MissionRaw's takeoff doesn't take off.

[fumiaki09]

System Requirements

• WLS2 Ubuntu22.04 Ardupilot SITL
• mavsdk = "3.12.0"

Launch with the following command

$ sim_vehicle.py --map --console

The mission itself is sending the following code.

fun uploadMission() {

        val missionRaw: MutableList<MissionRaw.MissionItem> = mutableListOf()
        var seq = 0

        // Takeoff (The very first command disappears.)
        missionRaw.add(
            MissionRaw.MissionItem(
                seq++,
                3, // MAV_FRAME_GLOBAL_RELATIVE_ALT
                22, // MAV_CMD_NAV_WAYPOINT
                0,  // current
                1,  // autocontinue
                0f, // param1
                0f, // param2
                0f, // param3
                0f, // param4
                0,
                0,
                10f, // alt
                0   // mission_type
            )
        )

        // Takeoff
        missionRaw.add(
            MissionRaw.MissionItem(
                seq++,
                3, // MAV_FRAME_GLOBAL_RELATIVE_ALT
                22, // MAV_CMD_TAKEOFF
                1,  // current
                1,  // autocontinue
                0f, // param1
                0f, // param2
                0f, // param3
                0f, // param4
                0,
                0,
                10f, // alt
                0   // mission_type
            )
        )

        // WP
        missionRaw.add(
            MissionRaw.MissionItem(
                seq++,
                3,
                16, //WP
                0,
                1,
                0f,
                0f,
                0f,
                0f,
                (-35.36285619 * 1E7).toInt(),
                (149.16553477* 1E7).toInt(),
                50f,
                0
            )
        )

        // RTL
        missionRaw.add(
            MissionRaw.MissionItem(
                seq++,
                3,
                20, //RTL
                0,
                1,
                0f,
                0f,
                0f,
                0f,
                0,
                0,
                0f,
                0
            )
        )

        viewModelScope.launch(Dispatchers.IO) {
            droneRepository.runWithDrone { drone ->
                try {
                    drone.missionRaw.uploadMission(missionRaw).await()
                    println("uploaded mission")
                } catch (e: Exception) {
                    println("upload failed")
                }
            }
        }
    }

You can start the mission with the following code.

fun missionStart() {
        viewModelScope.launch(Dispatchers.IO) {
            try {
                droneRepository.runWithDrone { drone ->
                    drone.action.arm().await()
                    delay(2000)
                    drone.action.setTakeoffAltitude(5f).await()
                    drone.action.takeoff().await()
                    drone.mission.startMission().await()
                }
            } catch (e: Exception) {
                e.printStackTrace()
            }
        }
    }
}

Why can't the mission takeoff command execute in the following code that removed takeoff?

fun missionStart() {
        viewModelScope.launch(Dispatchers.IO) {
            try {
                droneRepository.runWithDrone { drone ->
                    drone.action.arm().await()
                    delay(2000)
                    drone.mission.startMission().await()
                }
            } catch (e: Exception) {
                e.printStackTrace()
            }
        }
    }
}

[julianoes]

I assume you are using ArduPilot, and so the first waypoint is actually home. It can be left just 0 though.

Now, for the takeoff item, I would check what QGC or MissionPlanner upload exactly and what sort of frame, etc. If you match it exactly, it should "just work".

If it doesn't work, I would expect ArduPilot to send down an error. You might have to print telemetry statustext messages or get the print output of the mavsdk_server for more debug information.

[fumiaki09]

Thank you for your reply.

Create a mission in MissionPlanner and send it to Ardupilot SITL. Then, start the mission in MissionPlanner by selecting Arm > MissionStart.
If you attempt to start the mission in MavSDK while the mission remains in Ardupilot SITL,

fun missionStart() {
        viewModelScope.launch(Dispatchers.IO) {
            try {
                droneRepository.runWithDrone { drone ->
                    drone.action.arm().await()
                    drone.mission.startMission().await()
                }
            } catch (e: Exception) {
                e.printStackTrace()
            }
        }
    }
}

The following message appears in the Ardupilot SITL Console. (drone.telemetry.statusText shows the same message)

ARMED
Mode AUTO
Arming checks disabled
AP: Mission: 1 Takeoff
waypoint 1
AP: Disarming motors
AP: Mission: 1 Takeoff
DISARMED

The Ardupilot SITL console messages when starting a mission in MissionPlanner are as follows:

P: Arming motors
ARMED
Arming checks disabled
Got COMMAND_ACK: REQUEST_MESSAGE: ACCEPTED
Got COMMAND_ACK: SET_MESSAGE_INTERVAL: ACCEPTED
Got COMMAND_ACK: REQUEST_MESSAGE: ACCEPTED
Got COMMAND_ACK: REQUEST_MESSAGE: ACCEPTED
Got COMMAND_ACK: MISSION_START: ACCEPTED
Mode AUTO
AP: Mission: 1 Takeoff
waypoint 1

When starting a mission in MissionPlanner, commands like MISSION_START appear to be being sent.

I think the mission.startMission() method itself is faulty. (The same applies to missionRaw.startMission)

[fumiaki09]

Sending the MissionStart command directly will start the mission.

  val MAV_CMD_MISSION_START = 300

  val missionStartJson = """
  {
      "target_system": 1,
      "target_component": 1,
      "command": ${MAV_CMD_MISSION_START},
      "confirmation": 0,
      "param1": 0, 
      "param2": 0,
      "param3": 0,
      "param4": 0,
      "param5": 0,
      "param6": 0,
      "param7": 0
  }
  """

  val mavMsg = io.mavsdk.mavlink_direct.MavlinkDirect.MavlinkMessage(
      "COMMAND_LONG",
      255,
      0,
      1,
      1,
      missionStartJson
  )


  drone.mavlinkDirect.sendMessage(mavMsg).await()

[julianoes]

Could it be a problem that you define the home altitude (the very first item) to 10m and then the takeoff to 10m as well?

[fumiaki09]

fun uploadMission() {

        val missionRaw: MutableList<MissionRaw.MissionItem> = mutableListOf()
        var seq = 0

        val currentPositon = droneState.value.position

        // SET HOME (The very first command disappears.)
        missionRaw.add(
            MissionRaw.MissionItem(
                seq++,
                3, // MAV_FRAME_GLOBAL_RELATIVE_ALT
                179, // SETHOME
                0,  // current
                1,  // autocontinue
                0f, // param1
                0f, // param2
                0f, // param3
                0f, // param4
                (currentPositon.latitudeDeg * 1E7).toInt(),
                (currentPositon.longitudeDeg * 1E7).toInt(),
                0f,// 高度（0または現在高度）
                0,    // mission_type

            )
        )

        // Takeoff
        missionRaw.add(
            MissionRaw.MissionItem(
                seq++,
                3, // MAV_FRAME_GLOBAL_RELATIVE_ALT
                22, // MAV_CMD_TAKEOFF
                1,  // current
                1,  // autocontinue
                0f, // param1
                0f, // param2
                0f, // param3
                0f, // param4
                0,
                0,
                10f, // alt
                0   // mission_type
            )
        )

        // WP
        missionRaw.add(
            MissionRaw.MissionItem(
                seq++,
                3,
                16, //WP
                0,
                1,
                0f,
                0f,
                0f,
                0f,
                (-35.36285619 * 1E7).toInt(),
                (149.16553477* 1E7).toInt(),
                50f,
                0
            )
        )

        // RTL
        missionRaw.add(
            MissionRaw.MissionItem(
                seq++,
                3,
                20, //RTL
                0,
                1,
                0f,
                0f,
                0f,
                0f,
                0,
                0,
                0f,
                0
            )
        )

        viewModelScope.launch(Dispatchers.IO) {
            droneRepository.runWithDrone { drone ->
                try {
                    drone.missionRaw.uploadMission(missionRaw).await()
                    println("uploaded mission")
                } catch (e: Exception) {
                    println("upload failed")
                }
            }
        }
    }

Even after performing the above, the result was the same.