Can't change takeoff altitude using set_takeoff_altitude() about mavsdk-python HOT 19 CLOSED

I had the same issues but I used some other work around by setting the takeoff height parameter, MIS_TAKEOFF_ALT

await drone.param.set_float_param("MIS_TAKEOFF_ALT", 20.0)

20.0 metres was the height in my case.
That should suffice for now.

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Sorry for the delay @aydal, I've been a bit overwhelmed.

I'm thinking that you may actually contribute to that issue, as now you are familiar with gRPC from the PositionNED PR :-).

If you look at SetTakeoffAltitude:

    grpc::Status SetTakeoffAltitude(
        grpc::ServerContext* /* context */,
        const rpc::action::SetTakeoffAltitudeRequest* request,
        rpc::action::SetTakeoffAltitudeResponse* /* response */) override
    {
        if (request != nullptr) {
            const auto requested_altitude = request->altitude();
            _action.set_takeoff_altitude(requested_altitude);
        }

        return grpc::Status::OK;
}

You can see that response is ignored. Which is wrong: we need to respond with an ActionResult, as defined by the proto file.

SetMaximumSpeed, in the same file, does it the right way:

    grpc::Status SetMaximumSpeed(
        grpc::ServerContext* /* context */,
        const rpc::action::SetMaximumSpeedRequest* request,
        rpc::action::SetMaximumSpeedResponse* response) override
    {
        if (request != nullptr) {
            const auto requested_speed = request->speed();
            mavsdk::Action::Result action_result = _action.set_max_speed(requested_speed);

            if (response != nullptr) {
                auto* rpc_action_result = new rpc::action::ActionResult();
                rpc_action_result->set_result(
                    static_cast<rpc::action::ActionResult::Result>(action_result));
                rpc_action_result->set_result_str(mavsdk::Action::result_str(action_result));
                response->set_allocated_action_result(rpc_action_result);
            }
        }

        return grpc::Status::OK;
}

i.e. SetMaximumSpeed does put the ActionResult into the response.

Would you mind fixing SetTakeoffAltitude such that it behaves correctly? That would be awesome 😎.

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Hello Jonas,
Apologies for the late reply. Have built and checked the changes. Changes visible on PR

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Which PR?

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@aydal: Any news on that? I remember you worked on that but I lost track eventually 😕.

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That works, of course, but the fix suggested above would be cleaner. It should not be difficult to fix, and I believe @aydal had it but just did not open a PR with it 😕.

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Alright then, let me give it a shot.

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@vizzbee: sure, it would be awesome!

I don't remember that PR or why it did not get merged. The easiest would probably be to open a PR specific to that bugfix, so that it is easier to merge it. If you do it along with a new feature, it will take more time to get merged 🙂.

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Hi, has the bug been resolved? I tried to modify the takeoff altitude on takeoff example file and still get an error.

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@siddux let me check. I see the last status here: mavlink/MAVSDK#958

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I have updated the pull request. I hope that we can merge it soon now.

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The PR has been merged, this should be fixed in the next release.

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This issue is marked as closed, but it seems to still be an issue. I ran similar code as shown above, calling the set_takeoff_altitude() command as follows:

await drone.action.set_takeoff_altitude(5.0)

The code throws and invalid parameter exception but still sets the altitude value. I can confirm this by calling the get method and verify that it was in fact changed. I am running version 0.12.0 of mavsdk on a raspberry pi.

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I am running version 0.12.0 of mavsdk on a raspberry pi.

@cryptik Can you try the latest version 1.4.0?

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Sorry... I gave you the version I am running on locally on MacOS. I deploy remotely to RPi.. will check the version when I am back at the drone. Another question... for the Mac, it appears the latest version is 0.12.0? I have an M1... is that the latest version?

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M1 is tricky as we don't have mavsdk_server built in CI for it yet. See #319.

You can get try to get the latest with python -m pip --upgrade install mavsdk

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Thanks, but worries.. there are other issues I have with the M1 and related libraries... so the remote build on RPi works fine. Will check the version and report back.

When I do the upgrade on the M1, it tells me the requirement is already met... for version 0.12.0. Seems consistent with what is discussed in #319.

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Ok, I checked... on the RPi, I am using mavsdk 1.4.0 which I assumed had this problem corrected... but maybe not for the Pi. I currently catch the exception and then call the get function to confirm that it was actually changed.

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That's odd. It definitely should have been fixed in 1.4.0. I will try to reproduce this.

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