GuidedPilotingInterface move tolerance

ANAFI Ai
1

I have built an alternative flight plan using the GuidedPilotingInterface that would allow me to control various settings on the drone at each waypoint. It is working well for me except that sometimes it will get to a waypoint and the GuidedPilotingInterface will not report the status as “IDLE”. I am using this state transition to trigger the command to move to the next waypoint. It seems like it’s not detecting the arrival correctly.

When I was still trying to use the FlightPlanPilotingInterface with Mavlink, I saw that there is an option in the Mavlink file to specify a tolerance for what the drone considers “close enough” to the point to continue. (the accept radius) Is there something like this that I can use for the GuidedPilotingInterface?

This seems to mostly be an issue when I’m moving the drone diagonally down at a steep angle (so mostly down). Could it possibly be that it’s trying to check for obstacles and that is throwing off the path? I am testing this in Sphinx in the parrot-ue4-empty world so there is nothing obstructing the drone.

Thanks,
Robbie

2

Hello @RobbieNesmith ,

Can you share with us the drone logs and the application (groundsdk) logs ?

Thanks,
Best regards,
Hugo

3

For the drone logs, do you want the output from the Sphinx console or do you want the ulogcat logs?

Thanks,
Robbie

4

ulog please :slight_smile:

Thanks

5

I have created a minimal reproduction repository and pushed it here.

I didn’t see anything in the application logs, but I have included the ulogcat logs here.

In the app, hit the takeoff button then the start mission button. I tested this in parrot-ue4-empty and it reproduced the issue. I thought it might be something to do with obstacle avoidance, but when I removed the obstacle, it still happens.

There are four waypoints, one to set it up, one long down-left movement, one short down-right movement, then one long up-right movement.

What happens is when the drone reaches the third waypoint, it rotates back and forth a bit, then does not continue on to the fourth.

Thanks for your help.