Is MAV_CMD_DO_SET_REVERSE (194) still supported in general?

Webillo · April 23, 2025, 9:44pm

Hi.

When in Mission Planner reading (MP->PLAN->Load WP file) this very simple mission:

QGC WPL 110
0	1	0	16	0	0	0	0	40.1	-3.1	630.22	1
1	0	3	16	0	0	0	0	40.099994	-3.100006	0	1
2	0	3	194	0	0	0	0	0	0	0	1
3	0	3	16	0	0	0	0	40.099986	-3.100019	0	1
4	0	3	194	1	0	0	0	0	0	0	1
5	0	0	177	1	-1	0	0	0	0	0	1
6	0	3	21	0	0	0	0	40.1	-3.10001	0	1

which I have used extensively in the past, this happens:

MP 1.3.82 build 1.3.9228.10685 (also on 1.3.9195.11771 but not on 1.3.80).
If writing above waypoints with 1.3.80 and reading with 1.3.9228.10685:

Certainly, 194 may not have sense in some vehicles, but I see above error when not connected and when connected to a balance bot.

Yuri_Rage · April 24, 2025, 1:51am

It’s the LAND command that is giving you trouble. WP 6 is MAV_CMD_NAV_LAND (21). Remove it, and your mission should work fine.

Webillo · April 24, 2025, 7:26am

Removing the 194’s and maintaining the 21:

QGC WPL 110
0	1	0	16	0	0	0	0	40.1	-3.1	630.22	1
1	0	3	16	0	0	0	0	40.099994	-3.100006	0	1
2	0	3	16	0	0	0	0	40.099986	-3.100019	0	1
3	0	0	177	1	-1	0	0	0	0	0	1
4	0	3	21	0	0	0	0	40.1	-3.10001	0	1

it is loaded perfectly:

Removing only the 21 the same happens.

(So I assume that MAV_CMD_DO_SET_REVERSE (194) has not been removed and is still supported).

Yuri_Rage · April 24, 2025, 11:40am

Removing 21 did the trick for me. Not sure how else to help. DO_REVERSE is still supported.

Are you connected to a Rover?

Webillo · April 24, 2025, 12:04pm

Initially I saw this error unconnected, so I also tried on a connected balance bot (in which clearly 194 makes sense) and the same error appeared. I have tried on two different laptops, one with 1.3.9228.10685 and other with 1.3.9195.11771: same error.

So I tried on a third laptop (unmaintained Windows 7) with a very old 1.3.80 and all was fine. Writing the mission on a Copter with it (all normal), and reading it on laptop with 1.3.9195.11771 the “UNKNOWN” appeared (I suppose the same for the other with 1.3.9195.11771).

All above with MP on Windows 10. I can try on Ubuntu and Mac, but I think the error is unrelated with OS. I cannot locate when this error started to appear.

Yuri_Rage · April 24, 2025, 12:06pm

I am using 1.3.9228.10685 and can’t reproduce. The LAND command for Rover is what gave me issues (and should).

Webillo · April 24, 2025, 12:19pm

Certainly (I’m doing copy&paste), but this error appears to me unconnected and connected to a Copter. Above, supressing 21, unconnected, same error on new versions:

QGC WPL 110
0	1	0	16	0	0	0	0	40.1	-3.1	630.22	1
1	0	3	16	0	0	0	0	40.099994	-3.100006	0	1
2	0	3	16	0	0	0	0	40.099986	-3.100019	0	1
3	0	3	194	1	0	0	0	0	0	0	1

Yuri_Rage · April 24, 2025, 12:20pm

Unconnected, the default assumption may be Copter. I don’t think DO_SET_REVERSE is a Copter feature.

Webillo · April 24, 2025, 12:30pm

I’ve taken a Rover balance bot, connected (UDP), loaded:

QGC WPL 110
0	1	0	16	0	0	0	0	40.1	-3.1	630.22	1
1	0	3	16	0	0	0	0	40.099994	-3.100006	0	1
2	0	3	16	0	0	0	0	40.099986	-3.100019	0	1
3	0	3	194	1	0	0	0	0	0	0	1

and the same:

After all, unconnected you should be able to inspect and modify any mission.

Yuri_Rage · April 24, 2025, 12:39pm

Disconnected on initial startup, I do get that error. Again, I suspect MP defaults to Copter and has no way of inferring vehicle type. Brief code review shows that Rover is the only vehicle to support DO_SET_REVERSE.

Once connected to a Rover, your mission (without a LAND command) loads fine, and I cannot reproduce results shown here.

Perhaps @Eosbandi has more insight?

Eosbandi · April 24, 2025, 1:33pm

In config.xml you can set the APMFirmware tag to the required firmware type to use in offline mode.

Webillo · April 24, 2025, 6:02pm

This is what I have (and never changed manually).

<?xml version="1.0" encoding="utf-8"?>
<Config>
  <_BAUD />
  <AACheck2>True</AACheck2>
  <APMFirmware>ArduRover</APMFirmware>
  <AUTO_BAUD>115200</AUTO_BAUD>
  <AutoConnect>[...

Slowly:

MP without connection.
Load this (only one 194, no 21):

QGC WPL 110
0	1	0	16	0	0	0	0	40.1	-3.1	630.22	1
1	0	3	16	0	0	0	0	40.099994	-3.100006	0	1
2	0	3	16	0	0	0	0	40.099986	-3.100019	0	1
3	0	3	194	1	0	0	0	0	0	0	1

Eosbandi · April 24, 2025, 6:52pm

I cannot repro it, with APMFirmware set to ArduRover it loads mission with command 194 just fine.
Try remove and reinstall your Mission Planner. (Delete Documents/MissionPlanner and ProgramData/MissionPlanner folders as well (ProgramData is a hidden folder in C:)

Webillo · April 24, 2025, 9:25pm

Before that, I observed that on old 1.3.80 MP was english version, but on both failing laptops MP was in spanish.

So again slowly:

Config->Planner->UI Language: English.
Restart MP as requested.
Load:

QGC WPL 110
0	1	0	16	0	0	0	0	40.1	-3.1	630.22	1
1	0	3	16	0	0	0	0	40.099994	-3.100006	0	1
2	0	3	16	0	0	0	0	40.099986	-3.100019	0	1
3	0	3	194	1	0	0	0	0	0	0	1

5. Config->Planner->UI Language: Spanish
6. Restart MP as requested.
7. Load:

QGC WPL 110
0	1	0	16	0	0	0	0	40.1	-3.1	630.22	1
1	0	3	16	0	0	0	0	40.099994	-3.100006	0	1
2	0	3	16	0	0	0	0	40.099986	-3.100019	0	1
3	0	3	194	1	0	0	0	0	0	0	1

9. Repeat on the other failing laptop: failure in spanish, change to english, restart, load same with one 194 and no 21: success, change to spanish, restart, load same with one 194 and no 21: success.

So changing language and back does some kind of magic. Go figure.