Create Mavlink Create Panorama Mission Item and Flight Plan are broken - very weird results


#1

Product: [Bebop/Bebop2]
Product version: [3.2.0]
SDK version: [3.9.2]
Use of libARController: [YES/] (Only for ARSDK)
SDK platform: [/Android//…]
Reproductible with the official app: [YES//]

So ARMavlinkMissionItem.CreateMavlinkCreatePanoramaMissionItem appears to be broken and it is next to impossible to reverse engineer what Flight Plan is doing because Flight Plan is currently doing it wrong.

Negative values for tilt point the nose down and positive values point it up but in FP (and the resulting mavlink files) the input and results are the exact opposite… and when you try to execute the plan (assuming you provided decent downward angle) the camera gets stuck looking up.

In my own implementations it is very hit or miss. I’m setting the camera angles - for down and + for up and staying within the limits (17 and -83 for the Bebop 2) but the results are very unpredictable.

Please help!

Shell


#2

@Djavan @Nicolas

Here’s a sample mavlink file:

QGC WPL 120
0	0	3	201	3.000000	0.000000	0.000000	0.000000	40.205894	-75.639015	1.000000	1
1	0	3	178	0.000000	5.000000	-1.000000	0.000000	0.000000	0.000000	0.000000	1
2	0	3	50000	0.000000	-1.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
3	0	3	16	0.000000	5.000000	0.000000	133.266312	40.205784	-75.639198	5.068714	1
4	0	3	2800	0.000000	-8.909091	0.000000	30.000000	0.000000	0.000000	0.000000	1
5	0	3	16	0.000000	5.000000	0.000000	133.266312	40.205601	-75.638939	5.000000	1
6	0	3	16	0.000000	5.000000	0.000000	314.480286	40.205601	-75.638939	5.000000	1
7	0	3	16	0.000000	5.000000	0.000000	314.480286	40.205734	-75.639122	5.000000	1
8	0	3	16	0.000000	5.000000	0.000000	40.654984	40.205734	-75.639122	5.000000	1
9	0	3	2800	0.000000	-21.181818	0.000000	30.000000	0.000000	0.000000	0.000000	1
10	0	3	16	0.000000	5.000000	0.000000	40.654984	40.205959	-75.638870	5.000000	1
11	0	3	50000	2.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
12	0	3	16	0.000000	5.000000	0.000000	219.000000	40.206020	-75.638969	5.000000	1
13	0	3	50000	0.000000	-1.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
14	0	3	16	0.000000	5.000000	0.000000	215.289658	40.206020	-75.638969	5.000000	1
15	0	3	2800	0.000000	17.000000	0.000000	30.000000	0.000000	0.000000	0.000000	1
16	0	3	16	0.000000	5.000000	0.000000	215.289658	40.205788	-75.639191	5.000000	1  

Throughout this flight plan my camera remains pointed down. I even threw in a POI hoping it may shake things up but even the last waypoint the camera is still pointing downward (even though you can clearly see I’m telling the drone to point it upwards (to the max value actually).


#3

Hi,

Thanks for the report, we’ll look into that.

I’m no Mavlink expert at all so I’ll have to find the good people to analyze your issue :wink:

Regards,
Nicolas.


#4

Hi @synman,

With the mavlink item PanoramaMissionItem, positive values for the vertical angle make the camera looks down, negative values make it looks up.

So in the mavlink file you provided, the drone will look up 8 degrees from its physical center (4), then up 21 degrees (9), then it will look down 17 degrees from its physical center (15).
Is it what you are experiencing?

Best regards,
Djavan


#5

Nope, I’m experiencing the exact opposite (when it works).

In FF3 FP the controls are reversed as well. The drone is only able to point it’s camera 17 degrees downward.

The command is proving to be very unreliable. It is not just the fact that the controls are opposite what FP expects.


#6

Ok, thanks for the feedback.

We will take some time to debug this as we have to do the tests outside.
I’ll let you know as soon as we have a solution.

Best regards,
Djavan


#7

Here’s one external report (there are quite a few others scattered on the community site):


#8

Hi,

Our teams are working on this one. I’ll let you know when we have something.
Thanks for your report.
Djavan


#9

Hi all,

Thanks for your report, things will be fixed in the next releases (there were bugs on the Android version of FreeFlight, in the firmware and in the documentation of the libMavlink in the Sdk).

To sum up what you, developers, should do with the ARMAVLINK_MissionItemUtils_CreateMavlinkCreatePanorama:

  • All angles are relative to the current camera position.
  • For the vertical panorama, the drone will set its initial position to its physical center (given by defaultCameraOrientation. (for the moment, -13 for the Bebop2, 0 for the Bebop)).
  • For the vertical panorama, giving a negative value moves the camera down, positive value moves it up.

@synman, for information, the camera was stuck looking up because the first value was a relative move so big up that the following moves did not put it back in a correct position. This will be fixed on the firmware side as the relative angle is computed from the current clamped (and applied) value.

Hope this helps,
Feel free to ask if I am not clear enough in my explanations.

Best regards,
Djavan


Camera tilt angles with FlightPlan issue - issue redirected from Parrot CS&S
Mavlink - Camera never ready after first picture
#10

Based on this I should be able to get my app to function properly absent a new firmware, which is great news.

Thank you for following up.