Update to RTK to use base64, and update example
Pjort opened this issue · 11 comments
In the comments for the RTK example code, it states "With MAVSDK v2, the API will change to a vector of bytes instead of this clunky string".
I was wondering instead of making into a string, should the rtcm_correction_data just be passed directly to the send_rtcm_data? Or should it still be inside a rtk.RtcmData?
Reference:
https://github.com/mavlink/MAVSDK-Python/blob/main/examples/rtk.py
Oh, good point. We need to update this now that v2 is out. You should try without str and report back if you get it to work.
When I remove str I get the following error:
ValueError: b'\xd3\x00iF@\x00m\xa7J\x02\x00\x00\x00\xac\x00\xe0\x00\x00\x00\x00 \x02\x00\x00\x7f\xd5\x05\x0e\x9d\x06\x8e\x9c\xa1\xbb\xaf\x1a\xe6\xaf\x08Y^N\x9b\xec\xe4\xff\x1f}Kk\x1d\xd1S\x84\xbb\x01\x08\xfe\xa0\xffa\xfa}:\xb0\xf3\xab3\xd4\x16\x8f\xa2\xcb\xbdn\xa6\xf4F\xfb\xc2\xdf\xae\xc4\x91\x01\xf9\x89\x03\xe8\xc0\x0e\xde_\xf9\xff\xff\xff\xff\x00\x12\xd2\xe45S4\xb8[HO>\x10' has type str, but isn't valid UTF-8 encoding. Non-UTF-8 strings must be converted to unicode objects before being added.
And with str the data doesn't give RTK fix anymore, which it used to do fine before the update.
When I swap back to MAVSDK version: v1.4.18 everything once again works fine.
I was testing with MAVSDK v2.9.1 were I found above mentioned problem.
I also still need to wrap my send_rtcm_data with a len check, since it still spits an error when data is too long.
if len(raw_data) < 242: await self.drone.rtk.send_rtcm_data(rtk.RtcmData(str(raw_data)))
If I don't I eget the following error:
mavsdk.rtk.RtkError: TOO_LONG: 'Too Long'; origin: send_rtcm_data(); params: (<mavsdk.rtk.RtcmData object at 0x00000161AA2C2B60>,)
It seems that the problem is related to this hacky fix that was back in 1.4.16:
mavlink/MAVSDK@9d02d74
But the new version MAVSDK-Python doesn't reflec what was mentioned with using a vector<uint8_t> instead.
This is broken. I need to update it to base64. I have just recently added support for base64 in MAVSDK, so that can now happen.
If this is urgent and blocking you, consider putting something in the hat.
How big an issue is it to fix it? It could be a cool feature.