# Set\_actuator\_control MAVSDK-Python **URL:** \ **Category:** MAVSDK\ **Created:** [August 17, 2020, 5:06pm UTC](https://discuss.px4.io/t/set-actuator-control-mavsdk-python/18173 "2020-08-17T17:06:48Z")\ **Posts on this page:** 11\ **Page:** 1
**Author:** ![julianblanco](https://discuss.px4.io/user_avatar/discuss.px4.io/julianblanco/32/6428_2.png) [@julianblanco](https://discuss.px4.io/u/julianblanco)\ **Post date:** [August 17, 2020, 5:06pm UTC](https://discuss.px4.io/t/set-actuator-control-mavsdk-python/18173/1 "2020-08-17T17:06:49Z")
Hi all, looking if anyone know the proper way to send motor commands via mavsdk-python await drone.conn.offboard.set\_actuator\_control(ActuatorControl([ActuatorControlGroup([1.0,1.0,1.0,1.0])])) Tried something like this but the gRPC socket closed immediately ---
**Author:** ![julianblanco](https://discuss.px4.io/user_avatar/discuss.px4.io/julianblanco/32/6428_2.png) [@julianblanco](https://discuss.px4.io/u/julianblanco)\ **Post date:** [August 19, 2020, 9:43pm UTC](https://discuss.px4.io/t/set-actuator-control-mavsdk-python/18173/2 "2020-08-19T21:43:06Z")
@JulianOes Any idea? ---
**Author:** ![JulianOes](https://discuss.px4.io/user_avatar/discuss.px4.io/julianoes/32/30_2.png) [@JulianOes](https://discuss.px4.io/u/JulianOes)\ **Post date:** [August 25, 2020, 1:08pm UTC](https://discuss.px4.io/t/set-actuator-control-mavsdk-python/18173/3 "2020-08-25T13:08:18Z")
Can you paste the full output that you see? Have you tried it with C++? ---
**Author:** ![Rakmo97](https://discuss.px4.io/user_avatar/discuss.px4.io/rakmo97/32/13509_2.png) [@Rakmo97](https://discuss.px4.io/u/Rakmo97)\ **Post date:** [June 13, 2023, 8:45pm UTC](https://discuss.px4.io/t/set-actuator-control-mavsdk-python/18173/4 "2023-06-13T20:45:01Z")
Hello, I’m using the command ```python print("-- Attempting Actuator Commands") await drone.offboard.set_actuator_control( ActuatorControl( [ActuatorControlGroup([-1.0, 1.0, -1.0, 1.0])])) await asyncio.sleep(10) ``` And I’m getting this error: ```plaintext -- Attempting Actuator Commands Traceback (most recent call last): File "/home/adamus/Desktop/DroneScripts/Examples/offboard_velocity_body.py", line 77, in asyncio.run(run()) 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 646, in run_until_complete return future.result() File "/home/adamus/Desktop/DroneScripts/Examples/offboard_velocity_body.py", line 57, in run await drone.offboard.set_actuator_control( ActuatorControl( [ActuatorControlGroup([1.0, 1.0, 1.0, 1.0])])) File "/home/adamus/.local/lib/python3.10/site-packages/mavsdk/offboard.py", line 1250, in set_actuator_control response = await self._stub.SetActuatorControl(request) File "/home/adamus/.local/lib/python3.10/site-packages/aiogrpc/channel.py", line 40, in __call__ return await fut grpc._channel._MultiThreadedRendezvous: <_MultiThreadedRendezvous of RPC that terminated with: status = StatusCode.UNAVAILABLE details = "Socket closed" debug_error_string = "UNKNOWN:Error received from peer {created_time:"2023-06-13T16:39:11.822744703-04:00", grpc_status:14, grpc_message:"Socket closed"}" > Exception ignored in: Traceback (most recent call last): File "/home/adamus/.local/lib/python3.10/site-packages/mavsdk/system.py", line 86, in __del__ File "/home/adamus/.local/lib/python3.10/site-packages/mavsdk/system.py", line 122, in _stop_mavsdk_server ImportError: sys.meta_path is None, Python is likely shutting down ``` Any idea what the issue could be? I’m just trying to send a “full speed” command to each of the four motors on the quadcopter. Eventually I’d be sending motor commands in a feedback loop. If mavsdk-python isn’t a good way to do this, could you point me in the right direction? I’m a bit stuck. ---
**Author:** ![JulianOes](https://discuss.px4.io/user_avatar/discuss.px4.io/julianoes/32/30_2.png) [@JulianOes](https://discuss.px4.io/u/JulianOes)\ **Post date:** [June 16, 2023, 12:50am UTC](https://discuss.px4.io/t/set-actuator-control-mavsdk-python/18173/5 "2023-06-16T00:50:19Z")
Can you share what version you’re using and maybe a full example so I can try to reproduce it? ---
**Author:** ![SmolBoi96](https://discuss.px4.io/user_avatar/discuss.px4.io/smolboi96/32/14490_2.png) [@SmolBoi96](https://discuss.px4.io/u/SmolBoi96)\ **Post date:** [September 19, 2023, 9:32am UTC](https://discuss.px4.io/t/set-actuator-control-mavsdk-python/18173/7 "2023-09-19T09:32:35Z")
I also did the same thing as Rakmo97 and got the same error. PX4: 1.13.3 Mavsdk Python: 1.4.8 In addition for debugging, I ran the mavsdk server on a seperate terminal and it seg faulted when I run the set\_actuator\_control. It does not seg fault when I replace it with another function like: await drone.offboard.set\_velocity\_body(VelocityBodyYawspeed(0.0, 0.0, 0.0, 4)) Code: ```auto import asyncio from mavsdk import System from mavsdk.offboard import (ActuatorControl, ActuatorControlGroup, OffboardError) async def run(): drone = System() await drone.connect(system_address="udp://:14540") print("Waiting for drone to connect...") async for state in drone.core.connection_state(): if state.is_connected: print(f"-- Connected to drone!") break print("Waiting for drone to have a global position estimate...") async for health in drone.telemetry.health(): if health.is_global_position_ok and health.is_home_position_ok: print("-- Global position estimate OK") break print("-- Arming") await drone.action.arm() print("-- Setting initial setpoint") await drone.offboard.set_actuator_control(ActuatorControl([ActuatorControlGroup([0,0,0,0,0,0,0,0])])) print("-- Starting offboard") try: await drone.offboard.start() except OffboardError as error: print(f"Starting offboard mode failed with error code: \ {error._result.result}") print("-- Disarming") await drone.action.disarm() return print("-- Stopping offboard") try: await drone.offboard.stop() except OffboardError as error: print(f"Stopping offboard mode failed with error code: \ {error._result.result}") await drone.action.land() if __name__ == " __main__": # Run the asyncio loop asyncio.run(run()) ``` Code Terminal Output: ```auto Waiting for drone to connect... -- Connected to drone! Waiting for drone to have a global position estimate... -- Global position estimate OK -- Arming -- Setting initial setpoint Traceback (most recent call last): File "/home/nicholas/MAVSDK-Python/examples/offboard_actuator.py", line 50, in asyncio.run(run()) 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/nicholas/MAVSDK-Python/examples/offboard_actuator.py", line 27, in run await drone.offboard.set_actuator_control(ActuatorControl([ActuatorControlGroup([0,0,0,0,0,0,0,0])])) File "/home/nicholas/.local/lib/python3.10/site-packages/mavsdk/offboard.py", line 1250, in set_actuator_control response = await self._stub.SetActuatorControl(request) File "/home/nicholas/.local/lib/python3.10/site-packages/aiogrpc/channel.py", line 40, in __call__ return await fut grpc._channel._MultiThreadedRendezvous: <_MultiThreadedRendezvous of RPC that terminated with: status = StatusCode.UNAVAILABLE details = "Socket closed" debug_error_string = "UNKNOWN:Error received from peer {created_time:"2023-09-19T17:25:51.247091854+08:00", grpc_status:14, grpc_message:"Socket closed"}" > ``` Server Output: ```auto [02:57:56|Info] MAVSDK version: v1.4.16 (mavsdk_impl.cpp:20) [02:57:56|Info] Waiting to discover system on udp://:14445... (connection_initiator.h:20) [02:57:56|Info] New system on: 127.0.0.1:14550 (with sysid: 1) (udp_connection.cpp:192) [02:57:56|Debug] New: System ID: 1 Comp ID: 1 (mavsdk_impl.cpp:496) [02:57:56|Debug] Component Autopilot (1) added. (system_impl.cpp:377) [02:57:57|Warn] Vehicle type changed (new type: 2, old type: 0) (system_impl.cpp:225) [02:57:57|Debug] Discovered 1 component(s) (system_impl.cpp:578) [02:57:57|Info] System discovered (connection_initiator.h:63) [02:57:57|Debug] New: System ID: 245 Comp ID: 190 (mavsdk_impl.cpp:496) [02:57:57|Debug] Component Unsupported component (190) added. (system_impl.cpp:377) [02:57:57|Debug] Discovered 1 component(s) (system_impl.cpp:578) [02:57:57|Info] Server started (grpc_server.cpp:53) [02:57:57|Info] Server set to listen on 0.0.0.0:50051 (grpc_server.cpp:54) [02:57:57|Debug] Component Unsupported component (240) added. (system_impl.cpp:377) [02:58:04|Warn] Ignoring unknown ping sequence (ping.cpp:58) [02:58:04|Warn] Ignoring unknown ping sequence (ping.cpp:58) [02:58:14|Warn] Ignoring unknown ping sequence (ping.cpp:58) [02:58:14|Warn] Ignoring unknown ping sequence (ping.cpp:58) [02:58:24|Warn] Ignoring unknown ping sequence (ping.cpp:58) [02:58:24|Warn] Ignoring unknown ping sequence (ping.cpp:58) [02:58:34|Warn] Ignoring unknown ping sequence (ping.cpp:58) [02:58:34|Warn] Ignoring unknown ping sequence (ping.cpp:58) [02:58:44|Warn] Ignoring unknown ping sequence (ping.cpp:58) [02:58:44|Warn] Ignoring unknown ping sequence (ping.cpp:58) [02:58:45|Debug] Request Param CAL_GYRO0_ID (mavlink_parameters.cpp:1442) [02:58:45|Debug] Missing Param CAL_GYRO0_ID (mavlink_parameters.cpp:1452) [02:58:45|Debug] Request Param CAL_ACC0_ID (mavlink_parameters.cpp:1442) [02:58:45|Debug] Missing Param CAL_ACC0_ID (mavlink_parameters.cpp:1452) [02:58:45|Debug] Request Param CAL_MAG0_ID (mavlink_parameters.cpp:1442) [02:58:45|Debug] Missing Param CAL_MAG0_ID (mavlink_parameters.cpp:1452) [02:58:46|Debug] Request Param SYS_HITL (mavlink_parameters.cpp:1442) [02:58:46|Debug] Missing Param SYS_HITL (mavlink_parameters.cpp:1452) [02:58:54|Warn] Ignoring unknown ping sequence (ping.cpp:58) [02:58:54|Warn] Ignoring unknown ping sequence (ping.cpp:58) [02:59:04|Warn] Ignoring unknown ping sequence (ping.cpp:58) [02:59:04|Warn] Ignoring unknown ping sequence (ping.cpp:58) [02:59:14|Warn] Ignoring unknown ping sequence (ping.cpp:58) [02:59:14|Warn] Ignoring unknown ping sequence (ping.cpp:58) [02:59:24|Warn] Ignoring unknown ping sequence (ping.cpp:58) [02:59:24|Warn] Ignoring unknown ping sequence (ping.cpp:58) [02:59:34|Warn] Ignoring unknown ping sequence (ping.cpp:58) [02:59:34|Warn] Ignoring unknown ping sequence (ping.cpp:58) [02:59:44|Warn] Ignoring unknown ping sequence (ping.cpp:58) [02:59:44|Warn] Ignoring unknown ping sequence (ping.cpp:58) [02:59:54|Warn] Ignoring unknown ping sequence (ping.cpp:58) [02:59:54|Warn] Ignoring unknown ping sequence (ping.cpp:58) [03:00:04|Warn] Ignoring unknown ping sequence (ping.cpp:58) [03:00:04|Warn] Ignoring unknown ping sequence (ping.cpp:58) [03:00:14|Warn] Ignoring unknown ping sequence (ping.cpp:58) [03:00:14|Warn] Ignoring unknown ping sequence (ping.cpp:58) [03:00:24|Warn] Ignoring unknown ping sequence (ping.cpp:58) [03:00:24|Warn] Ignoring unknown ping sequence (ping.cpp:58) [03:00:34|Warn] Ignoring unknown ping sequence (ping.cpp:58) [03:00:34|Warn] Ignoring unknown ping sequence (ping.cpp:58) [03:00:44|Warn] Ignoring unknown ping sequence (ping.cpp:58) [03:00:44|Warn] Ignoring unknown ping sequence (ping.cpp:58) [03:00:54|Warn] Ignoring unknown ping sequence (ping.cpp:58) [03:00:54|Warn] Ignoring unknown ping sequence (ping.cpp:58) Segmentation fault (core dumped) ``` ---
**Author:** ![SmolBoi96](https://discuss.px4.io/user_avatar/discuss.px4.io/smolboi96/32/14490_2.png) [@SmolBoi96](https://discuss.px4.io/u/SmolBoi96)\ **Post date:** [September 19, 2023, 10:24am UTC](https://discuss.px4.io/t/set-actuator-control-mavsdk-python/18173/8 "2023-09-19T10:24:43Z")
Eureka. Ok I figured out that using 2 Control groups work. So the following works: ```auto await drone.offboard.set_actuator_control(ActuatorControl([ActuatorControlGroup([0,0,0,0,0,0,0,0]),ActuatorControlGroup([0,0,0,0,0,0,0,0])])) ``` Is the failure of using only 1 control group a bug or is this intended? ---
**Author:** ![JulianOes](https://discuss.px4.io/user_avatar/discuss.px4.io/julianoes/32/30_2.png) [@JulianOes](https://discuss.px4.io/u/JulianOes)\ **Post date:** [September 21, 2023, 11:17pm UTC](https://discuss.px4.io/t/set-actuator-control-mavsdk-python/18173/9 "2023-09-21T23:17:27Z")
Oh, mavsdk\_server crashes! Could you get a backtrace from the mavsdk\_server binary? I need to look into this. ---
**Author:** ![JulianOes](https://discuss.px4.io/user_avatar/discuss.px4.io/julianoes/32/30_2.png) [@JulianOes](https://discuss.px4.io/u/JulianOes)\ **Post date:** [September 22, 2023, 12:19am UTC](https://discuss.px4.io/t/set-actuator-control-mavsdk-python/18173/10 "2023-09-22T00:19:38Z")
Turns out this was fixed in main but I forgot to do the backport to v1.4. Here comes the fix: [[Backport v1.4] offboard: two actuator control fixes by julianoes · Pull Request #2146 · mavlink/MAVSDK · GitHub](https://github.com/mavlink/MAVSDK/pull/2146) ---
**Author:** ![JulianOes](https://discuss.px4.io/user_avatar/discuss.px4.io/julianoes/32/30_2.png) [@JulianOes](https://discuss.px4.io/u/JulianOes)\ **Post date:** [September 22, 2023, 12:23am UTC](https://discuss.px4.io/t/set-actuator-control-mavsdk-python/18173/11 "2023-09-22T00:23:12Z")
One more note. PX4 does not support this interface at the moment. See [Offboard set\_actuator\_control\_target not working (mavlink) · Issue #21058 · PX4/PX4-Autopilot · GitHub](https://github.com/PX4/PX4-Autopilot/issues/21058). This one should work though, just not at high rates because it’s a MAVLink command with an Ack returned each time: [Action — MAVSDK-Python 1.4.8 documentation](http://mavsdk-python-docs.s3-website.eu-central-1.amazonaws.com/plugins/action.html#mavsdk.action.Action.set_actuator) ---
**Author:** ![JulianOes](https://discuss.px4.io/user_avatar/discuss.px4.io/julianoes/32/30_2.png) [@JulianOes](https://discuss.px4.io/u/JulianOes)\ **Post date:** [September 22, 2023, 7:19pm UTC](https://discuss.px4.io/t/set-actuator-control-mavsdk-python/18173/12 "2023-09-22T19:19:22Z")
Fix deployed with MAVSDK-Python release [Release 1.4.9 · mavlink/MAVSDK-Python · GitHub](https://github.com/mavlink/MAVSDK-Python/releases/tag/1.4.9) containing mavsdk\_server v1.4.17.