I’m trying to arm my drone without GPS data and I believe it’s possible through setting the parameter COM_ARM_WO_GPS to 1. I have tried this on SITL using make px4_sitl gz_x500 and setting SIM_GPS_USED to 0 (Hence no GPS data) and have no problem.
However, when i try this using my drone i get this error
- Arming
Traceback (most recent call last):
File “//v2.py", line 164, in
asyncio.run(run())
File “/usr/lib/python3.12/asyncio/runners.py”, line 194, in run
return runner.run(main)
^^^^^^^^^^^^^^^^
File “/usr/lib/python3.12/asyncio/runners.py”, line 118, in run
return self._loop.run_until_complete(task)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File “/usr/lib/python3.12/asyncio/base_events.py”, line 687, in run_until_complete
return future.result()
^^^^^^^^^^^^^^^
File "//v2.py”, line 126, in run
await drone.action.arm()
File “/**/action.py”, line 336, in arm
raise ActionError(result, “arm()”)
mavsdk.action.ActionError: TIMEOUT: ‘Timeout’; origin: arm(); params: ()
I’m using this code for testing
#!/usr/bin/env python3
import asyncio
import sys
import termios
import tty
from mavsdk import System
from mavsdk.offboard import OffboardError, VelocityBodyYawspeed, AttitudeRate
# --- Configuration (unchanged) ---
STEP_V = 0.5
STEP_VZ = 0.2
STEP_YAW = 10.0
MAX_V = 5.0
MAX_VZ = 2.0
MAX_YAW = 90.0
KEY_BINDINGS = {
"w": ("vx", STEP_V),
"s": ("vx", -STEP_V),
"a": ("vy", -STEP_V),
"d": ("vy", STEP_V),
"r": ("vz", -STEP_VZ),
"f": ("vz", STEP_VZ),
"q": ("yawspeed", -STEP_YAW),
"e": ("yawspeed", STEP_YAW),
" ": "stop",
"x": "exit",
}
def get_key():
fd = sys.stdin.fileno()
old = termios.tcgetattr(fd)
try:
tty.setraw(fd)
ch = sys.stdin.read(1)
finally:
termios.tcsetattr(fd, termios.TCSADRAIN, old)
return ch
async def teleop_loop(drone: System):
vx = vy = vz = yawspeed = 0.0
print("Use W/A/S/D to move, R/F up/down, Q/E yaw, Space to stop, X to exit")
while True:
key = await asyncio.get_event_loop().run_in_executor(None, get_key)
action = KEY_BINDINGS.get(key.lower())
if not action:
continue
if action == "stop":
vx = vy = vz = yawspeed = 0.0
elif action == "exit":
print("-- Exiting teleop loop")
break
else:
field, delta = action
if field == "vx":
vx = max(-MAX_V, min(MAX_V, vx + delta))
elif field == "vy":
vy = max(-MAX_V, min(MAX_V, vy + delta))
elif field == "vz":
vz = max(-MAX_VZ, min(MAX_VZ, vz + delta))
elif field == "yawspeed":
yawspeed = max(-MAX_YAW, min(MAX_YAW, yawspeed + delta))
print(f"Vel→ vx={vx:.2f}, vy={vy:.2f}, vz={vz:.2f}, yaw_spd={yawspeed:.1f}°/s", end="\r")
await drone.offboard.set_velocity_body(VelocityBodyYawspeed(vx, vy, vz, yawspeed))
await asyncio.sleep(0.05)
async def wait_for_position_ok(drone: System):
"""Returns once we see a good global position & home."""
async for health in drone.telemetry.health():
if health.is_global_position_ok and health.is_home_position_ok:
return
async def run():
drone = System()
# try connecting...
for port in ["/dev/ttyAMA0", "/dev/ttyAMA1", "/dev/ttyAMA2"]:
try:
print(f"Trying to connect to {port}...")
await drone.connect(system_address=f"serial://{port}:57600")
print(f"✔ Connected to {port}")
break
except Exception as e:
print(f"✘ {port}: {e}")
else:
print("✘ Could not connect to any port. Exiting.")
return
print("Waiting for drone to connect…")
async for state in drone.core.connection_state():
if state.is_connected:
print("✔ Drone connected")
break
# 1) Attempt to get position fix, but only wait 10 s
got_pos = True
try:
print("Waiting up to 10 s for position fix…")
await asyncio.wait_for(wait_for_position_ok(drone), timeout=10.0)
print("✔ Position OK")
except asyncio.TimeoutError:
print("⚠ No position fix in 10 s → test mode")
got_pos = False
# 2) Branch on whether we got a fix
if got_pos:
# prompt user if they want full offboard
resp = await asyncio.get_event_loop().run_in_executor(
None,
input,
"Global position OK. Proceed with offboard control? (y/N): "
)
if resp.strip().lower() != 'y':
print("User chose NOT to proceed → arming only, then exit.")
await drone.action.arm()
return
for i in range(100):
await drone.offboard.set_attitude_rate(AttitudeRate(0, 0, 0, 0))
await drone.offboard.set_attitude_rate(AttitudeRate(0, 0, 0, 0))
await drone.offboard.set_attitude_rate(AttitudeRate(0, 0, 0, 0))
# 3) Arm the drone (both branches)
print("-- Arming")
await drone.action.arm()
# 4) If we did get position *and* user wants offboard, kick in offboard + teleop
if got_pos:
print("-- Sending zero setpoint")
await drone.offboard.set_velocity_body(VelocityBodyYawspeed(0, 0, 0, 0))
print("-- Starting offboard")
try:
await drone.offboard.start()
except OffboardError as e:
print(f"✘ Offboard start failed: {e._result.result}")
await drone.action.disarm()
return
try:
await teleop_loop(drone)
finally:
print("\n-- Stopping offboard")
try:
await drone.offboard.stop()
except OffboardError as e:
print(f"✘ Offboard stop failed: {e._result.result}")
print("-- Landing…")
await drone.action.land()
async for in_air in drone.telemetry.in_air():
if not in_air:
print("✔ Landed")
break
print("-- Disarming")
await drone.action.disarm()
else:
# no position fix ⇒ we’re in test‐only mode; leave it armed for manual testing
print("Test mode: drone armed but offboard NOT started. Exiting.")
if __name__ == "__main__":
asyncio.run(run())
I have seen post that says they consistently getting timeout and that’s solved by solving the connectivity issue. But in my case the connection test (connection_state variable check) result is good so I doubt it’s a connectivity issue
What can i address so that I won’t get that error again?