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ArduPilot/MQTT

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Randy Mackay

@rmackay9

I haven't gotten the MQTT converter yet from Shibuya-san so I'll ping him

murata,katsutoshi

@muramura

@tajisoft comments thank you.

Yuichiro Shibata

@arsnovare

@rmackay9 Thank you for reply!
Please ping to Shibuya-san.
We are planning a flight test of MQTT prototype at Ibaraki airfield on March 12.

Randy Mackay

@rmackay9

https://dl.dropboxusercontent.com/u/3852647/MQTT/mavmqtt170304.tar

https://dl.dropboxusercontent.com/u/3852647/MQTT/readme.txt

Ok, this is what shibuya-san sent me. I've only looked at it briefly

he says he tested it on an NVidia TX1

Randy Mackay

@rmackay9

The above code is GPLv3 by the way.. if that doesn't work for anybody please come and talk to me and we can try and figure out how to resolve any problems.

Yuichiro Shibata

@arsnovare

This message was deleted

@rmackay9 Thank you for the code !
Sorry, because there is not time, prototype will use a simple converter we made.
We will refer to the above code at the time of formal development.

Randy Mackay

@rmackay9

yup, that's great. I'm looking forward to seeing what you have!

Yuichiro Shibata

@arsnovare

@rmackay9 Yes. We are doing development to show good things.
I am developing it with tanaka-san, Kawamura-san, Matsumoto-san, Pierre.
Tanaka's contribution is great !

Randy Mackay

@rmackay9

@arsnovare, how did the presentation go?

Yuichiro Shibata

@arsnovare

@rmackay9 The presentation on March 13 ended in failure.
I will try again on 18th March.

Randy Mackay

@rmackay9

ah, that's too bad. anything I can help with?

p-goudet

@p-goudet

@rmackay9 The flight on March 12th fails with latest version of ardupilot(at this time) where the MQTT features have been include. During this try the motor emit a strange sound.

However before the drone crash, we had successfully done another try in the morning with an older version of arducopter (Copter-3.4-rc1) download from the emild HP.

At home, we have done some tries (no flight, just motor) with the base version of ardupilot( Copter-3.5 without MQTT). The result is that the motors have a strange behaviour and making some strange noise, the same that we noticed during the failure and probably make the drone crashes.
Currentely, locally we moved the commit where you had the AP_Telemetry library on the Copter-3.4 branch. The compile successed and the motor seems to be fine. We are now trying to import the MQTT features on that new local branch based on Copter-3.4.

Randy Mackay

@rmackay9

@p-goudet, if you have the logs I can have a look. If it's a motor failure, the signs are very clear. the RCOU message will show the bad motor going to full, the opposite motor often goes low.

Also did you do an ESC calibration?

http://ardupilot.org/copter/docs/esc-calibration.html

p-goudet

@p-goudet

@rmackay9 Unfortunately the log file were empty.
I don’t remember that we have done such thing like ESC calibration.

@rmackay9 Also later we mounted the flight controller on the Robocat drone of @tajisoft and one of the ESC burned, even before the motor start to move.

p-goudet

@p-goudet

@rmackay9 I calibrate the ESC and try with the master version of ardupilot and the same issue occured

Randy Mackay

@rmackay9

Ok, sounds a bit like a hardware problem then..

Yuichiro Shibata

@arsnovare

@rmackay9
We made the demonstration of MQTT successful
I used Copter-3.4.

We did two demonstrations.

First, I connected Drone to the Internet with WiFi, got log (latitude, longitude, etc.), and operated (ARM, DisArm, take off, land etc.) Drone with MQTT from a remote place.

Second, connect Drone to the Internet with SORACOM (LTE / 3G), perform simple operation (ARM, DisArm) with MQTT from a remote place, loaded Drone in the car and got position information.

We shot a demonstration video, we will show you it when editing is over.

Randy Mackay

@rmackay9

Congrats!

Randy Mackay

@rmackay9

I hope i can give it a try as well..

vp_tanaka

@norika-takumi

@rmackay9
We controlled Drone in Yokohama from Fukuoka, using mqtt protocol on wifi network connected to internet.

Randy Mackay

@rmackay9

Nice!

Randy Mackay

@rmackay9

Can I ask.. which 4G dongle did you use? And i guess you had a companion computer on the drone?

Or did use use a linux flight controller like the Navio2?

Yuichiro Shibata

@arsnovare

@rmackay9 We used the SORACOM USB dongle.
https://soracom.jp/services/air/

And we used a linux flight controller with the Navio2,
we didn't use a companion computer on the drone.

vp_tanaka

@norika-takumi

@rmackay9
I did this with Shibata. For details, please ask Shibata. I have developed the MQTT Application software.
We used nalio 2 and raspberry pi 3. Flight controller software is branch Copter-3.4 of ardupilot.

Randy Mackay

@rmackay9

very nice.

vp_tanaka

@norika-takumi

thank you.

Randy Mackay

@rmackay9

I know that many people want to be able to use the 3G/4G/LTE to connect their drones to the internet. I've never tried it so I'm not sure how difficult it is.

is it very low bandwidth? I guess with some services (slow/laggy) video must be possible?

Yuichiro Shibata

@arsnovare

@rmackay9
The Solacom band of both upload and download is 2 Mbps at the fastest speed class(s1.fast).
The communication rate is 0.2 yen / MB.
By 2 Mbps bandwidth, I think slow/laggy video is possible.

In this development, we communicate with Drone using the MQTT protocol
With the MQTT protocol, we basically only send text data.
Additional development is necessary for us to send and receive videos over the Internet, but it is possible in the future, because we succeeded in connecting Drone to the Internet.

tajisoft

@tajisoft

It was flying perfectly in the practice of the previous day. But it is a bit disappointing that the drones did not fly in the demonstration of the day. We should extract the data flash log and analyze it.

@p-goudet Can you distribute the data flash log to members?

vp_tanaka

@norika-takumi

@arsnovare
I told Mr. Kaizu at Messenger "Please upload the telemetry log to facebook."

vp_tanaka

@norika-takumi

@tajisoft
The function that accesses GPIO has already accessed other pins, so it is not a problem.

tajisoft

@tajisoft

ok, I see. I try to find the pins for buzzer.

tajisoft

@tajisoft

I found a post about Drone and AI.
https://www.dronetimes.jp/articles/1197

vp_tanaka

@norika-takumi

@tajisoft
That’s great!

vp_tanaka

@norika-takumi

@tajisoft Now we will start supporting Rover development in the agricultural field.
We will use MQTT in that project.
That Rover is a caterpillar Rover.
It is necessary to modify the method of driving and steering the wheels of ArduPilot.

tajisoft

@tajisoft

@norika-takumi I think it’s good idea using MQTT for Rover. I have no experience in Rover.

Yuichiro Shibata

@arsnovare

@tajisoft @norika-takumi @p-goudet

It's the agenda of today's meeting.
(1) Development of Raspberry Pi + Navio 2 configuration
· Refactoring: Pierre
· Adding a debug log: Pierre
· Arrives the buzzer sound informing of the state of ArduPilot

(2) Development of Pixhawk + Companion configuration
· on hold

(3) KDDI's demonstration experiment at SIM
· Schedule of demonstration experiment
· Scheduled to be confirmed on Saturday, April 15
· Additional development of Web UI
· http://scottlobdell.me/2017/03/successful-rc-blimp-autopilot-flight-test/
· Introduction of framework
· Server side: Express
· Front side: React or Angular etc.

(4) Video streaming of ArduSub

Randy Mackay

@rmackay9

By the way, @OXINARF (aka Francisco) is starting to add 3G/LTE support to APSync. He's planning to start with this common dongle: https://www.amazon.co.jp/dp/B00R2X0W8S/ref=cm_sw_r_cp_ep_dp_Xa17ybVHK9NB9

We don't want to re-do other peoples work though so if people know of a short-cut to getting this working. PRs into the ardupilot/companion repo please!

.. or talk with Francisco.. he can be found in a number of the gitter chats. Including the main one.