Hello,
I am trying to upload mission using pymavlink from mission.txt file. The problem is - the code that I am using uploads mission perfectly on python 2.7 but gives error on python3
Code
from pymavlink import mavutil
from pymavlink import mavwp
import time
# Create the connection
# From topside computer
master = mavutil.mavlink_connection('tcp:192.168.0.21:5762')
master.wait_heartbeat()
wp = mavwp.MAVWPLoader()
def cmd_set_home(home_location, altitude):
print('--- ', master.target_system, ',', master.target_component)
master.mav.command_long_send(
master.target_system, master.target_component,
mavutil.mavlink.MAV_CMD_DO_SET_HOME,
1, # set position
0, # param1
0, # param2
0, # param3
0, # param4
home_location[0], # lat
home_location[1], # lon
altitude)
def uploadmission(aFileName):
home_location = None
home_altitude = None
with open(aFileName) as f:
for i, line in enumerate(f):
if i==0:
if not line.startswith('QGC WPL 110'):
raise Exception('File is not supported WP version')
else:
linearray=line.split('\t')
ln_seq = int(linearray[0])
ln_current = int(linearray[1])
ln_frame = int(linearray[2])
ln_command = int(linearray[3])
ln_param1=float(linearray[4])
ln_param2=float(linearray[5])
ln_param3=float(linearray[6])
ln_param4=float(linearray[7])
ln_x=float(linearray[8])
ln_y=float(linearray[9])
ln_z=float(linearray[10])
ln_autocontinue = float(linearray[11].strip())
if(i == 1):
home_location = (ln_x,ln_y)
home_altitude = ln_z
p = mavutil.mavlink.MAVLink_mission_item_message(master.target_system, 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)
wp.add(p)
cmd_set_home(home_location,home_altitude)
msg = master.recv_match(type = ['COMMAND_ACK'],blocking = True)
print(msg)
print('Set home location: {0} {1}'.format(home_location[0],home_location[1]))
time.sleep(1)
#send waypoint to airframe
master.waypoint_clear_all_send()
master.waypoint_count_send(wp.count())
for i in range(wp.count()):
msg = master.recv_match(type=['MISSION_REQUEST'],blocking=True)
print(msg)
master.mav.send(wp.wp(msg.seq))
print('Sending waypoint {0}'.format(msg.seq))
uploadmission('mission.txt')
mission.txt
QGC WPL 110
0 0 0 16 0.0 0.0 0.0 0.0 -35.3632621765 149.165237427 584.0 1
1 0 3 22 15.0 0.0 0.0 0.0 0.0 0.0 30.0 1
2 0 3 16 0.0 0.0 0.0 0.0 -35.3623428345 149.165100098 30.0 1
3 0 3 16 0.0 0.0 0.0 0.0 -35.3615036011 149.165084839 30.0 1
4 0 3 16 0.0 0.0 0.0 0.0 -35.3610038757 149.165756226 30.0 1
5 0 3 16 0.0 0.0 0.0 0.0 -35.3608703613 149.16708374 30.0 1
6 0 3 16 0.0 0.0 0.0 0.0 -35.361579895 149.168197632 30.0 1
7 0 3 16 0.0 0.0 0.0 0.0 -35.362651825 149.168319702 30.0 1
8 0 0 20 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1
9 0 3 16 0.0 0.0 0.0 0.0 -35.3645172119 149.168655396 30.0 1
10 0 3 16 0.0 0.0 0.0 0.0 -35.3654441833 149.168228149 25.0 1
11 0 3 16 0.0 0.0 0.0 0.0 -35.3658027649 149.167251587 25.0 1
12 0 3 16 0.0 0.0 0.0 0.0 -35.3654708862 149.166061401 20.0 1
13 0 3 16 0.0 0.0 0.0 0.0 -35.3640899658 149.165374756 10.0 1
14 0 3 21 0.0 0.0 0.0 1.0 -35.3633384705 149.165252686 0.0 1
Everything that i’ve implemented on pymavlink in my code such as mission read, arm and takeoff works perfectly on both python 2.7 and python 3 but uploading mission shows error (only on python3) while packing mavlink message inside ardupilotmega.py (odd)
Error message.
COMMAND_ACK {command : 179, result : 0}
Set home location: -35.3632621765 149.165237427
MISSION_REQUEST {target_system : 255, target_component : 0, seq : 0}
Traceback (most recent call last):
File "mission_upload.py", line 76, in <module>
uploadmission('mission.txt')
File "mission_upload.py", line 72, in uploadmission
master.mav.send(wp.wp(msg.seq))
File "/home/abhish/anaconda3/envs/new/lib/python3.6/site-packages/pymavlink/dialects/v10/ardupilotmega.py", line 13157, in send
buf = mavmsg.pack(self, force_mavlink1=force_mavlink1)
File "/home/abhish/anaconda3/envs/new/lib/python3.6/site-packages/pymavlink/dialects/v10/ardupilotmega.py", line 8812, in pack
return MAVLink_message.pack(self, mav, 254, struct.pack('<fffffffHHBBBBB', self.param1, self.param2, self.param3, self.param4, self.x, self.y, self.z, self.seq, self.command, self.target_system, self.target_component, self.frame, self.current, self.autocontinue), force_mavlink1=force_mavlink1)
struct.error: required argument is not an integer
Can someone suggest me what am I doing wrong.
Thank you.