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    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?
    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.
    p-goudet
    @p-goudet

    @rmackay9 We wanted to check if the strange motor sound remains on the latest commit. So we rebased the dev branch on the master branch of the ardupilot origin project. The result is that the strange still remains and the disarm command seems to not be transmit correctelly (need long time to stop engine). The testing setup is a navio2 board with esc "LHI simonk 12A” mounted on a rubocop drone. The previous version 3.4 is still fine and the MQTT function seems to go smoothly.

    Do you have any idea about where this problem might come from? (and if it might easily be solve?)

    vp_tanaka
    @norika-takumi
    @rmackay9
    I'd like to change the Rover wheel to a endless track belt.
    Does Ardupilot support this type of rover?
    If Ardupilot support it, please tell me how to use it.
    If not, can we add this mode?
    Pierre Kancir
    @khancyr
    @norika-takumi By endless track belt rover you mean a tank like rover right ?
    APMRover support it by changing SKID_STEER_OUT to 1 (and reboot), that ways ouput 1 is left track and ouput 3 is right track. See http://ardupilot.org/rover/docs/skid-steer-parameter-tuning.html
    SKID_STEER_IN is if you want to control directy each side like on old tank, right joystick control right track and left joystick, left track !
    vp_tanaka
    @norika-takumi
    @khancyr
    Thank you very much. It solved it with this.
    p-goudet
    @p-goudet
    I am currentely thinking about the best way to enable and setup the MQTT feature on run time.
    Thanks to @tajisoft, there is now an option for the waf builder “—enables-mqtt” to compile the mqtt libraries.
    The next step is to decide when the MQTT feature should be activated and setup.
    One simple solution would be to use options for the arducopter binary such as “—mqtt_url” and parse it with an option parser. However I don’t really understand where and how ardupilot read/parse options? I looked up the AP_PARAM library and setup.cpp files but I could not understood how to add new options. Does anybody have idea about how to solve it?
    vp_tanaka
    @norika-takumi
    @rmackay9
    I made a new flight mode on Rover. It is a mode that goes to the designated direction. Instructing the Rover to advance in the direction of the azimuth angle of 22 degrees, even if there is no Rover in the direction of the azimuth angle of 22 degrees, turn the handle automatically and run in that direction.
    Randy Mackay
    @rmackay9
    @norika-takumi, very nice! even I have never made a new Rover flight mode!
    p-goudet
    @p-goudet
    @rmackay9 The Ardupilot/MQTT team have finished to write a first version of ardupilot that could use the MQTT protocol. We would be glad to add this small feature to the main ardupilot project. Could you tell us the path to follow in order to open a pull request for the main ardupilot project. All comments and request are welcome to improve this modules.