New example that runs multiple plan files on multiple drones #761
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Would you mind updating CMakeLists.txt to use find_package(DronecodeSDK REQUIRED) instead of those includes, as in the (recently updated) other examples?
Also, you'll need to run clang-format ($ ./tools/fix_style.sh .)
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That's nice, thank you! I fixed the build for the recent changes in the CMake organization, it should pass the CI now.
However, I can't manage to run it. I followed your instructions and got:
% ./example/build/fly_multiple_drones/fly_multiple_drones udp://:14540 udp://:14541 ~/Downloads/test_plan1.plan ~/Downloads/test_plan2.plan
[05:49:48|Info ] DronecodeSDK version: 0.17.0-89-gbbe891e5-dirty (dronecode_sdk_impl.cpp:25)
Waiting to discover system...
[05:49:48|Info ] New system on: 127.0.0.1:14580 (udp_connection.cpp:228)
[05:49:48|Debug] New: System ID: 1 Comp ID: 1 (dronecode_sdk_impl.cpp:338)
[05:49:48|Debug] Component Autopilot (1) added. (system_impl.cpp:400)
[05:49:48|Error] No known remotes (udp_connection.cpp:132)
[05:49:48|Error] send fail (dronecode_sdk_impl.cpp:91)
[05:49:48|Error] connection send error (520) (mavlink_commands.cpp:256)
[05:49:48|Debug] Discovered 1 component(s) (UUID: 5283920058631409231) (system_impl.cpp:563)
Discovered system with UUID: 5283920058631409231
[05:49:49|Error] No known remotes (udp_connection.cpp:132)
[05:49:49|Error] send fail (dronecode_sdk_impl.cpp:91)
[05:49:49|Debug] MAVLink: info: data link #1 lost (system_impl.cpp:307)
[05:49:49|Debug] MAVLink: info: data link #0 regained (system_impl.cpp:307)
[05:49:49|Debug] MAVLink: info: ARMED by arm/disarm component command (system_impl.cpp:307)
[05:49:49|Debug] MAVLink: info: Takeoff detected (system_impl.cpp:307)
[05:49:49|Debug] MAVLink: info: data link #1 regained (system_impl.cpp:307)
[05:49:50|Error] No known remotes (udp_connection.cpp:132)
[05:49:50|Error] send fail (dronecode_sdk_impl.cpp:91)
[05:49:50|Error] Error: Send message failed (mavlink_parameters.cpp:233)
[05:49:50|Error] Error: Param for gyro cal failed. (telemetry_impl.cpp:615)
[05:49:50|Error] No known remotes (udp_connection.cpp:132)
[05:49:50|Error] send fail (dronecode_sdk_impl.cpp:91)
[05:49:50|Error] connection send error (511) (mavlink_commands.cpp:256)
[05:49:50|Error] No known remotes (udp_connection.cpp:132)
[05:49:50|Error] send fail (dronecode_sdk_impl.cpp:91)
[05:49:50|Error] No known remotes (udp_connection.cpp:132)
[05:49:50|Error] send fail (dronecode_sdk_impl.cpp:91)
[05:49:50|Error] Error: Send message failed (mavlink_parameters.cpp:233)
Importing mission from mission plan: /home/jones/Downloads/test_plan1.plan
[05:49:50|Error] Error: Param for accel cal failed. (telemetry_impl.cpp:626)
Vehicle is getting ready to arm
[05:49:50|Error] No known remotes (udp_connection.cpp:132)
[05:49:50|Error] send fail (dronecode_sdk_impl.cpp:91)
[05:49:50|Error] Error: Send message failed (mavlink_parameters.cpp:233)
[05:49:50|Error] Error: Param for mag cal failed. (telemetry_impl.cpp:637)
Does that work for you?
Yes it works fine for me. Are you running multiple instances? It looks like it didn't discover the other system (May be the system running in udp://:14541) |
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Hmm it worked when I ran jmavsim with port |
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It think I was running an old version of Firmware |
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Yes, I believe it would be better to have updated instructions. Maybe you can also add the link to the documentation, in case it changes again in the future :-). After that it will be fine for me! Thanks a lot for the contribution! |
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Yea sure. I will update the instructions and add the link as well |
| std::cout << "Waiting to discover system..." << std::endl; | ||
| dc.register_on_discover([&discovered_system](uint64_t uuid) { | ||
| std::cout << "Discovered system with UUID: " << uuid << std::endl; | ||
| discovered_system = true; |
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You're only checking for one system, not for as many as you need. What about using:
std::atomic<unsigned> num_systems_discovered {0};
and then in this lambda you can do:
++num_systems_discovered;
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This is just to check if all the systems are discovered right? I've added it on the new commit.
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Merging this even though CI is not working which is probably due to the name change. |
Added a new example that runs multiple QGC plan files on multiple drones.