ArduPilot/companion

7bpm

@7bpm

I've got DFlogger, Mavlink-Router and the APweb (from the https://github.com/shortstheory/APWeb.git) running OK

but I cannot get the APStreamline server up...

I'm trying to compile it from the https://github.com/shortstheory/adaptive-streaming.git

but whatever I do I cannot get it working

Can someone help?

The Intel NUC is to be used as a Companion Computer on a 'big' ArduRover UGV...

Anyone care to help ?

Peter Barker

@peterbarker

@shortstheory - any help?

7bpm

@7bpm

@shortstheory - When I start the Stream Server manually (e.g. running ./stream_server eno1) I get:

Interface : eno1
Address : 192.168.100.10
APStreamline
Access the following video streams using VLC or gst-launch following the instructions here: https://github.com/shortstheory/adaptive-streaming#usage
/dev/video0 (HD Pro Webcam C920): rtsp://192.168.100.10:8554/cam0

my camera is the /dev/video0, so it is recognized successfully by the stream_server

but it doesn't turn it on (the camera LED is not switching on) and obviously I get no video stream on: rtsp://192.168.100.10:8554/cam0

Any ideas of what might be happening ?

7bpm

@7bpm

@peterbarker - Has shortstheory updated his pull request to APWeb to incorporate the adaptive streaming? Have you managed to merge it in?

Stephen Dade

@stephendade

@7bpm - just tried the stream server on my Ubuntu laptop, same issue. I get

(stream_server:32716): GStreamer-CRITICAL **: 17:06:56.804: gst_element_set_state: assertion 'GST_IS_ELEMENT (element)' failed

(stream_server:32716): GStreamer-CRITICAL **: 17:06:56.804: gst_object_unref: assertion 'object != NULL' failed
Segmentation fault (core dumped)

It works on my Raspberry Pi though. Might be worth submitting a issue on the Github repo. @shortstheory is pretty responsive there.

Javad97

@Javad97

can anyone suggest which is the best companion computer for pixhawk 2.1.I mean which has great efficiency to work with it?

Jaime Machuca

@jmachuca77

RPI or Nvidia Nano, TX2 etc depends what you want to do and how much you want to spend

TunaLobster

@TunaLobster

I'm working with SAMD21 microprocessor right now. Not the same level of user friendliness and it doesn't have pymavlink, but it can easily handle everything I need it to do.

arnav dhamija

@shortstheory

@peterbarker Hi, I wasn't on this channel for a while. Just catching up right now!

@7bpm and @stephendade, have you had any problems with APStreamline of late?

@7bpm - just tried the stream server on my Ubuntu laptop, same issue. I get
(stream_server:32716): GStreamer-CRITICAL **: 17:06:56.804: gst_element_set_state: assertion 'GST_IS_ELEMENT (element)' failed

(stream_server:32716): GStreamer-CRITICAL **: 17:06:56.804: gst_object_unref: assertion 'object != NULL' failed
Segmentation fault (core dumped)
It works on my Raspberry Pi though. Might be worth submitting a issue on the Github repo. @shortstheory is pretty responsive there.

Could you tell me more about your setup? I did change quite a few things recently and it seems that has broken more than what i expected

Stephen Dade

@stephendade

@shortstheory - Just tried the latest source on my Ras Pi. Actually works fine now. Using Gstreamer 1.10.4-1 under Raspian 9

arnav dhamija

@shortstheory

New PR for APWeb to enable APStreamline: peterbarker/APWeb#3

Some people had problems with the $PATH, this PR fixes it when used with my PR for the companion repo here: ArduPilot/companion#44

Faik Vural

@FaikVural

hello ! I want to connect jetson nano and pixhawk but I dont find nano ımage file. Do you know anything connect these two card ??

Hector Tovanche

@Tovanzhe_twitter

Hello, I'm looking to use a Up board from intel as companion computer, I'm not able to connect trough serial pins, since there is no nano image file I have to configurate everything manual, some advices?

Kemal Güven

@kguvenn_twitter

Hello, After flashed APSync to Jetson TX2, I cannot connect Internet. Can anyone help me?

Tiziano Fiorenzani

@tizianofiorenzani

Is there any way the companion can understand whether a new mission has been uploaded? Currently I have been using the mission count, but it's not a proper way of handling that, as you could just upload a mission with the same number of items as before. I am trying with the MISSION_ACK mavlink message, but the autopilot only replies to the one who is sending the mission (i.e. it sends MISSION_ACK only to Mission Planner). Any idea?

Peter Barker

@peterbarker

@tizianofiorenzani Suggest you get involved in the various mavlink-checksum-mission-items discussions. Sorry, I don't have a reference :-)

(in asnwer to your question, "no" :-) )

Tiziano Fiorenzani

@tizianofiorenzani

@peterbarker : the only way around I found was creating a simple script in MP that sends a message to the companion when a "Flight Plan Received" message is received

Peter Barker

@peterbarker

@tizianofiorenzani Urp. The bad news there is that we're planning on nuking that message :-/ (@WickedShell)

Tiziano Fiorenzani

@tizianofiorenzani

Oh gosh. Guys, the companion needs to be aware of what has been commanded to the autopilot. Knowing that a mission is available or has been updated I feel is a MUST.

I got the same problem even with a "goto". I have to check the POSITION_TARGET_GLOBAL_INT and verify that is different from the previous one. Still a lot of work

Fnoop

@fnoop

mavros publishes waypoint updates, not sure of the mechanism or how reliable it is

Tiziano Fiorenzani

@tizianofiorenzani

thanks @fnoop , but I am still not using mavros

same old dronekit/pymavlink

auturgy

@auturgy

@Tizianofiorenzani mavlink discussion is here: https://github.com/mavlink/mavlink/issues/1171#issuecomment-536913203

yyfssss

@yyfssss

Anyone having problem with Apsync with Rpi4?

Stephen Dade

@stephendade

@yyfssss - See the updated Apsync image at https://discuss.ardupilot.org/t/new-apsync-build-for-raspberry-pi/49528/1

yyfssss

@yyfssss

@stephendade wow thank you so much

yyfssss

@yyfssss

@stephendade for rpi4, should we use

@stephendade for rpi 4 , should we use ttyAMAO or ttyS0 ?

yyfssss

@yyfssss

When using ttyAMAO I got no linl. Using ttyS0 I have the error: Failed to connect to /dev/ttyS0 : Could not configure port: (5, 'Input/output error')

Stephen Dade

@stephendade

@yyfssss - Use /dev/serial0 for all Rpi's

FergalLonerganKUL

@FergalLonerganKUL

I have just added APSync to my TX2. I had been running SITL and mavproxy locally previously and everything was working well, however, as APSync defaults to broadcasting on TCP port 5760 and this is the default for the sim_vehicle.py setup of mavproxy i am unable to run my simulator now.

I do not know how to change the APSync config file to change the TCP port, also I have tried changing to port configuration in sim_vehicle.py for the mavproxy.py initialization but to no avail.

Can anyone help?

Getting:

.....
Waiting for heartbeat from tcp:127.0.0.1:5760
MAV>

Sohan Anisetty

@vanquish630

I have connected ardupilot mega 2.6 with a Rpi4 via usb. However none of the parameter are loading up and the mavproxy is stuck on stabilize and not accepting commands. Message comes if I arm/disarm through transmitter. I tried appending --mav10, --mav20 to command line but it still doesn't work. I cannot connect to mission planner as it gets stuck on loading params1. Tried reinstalling mission planner, changing computers and usb cables. Cannot reinstall firmware as no connection error comes. Could you guys please help me.

Jaime Machuca

@jmachuca77

@FergalLonerganKUL look for ~/start_mavlink_router/mavlink-router.conf

There is an entry for listening on the tcp port. Look at the documentation for mavlink router on github

FergalLonerganKUL

@FergalLonerganKUL

Thanks @jmachuca77. What I did was open the APSync user and then open the /etc/rc.local file. I commented out all the commands that were launching the different bash scripts to kick off APSync and now my simulator works perfectly again. If I want to restart APSync I just un-comment those commands and restart the APSync user.

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