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  • Aug 21 14:41
    kevinpallado commented #644
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Peter Barker
@peterbarker
(there's a weirdness in the log where the desired can't deviate from the actual too much, which is why I'm trying to be clear :-)
berkerm4n
@berkerm4n
it just needs to go forward at fixed altitude. This works exactly in the simulator. but in fact it goes forward and ascends
Peter Barker
@peterbarker
Just how high does it go?
berkerm4n
@berkerm4n
like 10-15meters
Peter Barker
@peterbarker
Erp.
berkerm4n
@berkerm4n
but if I let go it will too much
Peter Barker
@peterbarker
It's possible there's a problem here somewhere. Do simple positional-control-guided commands work OK?
berkerm4n
@berkerm4n
i tested auto missions
and i tested simpleTakeoff
Peter Barker
@peterbarker
Did the missions show any issues?
berkerm4n
@berkerm4n
no
Peter Barker
@peterbarker
I wonder if there's a problem in our posvel controller.
What you've got is the same as in one of the examples, so I don't think it's wrong.
Could you raise an issue against ArduPilot, please?
Please include dataflash logs from both SITL and the real vehicle.
berkerm4n
@berkerm4n
I don't think there's a problem with ardupilot. I've used dronekit before and tried a lot of scripts.
i want to try it in real life and i had this issue
Peter Barker
@peterbarker
i.e. his example suffers from that problem?
berkerm4n
@berkerm4n
he shows on video. it uses sitl too.
there is no problem on sitl
Peter Barker
@peterbarker
Sure. Did he show it in use on a real (ArduPilot) vehicle?
berkerm4n
@berkerm4n
I didn't have a problem on sitl either

no

there is no problem on sitl

Peter Barker
@peterbarker
Yes, but the model we use on SITL is rather simplistic.
Did you make sure that the desired was leading the actual?
Sorry, bedtime here.
berkerm4n
@berkerm4n
i will try control my desired altitude with vz using pid loop
I will write the result
good night
Usama Abrar Hashmi
@usamaabrar22_twitter
Will Dronekit work with ready-to-fly drones such as Husban H501 or Yuneec Typhoon Q500?
berkerm4n
@berkerm4n

Will Dronekit work with ready-to-fly drones such as Husban H501 or Yuneec Typhoon Q500?

It works with 3dr solo

Peter Barker
@peterbarker
@usamaabrar22_twitter Can't speak to the Hubsan. I believe the Yuneec is probably running PX4 Pro firmware - and while we should work on it, I don't test against that myself.
Usama Abrar Hashmi
@usamaabrar22_twitter
@peterbarker Alright.
mwshafer
@mwshafer
What happens if you are polling a vehicle attribute (let's say vehicle.attitude.pitch) at a rate that is occasionally faster than it is being transmitted populated by the flight controller? If my Pixhawk is busy and doesn't provide the mavlink messages at the rate I requested when connecting, will the Python thread polling that attribute wait at that line of code until that attribute is populated? I am getting some weird errors that only happen when flying. I can't reproduce them on the bench, and I am wondering if it is related to the Pixhawk being too busy to transmit to my companion at the expected rate. I don't understand what happens if I poll vehicle.attitude.pitch, then poll it again before it is updated.
Peter Barker
@peterbarker
@mwshafer while technically you can poll for messages, that's almost certainly not what's going on. Local data is being populated from "streamed" (scheduled data) from the autopilot, you're just getting copies of that data. Check how lossy your mavlink connection is to see if you're dropped messages.
mwshafer
@mwshafer
@peterbarker thanks. Let me clarify a bit. I know I am getting streamed days
*data. I am wondering what happens if I request data before the autopilot sends down updates to the attribute I am requesting.
Peter Barker
@peterbarker
@mwshafer you'll get the same data you got before. No more.
If you want to be notified of all updates you can subscribe to the data yourself using (e.g.) the decorator syntax e.g. https://github.com/dronekit/dronekit-python/blob/master/dronekit/__init__.py#L1080
mwshafer
@mwshafer
Okay. Thanks. That's what I was wondering - same data or if the script would hang there until the data was updated by the autopilot.
Travis Bridges
@thatsnailguy
Is vehicle.armed = true the best way to arm the drone? It seems to skip thr fs. Is the only way verify arm-able on the dronekit side?
Peter Barker
@peterbarker
@thatsnailguy May be skipping the throttle failsafe check depending on which mode you're arming in.
armable is actually tough, and there's no mechanism in dronekit-python (and, indeed, mavlink in general that I know of) to test armability. You could take inspiration from ArduPilot's test suite where we check what's coming back in the EKF's status packet.
Travis Bridges
@thatsnailguy
@peterbarker How would I induce an arm command that respects pre arm checks, similar to stick arming in through RC, through dronekit?
Peter Barker
@peterbarker
@thatsnailguy thing is, it's a property of the mode not checking RC input. Unless you have fiddled your arming check parameter, the RC input channel should be checked if appropriate just by setting that arming flag in the vehicle. If you want to make sure the stick is low you could add the check yourself in dronekit-python.
Travis Bridges
@thatsnailguy
@peterbarker That's strange. Because I am arming in Stabilize mode. If i click arm/disarm in MP, pre-arm checks fail and it doesn't arm. If arducopter is running pre-arm checks, why does dronekit need to run its own? What if dronekit loses the Rx side of the telemetry for whatever reason, and the RC Tx gets lost in the meantime.
Peter Barker
@peterbarker
@thatsnailguy Yes, checking in dronekit will be racey, no question. Are you saying that you can be in stabilize mode with a non-zero throttle, issue an arm command from dronekit-python and the thing arms?
It should simply be rejecting the arm and emitting a statustext, roughly equivalent flow to this:
STABILIZE> rc 3 2000
STABILIZE> arm throttle
STABILIZE> APM: PreArm: Throttle too high