Mavlink messages not parsing with Cube-Orange and RPi 3B+

johannejvv · December 10, 2019, 9:11am

I recently got a Pixhawk Cube-Orange with Here2 GPS and I loaded the apj firmware for Arducopter using Mission Planner (version 1.3.70) and it connects just fine.

Now I’ve connected the cube to a Raspberry Pi 3B+ and I wanted to test the mavlink interface using this example:

I’ve cloned that repository onto the Pi which is running Ubuntu Core 18.04 and when I run the script it detects System and Component ID but then doesn’t detect the Cube’s initial position. I’ve done some debugging and can see that this function:

mavlink_parse_char(MAVLINK_COMM_1, cp, &message, &status); //Line 133, serial_port.cpp

always returns zero and so the program just stays in a loop waiting for messages to be parsed. The screenshot shows the output of the program and it just stays like that until I press Ctrl-c to exit.

I’m not sure how to proceed from here or why the messages aren’t being parsed, would anyone be able to offer some advice?

Thanks!
Johanné

stephendade · December 10, 2019, 9:25am

I’ve just tested that example with my Pixhawk running the latest stable. I’ve found I can recreate your issue if there is no GPS lock. The mavlink_control is waiting for a valid GPS lock (and packet) first.

johannejvv · December 10, 2019, 3:45pm

Thanks for getting back to me. So when I connect the autopilot to the Pi, the GPS does flash green which means it has a valid GPS lock, correct me if I’m wrong? But I still get the issue I described above.

mickey-miki · December 11, 2019, 4:02am

To isolate the problem, we suggest connecting the mission planner and Cube and checking the GPS reception status on the mission planner.

Keshavkant · June 23, 2021, 2:31pm

Hey @johannejvv, were you able to debug the issue? I am facing the same issue with cube orange connected with here3 gps in can port connected with Raspberry pi 3b+ using FTDI Chip USB-to-serial adapter board.
Thanks.

Keshavkant · June 23, 2021, 2:32pm

@stephendade , @mickey-miki Please check if you can help me out with it.

Thanks!

Jayesh_Sawant · August 29, 2023, 9:37am

Did you find any solution? I’m also facing this issue

Suyash_Mali · August 29, 2023, 9:52am

I guess the issue lies within the C dialect of the mavlink library. I was able to access the messages through pymavlink, but it failed through the C dialect and waited in the loop for the messages.