Uploading Mission

[TeoVal138]

Hi, I'm trying to upload a mission to a SITL drone connected to my android gcs made with mavsdk-java, but i always get this error:

D/LOG_DroneRepository: About to upload 4 mission items
D/LOG_DroneRepository: Uploading mission...
D/LOG_DroneRepository: clearMission
D/LOG_DroneRepository: Upload setReturnToLaunchAfterMission
I/art: Do partial code cache collection, code=48KB, data=53KB
I/art: After code cache collection, code=48KB, data=53KB
I/art: Increasing code cache capacity to 256KB
I/art: Compiler allocated 8MB to compile void com.google.protobuf.MessageSchema.mergeFromHelper(com.google.protobuf.UnknownFieldSchema, com.google.protobuf.ExtensionSchema, java.lang.Object, com.google.protobuf.Reader, com.google.protobuf.ExtensionRegistryLite)
D/Mavsdk: current: 0, total: 4
D/LOG_DroneRepository: Failed to upload the mission INVALID_ARGUMENT: Invalid Argument

this is the relative code:
List<Mission.MissionItem> missionItems = new ArrayList<>();
missionItems.add(generateMissionItem(-35.36235859999997, 149.1642425400000002));
missionItems.add(generateMissionItem(-35.36235859999997, 149.1643425400000002));
missionItems.add(generateMissionItem(-35.36235859999997, 149.1644425400000002));
missionItems.add(generateMissionItem(-35.36235859999997, 149.1645425400000002));

    Mission.MissionPlan missionPlan = new Mission.MissionPlan(missionItems);
    Log.d(TAG,"About to upload " + missionPlan.getMissionItems().size() + " mission items");

    Log.d(TAG,"Uploading mission...");
    mDrone.getMission().clearMission()
                    .doOnComplete(() -> Log.d(TAG,"clearMission"))
                    .doOnError(throwable -> Log.d(TAG,"Failed to clearMission"))
            .andThen(mDrone.getMission().setReturnToLaunchAfterMission(isReturningToLaunchAfterMission)
                    .doOnComplete(() -> Log.d(TAG,"Upload setReturnToLaunchAfterMission"))
                    .doOnError(throwable -> Log.d(TAG,"Failed to setReturnToLaunchAfterMission")))
            .andThen(mDrone.getMission().uploadMission(missionPlan)
                    .doOnComplete(() -> Log.d(TAG,"Upload succeeded"))
                    .doOnError(throwable -> Log.d(TAG,"Failed to upload the mission " + throwable.getMessage())))
            .subscribe(() -> Log.d(TAG, "UPLOAD ENDED!"), throwable -> { });

private static Mission.MissionItem generateMissionItem(double latitudeDeg, double longitudeDeg) {
    return new Mission.MissionItem(
            latitudeDeg,
            longitudeDeg,
            100.0f,
            0.5f,
            true,
            0.0f,
            0.0f,
            Mission.MissionItem.CameraAction.NONE,
            0.0f,
            1.0,
            1.0f,
            0.0f,
            0.3f);
}

Do you have any idea to fix that please?

[JonasVautherin]

What autopilot is that? Ardupilot?

[TeoVal138]

Hi @JonasVautherin
yes, ardupilot

[JonasVautherin]

You should use the MissionRaw plugin (which I know works with Ardupilot), or try to make the Mission plugin work. It should not be too much work, but nobody using Ardupilot has done it yet.

Also Ardupilot support being quite limited, I would suggest you use the latest main branch of MAVSDK (instead of a release v1.4.x), because there are a lot of changes between main and v1.4.x, including some Ardupilot fixes.

That means that you should compile MAVSDK from source.

Does that make sense?

[TeoVal138]

Do you have any example of uploading mission using MissionRaw plugin please?
because it still give me the same problem : (
This is my upgraded code, the MissionItem params should be right based on the MISSION_ITEM_INT command description.

    List<MissionRaw.MissionItem> missionItems = new ArrayList<>();
    missionItems.add(generateMissionItem(0,-35.36235859999997, 149.1642425400000002));
    missionItems.add(generateMissionItem(1,-35.36235859999997, 149.1643425400000002));
    missionItems.add(generateMissionItem(2,-35.36235859999997, 149.1644425400000002));
    missionItems.add(generateMissionItem(3,-35.36235859999997, 149.1645425400000002));

    Log.d(TAG,"Uploading mission...");
    mDrone.getMissionRaw().clearMission()
                    .doOnComplete(() -> Log.d(TAG,"clearMission"))
                    .doOnError(throwable -> Log.d(TAG,"Failed to clearMission"))
            .andThen(mDrone.getMissionRaw().uploadMission(missionItems)
                    .doOnComplete(() -> Log.d(TAG,"Upload succeeded"))
                    .doOnError(throwable -> Log.d(TAG,"Failed to upload the mission " + throwable.getMessage())))
            .subscribe(() -> Log.d(TAG, "UPLOAD ENDED!"), throwable -> { });

private static MissionRaw.MissionItem generateMissionItem(int seq, double latitudeDeg, double longitudeDeg) {
return new MissionRaw.MissionItem(
seq, 6, 73, 0, 1, 0f, 0f, 0f, 0f,
(int) latitudeDeg * 10000000, (int) longitudeDeg * 10000000, 50f, 0);
}

Field Name	Type	Values	Description
target_system	uint8_t		System ID
target_component	uint8_t		Component ID
seq	uint16_t		Waypoint ID (sequence number). Starts at zero. Increases monotonically for each waypoint, no gaps in the sequence (0,1,2,3,4).
frame	uint8_t	MAV_FRAME	The coordinate system of the waypoint.
command	uint16_t	MAV_CMD	The scheduled action for the waypoint.
current	uint8_t		false:0, true:1
autocontinue	uint8_t		Autocontinue to next waypoint. 0: false, 1: true. Set false to pause mission after the item completes.
param1	float		PARAM1, see MAV_CMD enum
param2	float		PARAM2, see MAV_CMD enum
param3	float		PARAM3, see MAV_CMD enum
param4	float		PARAM4, see MAV_CMD enum
x	int32_t		PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7
y	int32_t		PARAM6 / y position: local: x position in meters * 1e4, global: longitude in degrees *10^7
z	float		PARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame.
mission_type **	uint8_t	MAV_MISSION_TYPE	Mission type.

[JonasVautherin]

There is a discussion about ardupilot here, where you could maybe connect with some people about the mission stuff.

[TeoVal138]

Thank you very much @JonasVautherin this really helped,
for anyone who ever needs, just follow the mission plan's items format you find at this link in the create_mission_raw() function:
https://github.com/ykhedar/ardupilot-mavsdk/blob/main/examples/missions_copter/missions_copter.cpp