Comments (10)
julianoes
commented on July 19, 2024
Hmm, when you say "ignores" what happens? Does it not upload anything? Do you get an error?
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mfattori
commented on July 19, 2024
No error occurs, it just doesn't appear to upload the rally items to the drone. I can still run the mission items and the drone will go to the waypoints but it won't ever go to the rally points and they aren't visible in AMC.
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julianoes
commented on July 19, 2024
Can you check whether the rally point import actually works. just check the length of the out.rally_items. And if it is not working, can you share an example plan that I can use to test the import with?
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mfattori
commented on July 19, 2024
The rally import works, printing the length of out.rally_items returns 2, which is the number of rally items in this mission file.
For reference, the code I am running is:
# ...connect to drone
out = await drone.mission_raw.import_qgroundcontrol_mission("sample_mission.plan")
print(len(out.rally_items)) # prints 2
await drone.mission_raw.upload_rally_points(out.rally_items)
await drone.mission_raw.upload_mission(out.mission_items)This is the mission plan I am testing with:
{
"UUID": "c79a2c853872309b8dd462791474cb323d936af2",
"fileType": "Plan",
"geoFence": {
"circles": [
],
"polygons": [
{
"inclusion": true,
"polygon": [
[
43.85722818608631,
-79.61147095948077
],
[
43.85722818608631,
-79.60492835311206
],
[
43.85429874744504,
-79.60492835311206
],
[
43.85429874744504,
-79.61147095948077
]
],
"version": 1
}
],
"version": 2
},
"groundStation": "QGroundControl",
"mission": {
"cruiseSpeed": 15,
"firmwareType": 12,
"globalPlanAltitudeMode": 1,
"hoverSpeed": 5,
"items": [
{
"MISSION_ITEM_ID": "0",
"autoContinue": true,
"command": 178,
"doJumpId": 1,
"frame": 2,
"params": [
1,
5,
-1,
0,
0,
0,
0
],
"type": "SimpleItem"
},
{
"AMSLAltAboveTerrain": 100,
"Altitude": 100,
"AltitudeMode": 1,
"MISSION_ITEM_ID": "2",
"autoContinue": true,
"command": 16,
"doJumpId": 2,
"frame": 3,
"params": [
0,
0,
0,
null,
43.85613586,
-79.60898841,
100
],
"type": "SimpleItem"
},
{
"AMSLAltAboveTerrain": 100,
"Altitude": 100,
"AltitudeMode": 1,
"MISSION_ITEM_ID": "3",
"autoContinue": true,
"command": 16,
"doJumpId": 3,
"frame": 3,
"params": [
0,
0,
0,
null,
43.85572471,
-79.60793674,
100
],
"type": "SimpleItem"
},
{
"AMSLAltAboveTerrain": 100,
"Altitude": 100,
"AltitudeMode": 1,
"MISSION_ITEM_ID": "4",
"autoContinue": true,
"command": 16,
"doJumpId": 4,
"frame": 3,
"params": [
0,
0,
0,
null,
43.85642823,
-79.60695476,
100
],
"type": "SimpleItem"
},
{
"AMSLAltAboveTerrain": 100,
"Altitude": 100,
"AltitudeMode": 1,
"MISSION_ITEM_ID": "5",
"autoContinue": true,
"command": 16,
"doJumpId": 5,
"frame": 3,
"params": [
0,
0,
0,
null,
43.85687592,
-79.6084499,
100
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 20,
"doJumpId": 6,
"frame": 2,
"params": [
0,
0,
0,
0,
0,
0,
0
],
"type": "SimpleItem"
}
],
"plannedHomePosition": [
43.856405656176875,
-79.60898841,
217
],
"vehicleType": 2,
"version": 2
},
"rallyPoints": {
"points": [
[
43.85535468,
-79.6069801,
0
],
[
43.8566064,
-79.60628322,
0
]
],
"version": 2
},
"version": 1
}Thank you!
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julianoes
commented on July 19, 2024
Great, thanks for that.
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julianoes
commented on July 19, 2024
Ok, I tried this and I get this:
File "/home/julianoes/src/upstream/MAVSDK-Python/examples/mission_import.py", line 32, in <module>
asyncio.run(run())
File "/usr/lib/python3.10/asyncio/runners.py", line 44, in run
return loop.run_until_complete(main)
File "/usr/lib/python3.10/asyncio/base_events.py", line 649, in run_until_complete
return future.result()
File "/home/julianoes/src/upstream/MAVSDK-Python/examples/mission_import.py", line 25, in run
await drone.mission_raw.upload_rally_points(mission_import_data.rally_items)
File "/home/julianoes/.local/lib/python3.10/site-packages/mavsdk/mission_raw.py", line 831, in upload_rally_points
raise MissionRawError(result, "upload_rally_points()", mission_items)
mavsdk.mission_raw.MissionRawError: BUSY: 'Busy'; origin: upload_rally_points(); params: ([<mavsdk.mission_raw.MissionItem object at 0x7f77f831b400>, <mavsdk.mission_raw.MissionItem object at 0x7f77f831b430>],)
As soon as I add in a sleep before doing the rally points, it starts working. That's a workaround but hopefully gets you unblocked.
await drone.mission_raw.upload_mission(out.mission_items)
await asyncio.sleep(0.1)
await drone.mission_raw.upload_rally_points(out.rally_items)
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julianoes
commented on July 19, 2024
And the real fix is over here: mavlink/MAVSDK#2311
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mfattori
commented on July 19, 2024
Thank you for providing updated code, I tested it and while the rally point uploads don't crash, the rally points in the file still don't seem to be actually uploaded to the drone. The .plan file I shared above also contains a geofence, and I can confirm that uploading the waypoints and the geofence boundaries work, it just seems to be the rally points that don't get uploaded.
Code:
...
out = await drone.mission_raw.import_qgroundcontrol_mission("sample_mission.plan")
await drone.mission_raw.upload_mission(out.mission_items) # this is sent to the drone
await asyncio.sleep(0.1)
assert len(out.geofence_items) > 0
await drone.mission_raw.upload_geofence(out.geofence_items) # this is sent to the drone
await asyncio.sleep(0.1)
assert len(out.rally_items) > 0
await drone.mission_raw.upload_rally_points(out.rally_items) # this isn't sent to the drone, no error occursIs this something that is fixed in mavlink/MAVSDK#2311 or is this a separate issue?
Thanks
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julianoes
commented on July 19, 2024
They were uploaded in my testing just fine, so that's confusing.
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julianoes
commented on July 19, 2024
One other thing to consider is whether your version of PX4 has this: PX4/PX4-Autopilot#22309
If you're using v1.14.0 it will not. If you use v1.14.3 it would include it.
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