We a custom AirSDK mission. After 3-4 landings, we observe that mission is not working properly. Is it related with caches still having some values? How can we reset and kill working processes after landing?
Any recommendation?
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Hi @Vulture151,
Can you provide more details about your mission ? Do you usr a custom guidance mode or Fsup stage ?
Regards,
Axel
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from fsup.genstate import State, guidance_modes
import guidance.descent_pb2 as gdnc_descent_msgs
from fsup.missions.default.uid import UID
from fsup.missions.default.landing.normal import (
Descent as DefaultDescent,
)
import os
import cfgreader
import colibrylite.estimation_mode_pb2 as cbry_est
from fsup.missions.default.features.precise_home_manager import (
PreciseHomeManager,
)
from fsup.missions.default.landing.normal import (
Descent as DefaultDescent,
)
_PRECISE_MODE_NAME = UID + “.descent”
@guidance_modes(“com.parrot.missions.default.descent_to_ground”)
class PreciseHomeDescent(DefaultDescent):
def init(self, *args, **kwargs):
super().init(*args, **kwargs)
self.gdnc_dsc_svc = None
# ---------------------------Get precise Home manager
self.phome_manager = self.mission.get_manager(
PreciseHomeManager, create_if_needed=True
)
# ---------End of precise get home manager--------------------------------------
# To enable descent precise home
self.landing_type = gdnc_descent_msgs.TYPE_DEFAULT
def enter(self, msg):
# self.phome_manager = self.mission.get_manager(PreciseHomeManager, True)
# To enable descent precise home
self.landing_type = gdnc_descent_msgs.TYPE_DEFAULT
if (
self.phome_manager is not None
and not self.phome_manager.is_move_already_interrupted()
):
# Start precise home manager and find target
# self.phome_manager.start_process()
if self.phome_manager.is_target_found():
self.log.info("TARGET FOUND")
self.landing_type = gdnc_descent_msgs.TYPE_DEFAULT_PRECISE
self.phome_manager.set_move_in_progress(True)
self.set_guidance_mode(
UID + ".descent_to_ground",
gdnc_descent_msgs.Config(
type=self.landing_type,
target_type=gdnc_descent_msgs.TARGET_TYPE_GROUND,
),
)
# You should call self.phome_manager.stop_process() in exit() of your state
# in order to make precise home manager ready for the next takeoff
self.mc.dctl.cmd.sender.set_estimation_mode(cbry_est.LANDING)
self.log.info("PRECISE LANDING FINAL")
# KILL MANAGER
# def step(self, msg):
# self.log.info("takeoff - ascent - Step - Enter")
# self.log.info(msg)
# self.log.info("takeoff - ascent - Step - Exit")
def exit(self, msg):
self.phome_manager.stop_process()
self.phome_manager = None
self.log.info("PRECISE LANDING completed")
self.log.info("PRECISE LANDING EXIT - EXIT")
PRECISE_HOME_DESCENT_STATE = {
“name”: “precise_home_descent”,
“class”: PreciseHomeDescent,
}
this is final landing. It is landing precisely.
TRANSITIONS = [
# Overwritten transitions
[
Dctl("motors_ramping_done"),
"takeoff.normal.wait_ascent",
"takeoff.takeoff_to_photo.ascent",
],
[
Dctl("motors_ramping_done"),
"takeoff.normal.wait_motor_ramping",
"takeoff.takeoff_to_photo.ascent",
],
# New transitions
[
GdncAscent("done"),
"takeoff.takeoff_to_photo.ascent",
"takeoff.takeoff_to_fire.ascent",
],
[
GdncAscent("done_without_immobility"),
"takeoff.takeoff_to_photo.ascent",
"takeoff.takeoff_to_fire.ascent",
],
[
GdncAscent("done"),
"takeoff.takeoff_to_fire.ascent",
"flying.firewaypoints",
],
[
GdncAscent("done_without_immobility"),
"takeoff.takeoff_to_fire.ascent",
"flying.firewaypoints",
],
[
FireMission("cl_takeoff"),
"ground.idle",
"takeoff.normal",
],
[
FireMission("cl_fly_home"),
"hovering",
"flying.flyhome",
],
[
FireMission("cl_fly_to"),
"hovering",
"flying.fireflytopath",
],
[
FireMission("cl_fly_circle_position"),
"hovering",
"flying.firecycle",
],
` [` ` MissionFlightPlan("done"),` ` "flying.firewaypoints",` ` "hovering",` ` ],` ` [` ` MissionFlightPlan("done"),` ` "flying.fireflytopath",` ` "hovering",` ` ],` ` [` ` MissionFlightPlan("done"),` ` "flying.flyhome",` ` "flying.precise_home_search",` ` ],` ` [` ` GdncDescent("done"),` ` "flying.precise_home_search",` ` "flying.precise_home_search_final",` ` ],` ` [` ` GdncDescent("done"),` ` "flying.precise_home_search_final",` ` "landing.precise_home_descent",` ` ],` ` [` ` Dctl("landed_detected"),` ` "landing.precise_home_descent",` ` "landing.normal.stopping_motors",` ` ],` ` # [` ` # Dctl("done"),` ` # "landing.precise_home_descent",` ` # "ground.idle",` ` # ],` ` [` ` MissionFlightPlan("done"),` ` "flying.firecycle",` ` "hovering",` ` ],`
]
Thanks for you code.
What kind of wrong drone behavior are you talking about when you say that mission is not working properly? What is your problem?
I think I have found the error. I was stopping precise home manager after that I was assigning none to phome_manager object. this was crashing code after landing. If we dont reboot then drone takes off with a crashed airsdk.Commented out and solved.
self.phome_manager.stop_process()
#self.phome_manager = None
But If I make a second take off when drone comes back for Precise landing it can not find the pad. What do we need to make precise landing available for second take off? Is stop_process not enough? what is ground.reset state? do we need that?
Hi Axelm,
After landing if I make another takeoff , Phome_manager is not finding the target in the second landing. I stop the phome_manager after exiting landing stage. What am I missing?
Code for exit part of landing is as follows:
def exit(self, msg):
-
try:* -
self.phome_manager.stop_process()* - except:*
-
self.log.info("Problem with stopping phome_manager.stop_process()")*
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