1044)
[02:41:31|Warn ] Ignoring request_read message - param name not found: MY_PARAM (mavlink_parameter_server.cpp:369)
[02:41:32|Warn ] sending again, retries to do: 3 (mavlink_parameter_client.cpp:1044)
[02:41:32|Warn ] Ignoring request_read message - param name not found: MY_PARAM (mavlink_parameter_server.cpp:369)
[02:41:32|Warn ] sending again, retries to do: 2 (mavlink_parameter_client.cpp:1044)
[02:41:32|Warn ] Ignoring request_read message - param name not found: MY_PARAM (mavlink_parameter_server.cpp:369)
[02:41:33|Warn ] sending again after 0.507777 s, retries to do: 3 (512). (mavlink_command_sender.cpp:308)
[02:41:33|Warn ] Request was for msg ID: 242 (mavlink_command_sender.cpp:314)
[02:41:33|Warn ] sending again, retries to do: 1 (mavlink_parameter_client.cpp:1044)
[02:41:33|Warn ] Ignoring request_read message - param name not found: MY_PARAM (mavlink_parameter_server.cpp:369)
[02:41:33|Warn ] sending again after 1.01591 s, retries to do: 2 (512). (mavlink_command_sender.cpp:308)
[02:41:33|Warn ] Request was for msg ID: 242 (mavlink_command_sender.cpp:314)
[02:41:33|Error] retrying failed (mavlink_parameter_client.cpp:1061)
Creating Mission
Uploading mission...
SystemID
[02:41:33|Debug] Receive Mission Count in Server (mission_raw_server_impl.cpp:149)
Mission uploaded.
Received Uploaded Mission!
mission_plan:
{
mission_items: [mission_item:
{
seq: 0
frame: 6
command: 16
current: 1
autocontinue: 1
param1: 0.5
param2: 1
param3: 0
param4: nan
x: 473981703
y: 85456490
z: 10
mission_type: 0
}, mission_item:
{
seq: 1
frame: 2
command: 178
current: 0
autocontinue: 1
param1: 1
param2: 5
param3: -1
param4: 0
x: 0
y: 0
z: nan
mission_type: 0
}, mission_item:
{
seq: 2
frame: 2
command: 204
current: 0
autocontinue: 1
param1: 2
param2: 0
param3: 0
param4: 1
x: 0
y: 0
z: 2
mission_type: 0
}, mission_item:
{
seq: 3
frame: 2
command: 205
current: 0
autocontinue: 1
param1: 20
param2: 0
param3: 60
param4: nan
x: 0
y: 0
z: 2
mission_type: 0
}]
}
Current Mission Item Changed!
Current Item: mission_item:
{
seq: 0
frame: 6
command: 16
current: 1
autocontinue: 1
param1: 0.5
param2: 1
param3: 0
param4: nan
x: 473981703
y: 85456490
z: 10
mission_type: 0
}
Current Mission Item Changed!
Current Item: mission_item:
{
seq: 1
frame: 2
command: 178
current: 0
autocontinue: 1
param1: 1
param2: 5
param3: -1
param4: 0
x: 0
y: 0
z: nan
mission_type: 0
}
Clear All Mission!
Clear Mission Request
[02:41:34|Warn ] sending again after 1.52186 s, retries to do: 1 (512). (mavlink_command_sender.cpp:308)
[02:41:34|Warn ] Request was for msg ID: 242 (mavlink_command_sender.cpp:314)
[02:41:34|Error] Retrying failed (512) (mavlink_command_sender.cpp:336)
[02:41:53|Debug] Setting interval for msg id: 33 interval_ms:1000 (telemetry_server_impl.cpp:36)
Vehicle is getting ready to arm
Altitude: 0 m
Altitude: 0 m
Vehicle is getting ready to arm
Altitude: 0 m
Altitude: 0 m
Vehicle is getting ready to arm
Altitude: 0 m
Altitude: 0 m
Vehicle is getting ready to arm
Altitude: 0 m
Altitude: 0 m
Vehicle is getting ready to arm
Altitude: 0 m
Altitude: 0 m
Vehicle is getting ready to arm
Altitude: 0 m
Altitude: 0 m`
Ok, so you implemented the autopilot server yourself? I assume you forgot to set some flag that would make it armable.
Have you set "armable"? https://github.com/mavlink/MAVSDK/blob/main/src/mavsdk/plugins/action_server/include/plugins/action_server/action_server.h#L316
Thanks for your response. My purpose is to apply MAVLink services to non-MAVLink flight stacks. So Autopilot_server is a good example code for me. Before I started applying MAVLink, I wanted to understand how Autopilot_server works so I tested it without touching the code.
Yes armable is set on line 91 "actionServer.set_armable(true, true);" in the autopilot thread.
The part I suspect is "The request is msg ID: 242". #242 is HOME_POSITION in the documentation. This should be sent from Autopilot to MAVSDK for health_all_ok() because "Vehicle is getting ready to arm" is displayed when health_all_ok() is not true.
In addition, I added code to get the health info:
while (telemetry.health_all_ok() != true) { std::cout << "Vehicle is getting ready to arm" << std::endl; std::cout << telemetry.health() << std::endl; std::this_thread::sleep_for(std::chrono::seconds(1)); }
And I got this info:
Vehicle is getting ready to arm health: { is_gyrometer_calibration_ok: 1 is_accelerometer_calibration_ok: 1 is_magnetometer_calibration_ok: 1 is_local_position_ok: 1 is_global_position_ok: 0 is_home_position_ok: 1 is_armable: 0 } Altitude: 0 m
I think you'll have to do some debugging to figure out why it's not set correctly, not sure what it is.
So, does that mean that autopilot_server, an example in MAVSDK, may not work properly?
The condition for health_all_ok() to be true is:
bool TelemetryImpl::health_all_ok() const { std::lock_guard<std::mutex> lock(_health_mutex); if (_health.is_gyrometer_calibration_ok && _health.is_accelerometer_calibration_ok && _health.is_magnetometer_calibration_ok && _health.is_local_position_ok && _health.is_global_position_ok && _health.is_home_position_ok) { return true; } else { return false; } }
And in the log I tested, it shows is_global_position_ok: 0.
In autopilotThread, publish_position() is executed in while loop.
telemServer.publish_position(position, velocity, heading);
And in the publish_position(), you can see the code related to global.
mavlink_msg_global_position_int_pack(...) add_msg_cache(MAVLINK_MSG_ID_GLOBAL_POSITION_INT, msg);
I don't know why is_global_position_ok is 0.
So, does that mean that autopilot_server, an example in MAVSDK, may not work properly?
Your testing will tell you. I'm sorry this is not something that is tested often.
The health of the GPS was not getting reevaluated so it never became good. It needed the sys_status message to be received before it would mark the GPS as good. I created a pull request to fix this: #2321
