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    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.
    Randy Mackay
    @rmackay9
    @p-goudet, OK! sounds good
    so the best way is to rebase it on master and then do a pull request
    Randy Mackay
    @rmackay9
    Please don't worry if you get lots of complaints about the code. Because it's the first PR that most of you have done, I'm sure there will be many (hopefully small) things that people will ask you to fix.
    looking forward to seeing it!
    p-goudet
    @p-goudet

    @rmackay9 Thank you, I have tried to clean a little the commit on the main developpement branch and I am preparing a branch to merge on the aptj-dev/master branch.
    Currentely, I am using astyle to fix the source format. In some files where we add new features, some source code that we didn’t implement or modify is automatically reformated with astyle. It might become an issue as those unrelated source would be part of the branch changes. Could tell me if there is better to use astyle other than :

    $astyle --options=Tools/CodeStyle/astylerc ArduCopter/ArduCopter.cpp

    :bow:

    Randy Mackay
    @rmackay9
    @p-goudet, it's ok to fix up formatting but just make sure that it goes into a separate commit from the functional changes.
    I don't use astyle myself so I'm not really sure
    p-goudet
    @p-goudet
    @rmackay9 Ok I understand, is there other tools that could be used to reformat code?
    I have tried to reorder the branch to show relevant commit and I would try to keep that.
    p-goudet
    @p-goudet
    @rmackay9 I Have opened a new pull request.
    ArduPilot/ardupilot#6325
    宜しくお願い致します :bow:
    Yuichiro Shibata
    @arsnovare
    👍
    Randy Mackay
    @rmackay9
    Great!!
    tajisoft
    @tajisoft
    Good job!!
    p-goudet
    @p-goudet
    As Randyさん guessed, the pull request recieve some comments, I would first fix the small mistakes on the AP_Telemetry_MQTT.cpp.
    Varunsaini778
    @Varunsaini778
    hello guies... i am a new user of ardupilot. can u please suggest me a quadcopter at which i can place some sensor containing payloads, place raspberry pi, flight controller.