hi I try to use the manual control example from GitHub
this code doesn’t work
this is something that the developer knows?
Ok, and what doesn’t work?
I am running px4-sitl on jmavsim and receives this error:
Waiting for drone to connect...
-- Connected to drone!
-- Global position state is good enough for flying.
-- Arming
-- Taking off
-- Starting manual control
Traceback (most recent call last):
File "/usr/lib/python3.10/idlelib/run.py", line 578, in runcode
exec(code, self.locals)
File "/home/amitkatav/MAVSDK/examples/manual_control.py", line 99, in <module>
asyncio.run(manual_controls())
File "/usr/lib/python3.10/asyncio/runners.py", line 44, in run
return loop.run_until_complete(main)
File "/usr/lib/python3.10/asyncio/base_events.py", line 649, in run_until_complete
return future.result()
File "/home/amitkatav/MAVSDK/examples/manual_control.py", line 73, in manual_controls
await drone.manual_control.start_position_control()
File "/home/amitkatav/.local/lib/python3.10/site-packages/mavsdk/manual_control.py", line 228, in start_position_control
raise ManualControlError(result, "start_position_control()")
mavsdk.manual_control.ManualControlError: COMMAND_DENIED: 'Command Denied'; origin: start_position_control(); params: ()
Ok, so the error is “command denied”. You need to find out why. I suggest to subscribe to statustext messages in MAVSDK to see if there is some output. Alternatively, if you run the mavsdk_server separately, you can also see that output.
i receive just the same error
StatusText: [type: CRITICAL, text: Switching to Position is currently not available ]
and in the terminal:
WARN [commander] Switching to Position is currently not available
QGC:
16:16:17.502] Info: Armed by external command
[16:16:17.503] Info: Using default takeoff altitude: 15.00 m
[16:16:17.504] Critical: Manual control lost
[16:16:17.504] Critical: Failsafe activated due to manual control loss, triggering RTL in 5 seconds
[16:16:19.524] Info: Takeoff detected
[16:16:21.956] Critical: Switching to mode 'Position control' is currently not possible
No manual control input
[16:16:21.972] Info: Pilot took over using sticks
[16:16:21.972] Info: Manual control regained after 4.8 s
[16:16:21.972] Info: Using default takeoff altitude: 15.00 m
[16:16:22.644] Critical: Manual control lost
[16:16:22.655] Critical: Failsafe activated due to manual control loss, triggering RTL in 1 seconds
[16:16:23.355] Critical: Failsafe activated due to manual control loss, triggering RTL
[16:16:23.355] Info: RTL: start return at 492 m (4 m above destination)
[16:16:23.516] Info: RTL: land at destination
[16:16:35.064] Info: Landing detected
[16:16:37.072] Info: Disarmed by landing
This is the reason. You need to have manual control working to switch to position control.
So, there is a problem with the example code. In the first step, I just want the example to work in mavsdk-python using px4 sitl running with jmavsim.
I managed to make it work by running an asynchronous loop to maintain the control inputs.
import asyncio
from mavsdk import System
roll = ""
pitch = ""
throttle = ""
yaw = ""
async def main():
"""Main function to connect to the drone and input manual controls"""
global roll, pitch, yaw, throttle
# Connect to the Simulation
drone = System()
await drone.connect(system_address="udp://:14540")
# This waits till a mavlink based drone is connected
print("Waiting for drone to connect...")
async for state in drone.core.connection_state():
if state.is_connected:
print(f"-- Connected to drone!")
break
# Checking if Global Position Estimate is ok
async for health in drone.telemetry.health():
if health.is_global_position_ok and health.is_home_position_ok:
print("-- Global position state is good enough for flying.")
break
# Arming the drone
print("-- Arming")
await drone.action.arm()
# Take off
print("-- Taking off")
await drone.action.takeoff()
await asyncio.sleep(10)
print("-- Set manual control")
roll = 0.0
pitch = 0.0
throttle = 0.5
yaw = 0.0
# set the manual control input after arming
manual = asyncio.create_task(manual_controls(drone))
print("-- wait")
await asyncio.sleep(1)
# start manual control
print("-- Starting manual control")
await drone.manual_control.start_position_control()
print("-- wait")
await asyncio.sleep(1)
print("-- Change manual control")
roll = 0.1
pitch = 0.1
throttle = 0.4
yaw = 0.0
await asyncio.sleep(5)
await drone.action.land()
print("-- end")
async def manual_controls(drone):
global roll, pitch, yaw, throttle
while True:
await drone.manual_control.set_manual_control_input(pitch, roll, throttle, yaw)
if __name__ == "__main__":
# Run the asyncio loop
asyncio.run(main())
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