Mavsdk - ardupilot sitl

moshe.braun · October 4, 2023, 10:48am

Hi
Does ardupilot compatible with mavsdk?

amilcarlucas · October 4, 2023, 11:26am

No, it is not yet 100% compatible. Want to work on it?

moshe.braun · October 4, 2023, 1:44pm

Send me a link, I try my best

amilcarlucas · October 4, 2023, 1:52pm

github.com/ArduPilot/ardupilot

AP_MISSION: Add nan mission sanity checks to various mission commands

ArduPilot:master ← trolledbypro:add-NaN-mission-sanity-checks

opened 08:29PM - 18 Aug 23 UTC

trolledbypro

+28 -12

_In support of https://github.com/ArduPilot/ardupilot/issues/24691_ Hello, As …I continue to troubleshoot ArduPilot compatibility with MAVSDK Mission module, I noticed that several camera action commands did not have proper NaN support. ArduPilot was rejecting what are valid commands according to Mavlink due to invalid parameters: **MAV_CMD_IMAGE_STOP_CAPTURE:** Params 2, 3 and 4 [can be set to NaN](https://mavlink.io/en/messages/common.html#MAV_CMD_IMAGE_STOP_CAPTURE). Since these are reserved commands, their values are not saved to EEPROM and having these params as NaN has no effect. **MAV_CMD_VIDEO_START_CAPTURE:** Params 3 and 4 [can be set to NaN](https://mavlink.io/en/messages/common.html#MAV_CMD_VIDEO_START_CAPTURE). Since these are reserved commands, their values are not saved to EEPROM and having these params as NaN has no effect. **MAV_CMD_VIDEO_STOP_CAPTURE:** Params 2, 3 and 4 [can be set to NaN](https://mavlink.io/en/messages/common.html#MAV_CMD_VIDEO_STOP_CAPTURE). Since these are reserved commands, their values are not saved to EEPROM and having these params as NaN has no effect. **MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW:** Params 1, 2, 3 and 4 [can be set to NaN](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW). This command is special as commands stored to EEPROM can be NaN. To address this, I wrote the sanity check in a way that only accepts the following three cases: 1. Both angles are defined and both turn rates are NaN 2. Both angles are NaN and both turn rates are defined 3. All angles and turn rates are defined, angles will be set and turn rates will be ignored These three cases are consistent with the implementation in AP_Mount https://github.com/ArduPilot/ardupilot/issues/23053. In terms of testing, the only testing I have done is in ArduPilot SITL is to see if the commands are accepted. I have not tested with real hardware.

is a good starting point.

moshe.braun · October 4, 2023, 2:31pm

Basics functionality like connect, receive telemetry and send attitude command in manual modes are well established?