PyMavlink GeoFence

Ground Control Software MAVLink
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1

Hello everyone.

I’m trying to upload a GEOFence using pymavlink however I can not manage to do it. I looked at the forums and tried the code reference but still no luck. Can anyone help me find the issue?

I tried two different codes.

from pymavlink import mavutil

mav = mavutil.mavlink_connection('tcp:localhost:8100')

mav.wait_heartbeat()
print("Heartbeat from system (system %u component %u)" % (mav.target_system, mav.target_component))

points = ['four lat lon points']

for i in points:
    mav.mav.command_long_send(mav.target_system, mav.target_component,
                              mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, 0,
                              len(points), 0, 0, 0, i[0], i[1], 0)

This first one is a simple one using the MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION command from MAVLink however the SITL reply is: Got COMMAND_ACK: NAV_FENCE_POLYGON_VERTEX_INCLUSION: UNSUPPORTED

import time
from pymavlink import mavutil, mavwp

mav = mavutil.mavlink_connection('tcp:localhost:8100')

mav.wait_heartbeat()
print("Heartbeat from system (system %u component %u)" % (mav.target_system, mav.target_component))

fenceloader = mavwp.MAVFenceLoader(mav.target_system, mav.target_component)

points = ['four lat lon points']

frame = mavutil.mavlink.MAV_FRAME_GLOBAL

for i in points:
    fenceloader.add_latlon(float(i[0]), float(i[1]))

fenceloader.target_system = mav.target_system
fenceloader.target_component = mav.target_component
fenceloader.reindex()
action = mav.param_fetch_one('FENCE_ACTION')
mav.param_set_send('FENCE_ACTION', 0, 3)
mav.param_set_send('FENCE_TOTAL', fenceloader.count(), 3)

for i in range(fenceloader.count()):
    p = fenceloader.point(i)
    print(p)
    mav.mav.send(p)
    print(mav.recv_match(type='COMMAND_ACK', blocking=True))
    mav.mav.fence_fetch_point_send(mav.target_system, mav.target_component, i)
    tstart = time.time()
    p2 = None
    while time.time() - tstart < 3:
        p2 = mav.recv_match(type='FENCE_POINT', blocking=False)
        print(p2)
        if p2 is not None:
            break
        time.sleep(0.1)
        if p2 is None:
            print("Failed to fetch point %u" % i)

    if p2 is None:
        mav.param_set_send('FENCE_ACTION', 0, 3)

    if (p.idx != p2.idx or
            abs(p.lat - p2.lat) >= 0.00003 or
            abs(p.lng - p2.lng) >= 0.00003):
        print("Failed to send fence point %u" % i)
        mav.param_set_send('FENCE_ACTION', action, 3)

mav.param_set_send('FENCE_ACTION', action, 3)

This second code is my best shot at replicating the MAVProxy implementation which is the one that is recommended in this forum.

However, this code gives me: AP: Invalid FENCE_TOTAL.

And the python console says: Failed to send fence point 0

Any help to solve this issue is appreciated.
Thank you in advance.

2

Here is an example code

3

I copied and pasted this code and python tells me:

AttributeError: module 'pymavlink' has no attribute 'mavlink_connection'

I then changed the import of pymavlink to:

from pymavlink import mavutil

And get the error:

AttributeError: type object 'MAVLink_param_value_message' has no attribute 'msgname'

What am I doing wrong ?

4

Now it works.

I changed dialect.MAVLink_param_value_message.msgname to "PARAM_VALUE" and dialect.MAVLink_fence_point_message.msgname to "FENCE_POINT".

Thank you so much for your code.

Do you know where I can get info or an example code of how to do the RTK/GPS Inject via pymavlink ?

5

Do you mean RTCM?

There is an example in the above link.

6

I’m so sorry to bother you again but now I’m tasked with creating an exclusion GeoFence.

How can you define if the current fence uploaded is an exclusion or inclusion Fence?

Thank you for your time.