Loading Geofences to APM using pymavlink

[greatsum (oguz alt)]

Hi all,

I am trying to load a “fences.waypoint” file to my APM using python and pymavlink. My setup is the following: i am using Mission planner SITL to simulate and test my code. i also use pymavlink and python 3. My aim is to use built-in Fences and Dijkstra’s algorithm for pathfinding.

This is the screenshot of an example file.

I am able to write Waypoints as a mission to APM and run it on SITL by using the following code.
I couldn’t understand how to use fenceloader = mavwp.MAVFenceLoader() efficiently. any help will be useful.

Thanks.

        wp = mavwp.MAVWPLoader()
               .
               .
               .

        p = mavutil.mavlink.MAVLink_mission_item_message(self.master.target_system, self.master.target_component, ln_seq, ln_frame,
                                                                    ln_command,
                                                                    ln_current, ln_autocontinue, ln_param1, ln_param2, ln_param3, ln_param4, ln_x, ln_y, ln_z)
                        
        self.cmd_set_home(home_location,home_altitude)
        msg = self.master.recv_match(type = ["COMMAND_ACK"],blocking = True)
        logger.info(msg)
        logger.info(f"Set home location: {home_location[0]} {home_location[1]}")
        sleep(1)
        
        #send waypoint to airframe
        self.master.waypoint_clear_all_send()
        self.master.waypoint_count_send(self.wp.count())

        for i in range(self.wp.count()):
            msg = self.master.recv_match(type=["MISSION_REQUEST"],blocking=True)
            logger.info(msg)
            self.master.mav.send(self.wp.wp(msg.seq))
            logger.info(f"Sending waypoint {msg.seq}")

[BenBBB (Benjamin Neilson)]

Hey Oğuz,

So using that Python code you’re loading the waypoint file successfully but would also like to load a similar file to define boundary/fence polygons?

@ktrussell @Yuri_Rage have either of you guys used pymavlink/Python like this for your rovers? I do all this in ROS so don’t know much.

@rmackay9 hi Randy, hey who would have an idea in this case? From keeping up with Kenny and Yuri lately there have been quite a lot of developments with Rover.

Cheers guys,
Ben

[Mustafa_Gokce]

Arduboat Automatic SimpleGrid Without Mission Planner pymavlink

Hope by saying “APM”, you refer to ArduPilot, not old APM boards since ArduPilot drop support on this boards many years ago. Firmware does not support such kind of interface for autonomous moving. You need to implement yourself. You can take a look at Mission Planner source code, parts related with SimpleGrid. Take a look at here. I believe this is the source code related with SimpleGrid operations. There is also a Python library called Shapely but as long as I remember it can be used only…

I replied in this post of yours with an example code from MAVProxy related with fence operations.
Please look at it.

If you also want fence, take a look at this code. This is for fence drawing and uploading module source code of MAVProxy.

[Yuri_Rage]

I haven’t specifically used pymavlink to upload fences, but it looks very straightforward. As Mustafa says above, the MAVProxy code does a nice job of using the mavwp.MAVFenceLoader class and should probably be the definitive example.

It should just be a matter of using native file IO to read the file, skip index 0 (home), and then use an iterator to upload the waypoints with an instantiation of mavwp.MAVFenceLoader.

[BenBBB (Benjamin Neilson)]

Cheers Yuri, that does look the go,