Mavsdk: Flight testing DroneCore examples on Intel Aero

[mrpollo]

@dronecore/testflights can you please help us verify the following documentation examples run on the Intel Aero:

• Takeoff and Land
• Fly QGC mission. You can use dronecore/DroneCore/#235 which flies QGroundControl Mission plan
• Offboard velocity control
• GPS Follow Me

Please try to follow the steps in our docs to build and run the examples

• Building DroneCore from source
• Running examples

We are looking for all levels of feedback, from "steps are wrong, we can't build" to "vehicle flew in the wrong direction".

@shakthi-prashanth-m @anitha-suresh @julianoes @JonasVautherin how would you guys like the feedback from the test team? logs? command line output? screenshots?

[shakthi-prashanth-m]

@mrpollo Thanks for creating the issue.
IMO, Basically these example should work as expected.
In either success/failure, it would be good to have:

• DroneCore logs (which appears on stdout)
• PX4 logs (ulog)
• Video of the examples run (possible ?)

[shakthi-prashanth-m]

•Fly mission [Current example in master branch uses hard-coding. You can use this patch which flies QGroundControl Mission plan]

@mrpollo I corrected this patch link which was referencing fly mission example in the master. It was supposed to refer https://github.com/dronecore/DroneCore/pull/232.

[r0gelion]

I built the sample, but when I run the example:
./takeoff_and_land

I got the message that the device wasn't found, but I have a UDP connection to the vehicle since I'm seeing the telemetry data in QGC on the same computer running the example.

Any thoughts?

[shakthi-prashanth-m]

@r0gelion Can you please add below UDP Endpoint in /etc/mavlink-router/files/main.conf ?

[UdpEndpoint dronecore]
Mode = Normal
Port = 14540

And then, execute

systemctl restart mavlink-router

Now, run takeoff_and_land example.

Thanks

[r0gelion]

@shakthi-prashanth-m

As soon as I restarted the mavlink-router with the UDP Endpoint added to main.conf, I lost telemetry data in QGC and I got the same previous message when I try to run the takeoff_and_land example.

Regards.

[avinash-palleti]

@r0gelion
Address field is missing in the above entry which you added in mavlink-router conf file, so by default it will take local host address. I guess you are running dronecore on a different system which is connected to Aero over wifi hotspot.
Can you please add below entries in main.conf,

[UdpEndpoint dronecore_wifi]
Mode = Normal
Port = 14540
Address = 192.168.8.255

[UdpEndpoint dronecore_usb]
Mode = Normal
Port = 14540
Address = 192.168.7.55

Please run below commands after updating main.conf,
systemctl daemon-reload
systemctl restart mavlink-router

[r0gelion]

@avinash-palleti

I got telemetry data again after the changes, executed the example but got some errors, unfortunately, I don't have a screenshot, I decided to update the repository and tried again.

Now I'm getting this error when executed the example

[julianoes]

Oh, uh, that's because of the recent refactor.

It's addressed for Android in #252 but not for the general case here yet.

I'll let you know when it's fixed.

[shakthi-prashanth-m]

@julianoes will your latest tinyxml2 fix on Mac resolve @r0gelion issue ?
If so we can request @r0gelion to retry.
@r0gelion please use #235 for testing fly mission. I updated the link in the example list above.
You can run using ./fly_qgc_mission which flies default QGC mission plan.

[r0gelion]

for take off and land example I still get the same error.

I'll check the #235

[julianoes]

@JonasVautherin I guess for Mac desktop for now we could just fix this by creating a static library again.

[JonasVautherin]

Yeah let's do that.

[julianoes]

@r0gelion please try again, it might work now.

[r0gelion]

@julianoes

Still getting the same error, these are the steps I followed:

• Deleted the repository
• Cloned the repository
• Updated the modules (git submodule...)
• install the library (make default install)
• compiled the take off example
• ran the example

Still getting the libtinyxml2d.5.dylib not loaded error.

[julianoes]

Thanks, that's weird though but I'll try to reproduce and let you know.

[julianoes]

Can you try to do sudo rm /usr/local/lib/libdronecore.dylib? That might be leftover.

[julianoes]

No, I'm wrong, I can reproduce it. Will fix it tomorrow, sorry about that.

[shakthi-prashanth-m]

Thanks for the fix @julianoes and @JonasVautherin.
@r0gelion can you please test on latest and confirm ? Thanks.

[r0gelion]

@shakthi-prashanth-m @julianoes @JonasVautherin

No, still same error, let me know what information do you need to help you to debug this issue.

Regards.

[julianoes]

@r0gelion that's with a clean build and fresh install?
Also make sure to clean out anything in /usr/local/lib/libdrone*.

[r0gelion]

@julianoes

I deleted the Dronecore folder
Cloned the repository
Updated the submodules
Installed the library (make default install)
Compiled the example and executed it

[julianoes]

Try:

sudo rm /usr/local/lib/libdronecore*

to clean up installed libs.

[r0gelion]

That worked, I'm not getting the error anymore. I'll test the example and let you know.

Regards.

[julianoes]

@r0gelion cool thanks for checking

[r0gelion]

@julianoes I got some errors when running the example, check for them here: http://pasted.co/78a4dfae

I'm also seeing the connection to QGC is taking very long time and it ends up in errors to get the parameters:

Let me know if you have an idea of what could be happening.

Thanks!

[shakthi-prashanth-m]

@r0gelion which version of aero do you have ? Kindly paste output of aero-get-version.py.
Thanks.

[julianoes]

I'm also seeing the connection to QGC is taking very long time and it ends up in errors to get the parameters

I think this means that something about the param caching fails in QGC. Does it happen everytime? Is this with latest master and a recent QGC?

[r0gelion]

It happens every time, it was yesterday's master and yesterday's daily build of QGC.