Unable to upload rally_items through MAVSDK

[mfattori]

Hi,

I am working with the MissionRaw plugin and am attempting to upload a mission file which also contains rally points to the drone. While I am able to upload a .plan file and view the correct mission details through AMC, attempting to perform the same action with MAVSDK-Python ignores the rally_items:

Minimal example:

... # connect to drone, etc 

out = await drone.mission_raw.import_qgroundcontrol_mission("sample_mission.plan")

await drone.mission_raw.upload_rally_points(out.rally_items) # upload rally items -> this is ignored
await drone.mission_raw.upload_mission(out.mission_items) # upload mission items -> this works!
...

Versions:

• MAVSDK Python: mavsdk==2.5.1
• Autopilot: Auterion Skynode:
  • Release Name == v2.15.10
  • AuterionOS == v2.15.10
  • APX4 == 2.7.24
• mavlink-router: v3-11-g42529d5

Am I using the right interface for this and is there an alternate order I should be performing the uploads?

Thanks

[julianoes]

Hmm, when you say "ignores" what happens? Does it not upload anything? Do you get an error?

[mfattori]

No error occurs, it just doesn't appear to upload the rally items to the drone. I can still run the mission items and the drone will go to the waypoints but it won't ever go to the rally points and they aren't visible in AMC.

[julianoes]

Can you check whether the rally point import actually works. just check the length of the out.rally_items. And if it is not working, can you share an example plan that I can use to test the import with?

[mfattori]

The rally import works, printing the length of out.rally_items returns 2, which is the number of rally items in this mission file.

For reference, the code I am running is:

# ...connect to drone
out = await drone.mission_raw.import_qgroundcontrol_mission("sample_mission.plan")
print(len(out.rally_items)) # prints 2

await drone.mission_raw.upload_rally_points(out.rally_items)
await drone.mission_raw.upload_mission(out.mission_items)

This is the mission plan I am testing with:

{
    "UUID": "c79a2c853872309b8dd462791474cb323d936af2",
    "fileType": "Plan",
    "geoFence": {
        "circles": [
        ],
        "polygons": [
            {
                "inclusion": true,
                "polygon": [
                    [
                        43.85722818608631,
                        -79.61147095948077
                    ],
                    [
                        43.85722818608631,
                        -79.60492835311206
                    ],
                    [
                        43.85429874744504,
                        -79.60492835311206
                    ],
                    [
                        43.85429874744504,
                        -79.61147095948077
                    ]
                ],
                "version": 1
            }
        ],
        "version": 2
    },
    "groundStation": "QGroundControl",
    "mission": {
        "cruiseSpeed": 15,
        "firmwareType": 12,
        "globalPlanAltitudeMode": 1,
        "hoverSpeed": 5,
        "items": [
            {
                "MISSION_ITEM_ID": "0",
                "autoContinue": true,
                "command": 178,
                "doJumpId": 1,
                "frame": 2,
                "params": [
                    1,
                    5,
                    -1,
                    0,
                    0,
                    0,
                    0
                ],
                "type": "SimpleItem"
            },
            {
                "AMSLAltAboveTerrain": 100,
                "Altitude": 100,
                "AltitudeMode": 1,
                "MISSION_ITEM_ID": "2",
                "autoContinue": true,
                "command": 16,
                "doJumpId": 2,
                "frame": 3,
                "params": [
                    0,
                    0,
                    0,
                    null,
                    43.85613586,
                    -79.60898841,
                    100
                ],
                "type": "SimpleItem"
            },
            {
                "AMSLAltAboveTerrain": 100,
                "Altitude": 100,
                "AltitudeMode": 1,
                "MISSION_ITEM_ID": "3",
                "autoContinue": true,
                "command": 16,
                "doJumpId": 3,
                "frame": 3,
                "params": [
                    0,
                    0,
                    0,
                    null,
                    43.85572471,
                    -79.60793674,
                    100
                ],
                "type": "SimpleItem"
            },
            {
                "AMSLAltAboveTerrain": 100,
                "Altitude": 100,
                "AltitudeMode": 1,
                "MISSION_ITEM_ID": "4",
                "autoContinue": true,
                "command": 16,
                "doJumpId": 4,
                "frame": 3,
                "params": [
                    0,
                    0,
                    0,
                    null,
                    43.85642823,
                    -79.60695476,
                    100
                ],
                "type": "SimpleItem"
            },
            {
                "AMSLAltAboveTerrain": 100,
                "Altitude": 100,
                "AltitudeMode": 1,
                "MISSION_ITEM_ID": "5",
                "autoContinue": true,
                "command": 16,
                "doJumpId": 5,
                "frame": 3,
                "params": [
                    0,
                    0,
                    0,
                    null,
                    43.85687592,
                    -79.6084499,
                    100
                ],
                "type": "SimpleItem"
            },
            {
                "autoContinue": true,
                "command": 20,
                "doJumpId": 6,
                "frame": 2,
                "params": [
                    0,
                    0,
                    0,
                    0,
                    0,
                    0,
                    0
                ],
                "type": "SimpleItem"
            }
        ],
        "plannedHomePosition": [
            43.856405656176875,
            -79.60898841,
            217
        ],
        "vehicleType": 2,
        "version": 2
    },
    "rallyPoints": {
        "points": [
            [
                43.85535468,
                -79.6069801,
                0
            ],
            [
                43.8566064,
                -79.60628322,
                0
            ]
        ],
        "version": 2
    },
    "version": 1
}

Thank you!

[julianoes]

Great, thanks for that.

[julianoes]

Ok, I tried this and I get this:

  File "/home/julianoes/src/upstream/MAVSDK-Python/examples/mission_import.py", line 32, in <module>
    asyncio.run(run())
  File "/usr/lib/python3.10/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/lib/python3.10/asyncio/base_events.py", line 649, in run_until_complete
    return future.result()
  File "/home/julianoes/src/upstream/MAVSDK-Python/examples/mission_import.py", line 25, in run
    await drone.mission_raw.upload_rally_points(mission_import_data.rally_items)
  File "/home/julianoes/.local/lib/python3.10/site-packages/mavsdk/mission_raw.py", line 831, in upload_rally_points
    raise MissionRawError(result, "upload_rally_points()", mission_items)
mavsdk.mission_raw.MissionRawError: BUSY: 'Busy'; origin: upload_rally_points(); params: ([<mavsdk.mission_raw.MissionItem object at 0x7f77f831b400>, <mavsdk.mission_raw.MissionItem object at 0x7f77f831b430>],)

As soon as I add in a sleep before doing the rally points, it starts working. That's a workaround but hopefully gets you unblocked.

    await drone.mission_raw.upload_mission(out.mission_items)
    await asyncio.sleep(0.1)
    await drone.mission_raw.upload_rally_points(out.rally_items)

[julianoes]

And the real fix is over here: mavlink/MAVSDK#2311

[mfattori]

Thank you for providing updated code, I tested it and while the rally point uploads don't crash, the rally points in the file still don't seem to be actually uploaded to the drone. The .plan file I shared above also contains a geofence, and I can confirm that uploading the waypoints and the geofence boundaries work, it just seems to be the rally points that don't get uploaded.

Code:

...
out = await drone.mission_raw.import_qgroundcontrol_mission("sample_mission.plan")

await drone.mission_raw.upload_mission(out.mission_items) # this is sent to the drone
await asyncio.sleep(0.1)

assert len(out.geofence_items) > 0
await drone.mission_raw.upload_geofence(out.geofence_items) # this is sent to the drone

await asyncio.sleep(0.1)
assert len(out.rally_items) > 0
await drone.mission_raw.upload_rally_points(out.rally_items) # this isn't sent to the drone, no error occurs

Is this something that is fixed in mavlink/MAVSDK#2311 or is this a separate issue?

Thanks

[julianoes]

They were uploaded in my testing just fine, so that's confusing.

[julianoes]

One other thing to consider is whether your version of PX4 has this: PX4/PX4-Autopilot#22309
If you're using v1.14.0 it will not. If you use v1.14.3 it would include it.