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  • Oct 14 22:36
    peterbarker closed #697
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    peterbarker commented #697
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    dataflash_logger: add optional … (compare)

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    prepare for 1.8.15 release (compare)

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  • Oct 11 18:59
    RickReeser opened #697
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    yonhonng opened #696
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    tridge on master

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Peter Barker
@peterbarker
@slovak194 sadly that's not going to be easy.
You have a couple of options I can think of.
The first would be monkey-patching the output connection objects (nasty).
The second would be to clone the MAVProxy output module and essentialy create a "filtered output" module which has the relevant hooks in it.
Peter Barker
@peterbarker
Another option might be to create a wrapper around the connection object which mavproxy_link calls .write(...) on, and append that custom object to mav_outputs in place of the connection object. Do your munging/filtering in there.
Presumably in that last case your module would call a method on the output module to add an output with a lambda expression of some sort.
Akshath-Singhal
@Akshath-Singhal
@peterbarker @tridge Please have a look at ArduPilot/MAVProxy#662
Andrew Tridgell
@tridge
@Akshath-Singhal reviewed, thanks!
Peter Barker
@peterbarker
CI is failing: Maximum allowed artifact storage size of 50000 Mb will be exceeded.
Francisco Ferreira
@OXINARF
@peterbarker Which CI?
Peter Barker
@peterbarker
I think MAVProxy only has one? Azure.
Stephen
@stephendade
@OXINARF - MAVProxy uses Appveyor.
Stephen
@stephendade
Looks like QGC had a similar CI issue: https://help.appveyor.com/discussions/problems/17697-all-builds-failing-due-to-artifact-storage-limit-exceeded. I'll look into this issue next week.
Stephen
@stephendade
Scratch that, was an easy fix. See PR #672
Akshath-Singhal
@Akshath-Singhal
@tridge A reminder that ArduPilot/MAVProxy#674 is ready.
Andrew Tridgell
@tridge
@peterbarker appveyor have increased our artifact allowance
Jacob Walser
@jaxxzer
does mavproxy have any hook that runs after downloading the parameters (eg after reboot too?)
i'm trying to set the streamrates once on connection and reconnection
avoiding the periodic streamrate thing
Peter Barker
@peterbarker
Easiest way would probably be to write a small module to get that effect. The fieldcheck module would be a reasonable place to start. Note that MAVProxy won't refetch parameters on reboot.
Henry Wurzburg
@Hwurzburg
@peterbarker just upgraded to latest MAVProxy.....ran Copter SITL...no problem, swithed to APMRover2 directory and ran....fails to complete initialization ....xterm console output:
Connection on serial port 0
Loaded defaults from /home/henry/Desktop/ardupilot/Tools/autotest/default_params/rover.parm
Home: -35.363262 149.165237 alt=584.000000m hdg=353.000000
bind port 5762 for 2
Serial port 2 on TCP port 5762
bind port 5763 for 3
Serial port 3 on TCP port 5763
validate_structures:410: Validating structures
ERROR: Floating point exception - aborting
Running: sh dumpstack 8327 >segv_ardurover.8327.out 2>&1
Failed
terminal output:
MAV> APM: ArduRover V4.0.0-dev (71c1cb3f)
APM: 0654d2d2e50e4fdeba1793746f87968c
online system 1
INITIALISING> Mode INITIALISING
Received 1065 parameters
Saved 1065 parameters to mav.parm
APM: Barometer 1 calibration complete
APM: <startup_ground> Ground start
APM: Beginning INS calibration. Do not move vehicle
Init Gyro
APM: INS: alloc 6144 bytes for ISB (free=131072)
APM: Ready to drive
MANUAL> APM: GPS 1: detected as u-blox at 115200 baud
Mode MANUAL
APM: EKF2 IMU0 initial yaw alignment complete
APM: EKF2 IMU1 initial yaw alignment complete
EOF on TCP socket
Attempting reconnect
[Errno 111] Connection refused sleeping
[Errno 111] Connection refused sleeping
Attempting reconnect
[Errno 111] Connection refused sleeping
[Errno 111] Connection refused sleeping
Exception in thread main_loop:
Traceback (most recent call last):
File "/usr/lib/python2.7/threading.py", line 801, in bootstrap_inner
self.run()
File "/usr/lib/python2.7/threading.py", line 754, in run
self.
target(
self.__args,
self.__kwargs)
File "/usr/local/bin/mavproxy.py", line 913, in main_loop
periodic_tasks()
File "/usr/local/bin/mavproxy.py", line 845, in periodic_tasks
send_heartbeat(master)
File "/usr/local/bin/mavproxy.py", line 825, in send_heartbeat
0, 0, 0)
File "/home/henry/.local/lib/python2.7/site-packages/pymavlink/dialects/v20/ardupilotmega.py", line 14765, in heartbeat_send
return self.send(self.heartbeat_encode(type, autopilot, base_mode, custom_mode, system_status, mavlink_version), force_mavlink1=force_mavlink1)
File "/home/henry/.local/lib/python2.7/site-packages/pymavlink/dialects/v20/ardupilotmega.py", line 12707, in send
self.file.write(buf)
File "/home/henry/.local/lib/python2.7/site-packages/pymavlink/mavutil.py", line 1233, in write
self.port.send(buf)
AttributeError: 'NoneType' object has no attribute 'send'
Henry Wurzburg
@Hwurzburg
okay I think the problem is that I changed SIM_WIND_T_ALT to 0....but I cant unchange it....tried adding it (with value of 60) to default params in Tools for rover....it keeps saving it as 0 in the APMrover2 mav.param file as it intializes
must be another place it stores startup params...
Henry Wurzburg
@Hwurzburg
I can run it from the arudpilot directiory, specifiying the vehicle, but not from the APMrover2 directory...it always forces SIM_WIND_T_ALT to 0 and causes the floating point exception, I think....params are being loaded from somewhere other than tool....default and the current directory...dont know where from
also, WIND does not affect the vehicle....maybe I have to set SIM_GND_BEHAVE to something???
Peter Barker
@peterbarker
Start with -w - it will wipe your parameters (which are stored in eeprom.bin)
Henry Wurzburg
@Hwurzburg
thanks...I read it, but forgot it...did this a while back....as to getting the boat to drift, wind does not seem to do it...neither does changing the shove accels, unless I have to activate that somehow because shove time already is non-zero....
Henry Wurzburg
@Hwurzburg
from my scanning the code, it appears that SHOVE is only in the plane sims....and that wind is not in the ROVER/boat sims but its in the SAILBOAT sims, so I guess I am out of luck SITL'ng a boat in the wind to test loiter stuff
but I am probably wrong...
Peter Barker
@peterbarker
Bummer. Sounds like it.
Adding shove to the other sims wouldn't be tough.
Any reason not to just change your starting location? What does it matter, anyway?
Henry Wurzburg
@Hwurzburg
trying to find the best tuning algorithm for LOITER.....it is intended to move back to target every time it drifts outside the loiter radius....wind needs to push it along unless counteracted by LOITER moving it back into the loiter radius...
Andrew Tridgell
@tridge
i've added a new 'ucenter' module for mavproxy that makes it easy to connect u-center remotely to a u-blox GPS on a flight controller
Huibean Luo
@Huibean
@tridge is TCP data passthrough?
Andrew Tridgell
@tridge
yes
just a more convenient way to do it
"module load ucenter"
then "ucenter set" to setup ports etc
then "ucenter start"
Huibean Luo
@Huibean
cool
André Kjellstrup
@AndKe
nice ! what is the state of RTK support in MAVproxy ? - I had some trouble with it once (and solved quickly by QGC behind MAVproxy before finding out)
Andrew Tridgell
@tridge
@AndKe I'm using the mavproxy ntrip module and it works well. We don't have a module that talks to a directly attached base station though, and that is a big missing piece
Amilcar Lucas
@amilcarlucas
@tridge I have a PR that connects to the septentrio basestation
jimovonz
@jimovonz
Basestation module would definitely be nice but in the meantime I get by with using socat and the DGPS module
Andrew Tridgell
@tridge
@amilcarlucas oh? I didn't see that one
Amilcar Lucas
@amilcarlucas
@tridge I mean ArduPilot/MAVProxy#408 I am not sure if it does what you guys are looking for.
edsellar
@edsellar
Not sure if here or companion is better but does anyone know how to set up a pi for reverse ssh (that doesn’t seem hard, google has plenty of examples - man in the middle served basically) with the correct mavproxy configuration so I can not have to worry about port forwarding (on static 4g sticks on both ends) so I can access my Copter for diagnostics when on the ground? I’m wanting to simply open mission planner and access my hostname I have set as a dynamicdns name on the pi and be able to access it without physically going over to it and we have to be on separate networks. This or some incarnation would be fine. Any thoughts would be awesome! I saw a piece of software called uavmatrix but it says it’s just mavproxy with a nice front end and doesn’t let the reverse ssh stuff happen (only ZeroTier). Have or will get whatevers needed to try this.
Stephen
@stephendade
@edsellar - any reason that it needs to be reverse SSH? I've used Zerotier for exactly that use case with no issues.