AirSDK always uses default mission stack (ascent) ->

[guessp]

Context
I’m getting started with AirSDK and adapting the “Hello”/“Roadrunner” examples. As a first step I want the drone to climb to 13 m on takeoff. I tried to replace/override the ascent, but FSUP always executes the default takeoff.normal.ascent instead of my custom ascent.

Platform

• Drone: ANAFI Ai
• Controller: Olympe (desktop)
• AirSDK mission: custom, based on default mission states

Stage Definition stage.py

from fsup.missions.default.takeoff.stage import Takeoff as DefaultTakeoff

from .normal import NORMAL_STATE
from .changed_ascent import CUSTOM_ASCENT_STATE
from ..uid import UID

_GROUND_MODE_NAME= "com.mycompany.missions.firstmission"

TAKEOFF_STAGE = {
    "name": "takeoff",
    "class": DefaultTakeoff,
    "initial": "normal",
    "children": [CUSTOM_ASCENT_STATE, NORMAL_STATE],
}

Normal State definition normal.py

from fsup.missions.default.takeoff.normal import (
    NORMAL_STATE as DEF_NORMAL_STATE,
)

_STATES_TO_REMOVE = ["ascent"]

NORMAL_STATE = {
    "name": "normal",
    "initial": "reset",
    "children": [
        child
        for child in DEF_NORMAL_STATE["children"]
        if not child["name"] in _STATES_TO_REMOVE
    ],
}

Own Ascent Configs changed_ascent.py

from fsup.genstate import guidance_modes
from fsup.missions.default.takeoff.normal import (
    Ascent as DefaultAscent,
)

from fsup.missions.default.uid import UID

import os
import cfgreader
import colibrylite.estimation_mode_pb2 as cbry_est

import guidance.ascent_pb2 as gdnc_ascent_msgs
from ..uid import UID

_STATES_TO_REMOVE = ["ascent"]

TARGET_ALTITUDE_M = 13.0



@guidance_modes(UID + ".ascent")
class Ascent(DefaultAscent):
    def enter(self, msg):
        self.gdnc_asc_svc = self.mc.attach_client_service_pair(
            self.mc.gdnc_channel, gdnc_ascent_msgs, forward_events=True
        )
        self.mc.dctl.cmd.sender.set_estimation_mode(cbry_est.TAKEOFF)
        self.log.info(f"[custom_ascent] target altitude = {TARGET_ALTITUDE_M} m")

        self.set_guidance_mode(
            "com.parrot.missions.default.ascent",
            gdnc_ascent_msgs.Config(
                type=gdnc_ascent_msgs.TYPE_DEFAULT,
                altitude=TARGET_ALTITUDE_M
            ),
        )


CUSTOM_ASCENT_STATE = {
    "name": "changed_ascent",
    "initial": "ascent",
    "children": [
        {
            "name": "ascent",
            "class": Ascent,
        },
    ],
}

mission.py

# only code is shown that is different to the init standard mission 
from .takeoff.stage import TAKEOFF_STAGE
def states(self):
        # Add your custom stages or override the default stages here
        return [
            DEF_GROUND_STAGE,
            TAKEOFF_STAGE,
            DEF_HOVERING_STAGE,
            FLYING_STAGE,
            DEF_LANDING_STAGE,
            DEF_CRITICAL_STAGE,
        ]

    def transitions(self):
        transitions = TRANSITIONS + DEF_TRANSITIONS
        return transitions
GdncAscent = lambda evt: msg_id(gdnc_ascent_msgs.Event, evt)  # noqa: E731

TRANSITIONS = [
    [
    Dctl("motors_ramping_done"),
    "takeoff.normal.wait_ascent",
    "takeoff.changed_ascent.ascent",
    ],
    [
    Dctl("motors_ramping_done"),
    "takeoff.normal.wait_motor_ramping",
    "takeoff.changed_ascent.ascent",
    ],

    [GdncAscent("done"), "takeoff.changed_ascent.ascent", "flying.manual"],

    ]

Mission builds and runs; logs show motors_ramping_done, but the next state is still takeoff.normal.ascent.

[Hugo]

Hello @guessp ,

I reproduced your mission by modifying the RoadRunner mission and adapting the takeoff stage with your files. I could not reproduce the issue on my side.

Would it be possible for you to share your log.bin? It might show that CUSTOM_ASCENT_STATE is being skipped and the mission goes directly to NORMAL_STATE, or that there’s another issue elsewhere.

Best regards,
Hugo

[guessp]

Hello @Hugo

thanks for the answer.
So after trying for ages we found out that theres a problem with simulation speed. So if the simulation speed is too low it wont work. So we started the sim with the low quality flag and now it works.

So this topic can be closed, thanks for the help!