AVR Autonomous Code Flight Path Not Working

Technical Support (Official) AVR Drone Software
1

The sandbox connects to the MQTT broker just fine, and is able to log and run some setup code. It also is able to detect autonomous enable/disable just fine, but does not execute the flight path. Here is my code:

    def path(self) -> None:
        logger.info("CAPTURING HOME & ARM")
        self.send_message("avr/fcm/capture_home", {})
        self.send_message("avr/fcm/arm", {})

        logger.info("UPLOADING MISSION")
        self.send_message("avr/fcm/upload_mission", {
            "waypoints": [
                { # takeoff
                    "type": "takeoff"
                },
                {
                    "type": "land"
                }
            ]
        })
        logger.info("STARTING MISSION")
        self.send_message("avr/fcm/start_mission", {})

I was considering replacing it with the following code which I will test on the drone tomorrow instead of using the missions:

        box.send_message("avr/fcm/takeoff", {})
        box.send_message("avr/fcm/land", {})

Any insight? I think it’s possible I may be using the wrong MQTT topic or message formatting.

Thanks!

2

You might be sending messages to the FCM too quickly.

3

I’m testing this in the sim right now, it connects just fine and starts running code but when it executes send_message(“avr/fcm/takeoff”, {}) nothing happens even though there are no errors. I also added some pauses like you said. Anyone know how to get it to actually takeoff autonomously?

4

For some reason it’s not in the documentation, but you need to put the altitude that you want to take off in the payload.
{“avr/fcm/actions”, {“action”: “takeoff”, “alt”: }

5

Sorry but sometimes I have trouble trying to get it into the right python code form. Is this correct?

self.send_message("avr/fcm/takeoff", {"alt": 3.12})

(Not sure if I should do it like that or send_message(“avr/fcm/actions”, {“action”: “takeoff”, “alt”:3})
Thanks so much for your help.

6

I realize this is a bit tricky. Not sure if you watched my video describing some of the fundamentals:

The topic should be avr/fcm/actions and the message is in JSON format like this:

{"action": "takeoff", "payload": { "alt": 1.5 }}

I’m going to update the documentation but one thing to keep in mind is that for any navigation commands I believe the default speed is 5m/s which is WAY TOO FAST for the AVR game court. This is a PX4 parameter that you should update to slow it down:

MPC_XY_VEL_MAX

For all my testing I had it set to 0.25 m/s.

Good luck and let us know how it goes.

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