MavSDK-JAVA v2.0.1, INVALID_SEQUENCE for uploading mission with MissionRaw -- Kotlin Android #182

Ba0Nguyen · 2024-09-27T00:47:56Z

I am unable to upload a mission using MissionRaw. My mission have multiple MissionRaw.MissionItem, sample code below:

`
private fun createMissionPlan(): List<MissionRaw.MissionItem> {

val missionRawItems = mutableListOf<MissionRaw.MissionItem>()

// Set Home Point
missionRawItems.add(createMissionItemRaw(0, 1, 16, 1, 1,0f, 0f, 0f, 0f,0f, 0f,548.6f, 0))

// Take off
missionRawItems.add(createMissionItemRaw(1, 0, 22, 0, 1,0f, 0f, 0f, 0f,0f, 0f, altitudeM.toFloat(), 0))

// add two waypoints
missionRawItems.add(createMissionItemRaw(2, 0, 16, 0, 1,0f, 0f, 0f, 0f, latitude, longitude, altitude, 0))
missionRawItems.add(createMissionItemRaw(3, 0, 16, 0, 1,0f, 0f, 0f, 0f, latitude, longitude, altitude, 0))

return missionRawItems
}

private fun createMissionItemRaw(seq: Int, frame: Int, command: Int, current: Int, autocontinue: Int,
param1: Float, param2: Float, param3: Float, param4: Float,
x: Float, y: Float, z: Float, missionType: Int): MissionRaw.MissionItem {

    val missionItem = MissionRaw.MissionItem(seq, frame, command, current, autocontinue,
        param1, param2, param3, param4,
        (x * 1e7).roundToInt(), (y * 1e7).roundToInt(), z, missionType)

    return missionItem
}

`

I am able to upload the mission successfully with just only one MissionItem (e.g. home point). Whenever I try to add a mission with two MissionItems or more, I got Invalid_Sequence even thought my sequence number is correctly increment from 0.

Thanks for your help!

The text was updated successfully, but these errors were encountered:

julianoes · 2024-09-30T02:26:19Z

Is this against PX4 or ArduPilot?

Can you make sure that Current is 0 for the 0th item, and 1 for the first one?

Also see this thread: mavlink/MAVSDK#2058

Ba0Nguyen · 2024-09-30T17:10:57Z

This is against Ardupilot v4.4.4.

I will try setting the current 0 for the 0th item, and when you mention current 1 for the 'first one'. Did you meant the TAKE_OFF message or the First WayPoint?

Do you think it could be that MavSDK did not send the Total Count (MISSION_COUNT) for waypoint?

Referencing "Upload a Mission to the Vehicle".
https://mavlink.io/en/services/mission.html

Ba0Nguyen · 2024-09-30T17:39:59Z

    `// set home position
    missionRawItems.add(createMissionItemRaw(0, 5, 16, 0, 1,
        0f, 0f, 0f, 0f,
        473977420f, 85455939f,488.7872009277344f, 0))
    // set take off
    missionRawItems.add(createMissionItemRaw(0, 3, 22, 0, 1,
        0f, 0f, 0f, 0f,
        473977420f, 85455939f, 50f, 0))
    
    // set waypoints
    missionRawItems.add(createMissionItemRaw(1, 3, 16, 1, 1,
        0f, 0f, 0f, 0f,
        waypoints[5].latitude.toFloat(),  waypoints[5].longitude.toFloat(), altitudeM.toFloat(), 0))

    missionRawItems.add(createMissionItemRaw(2, 3, 16, 0, 1,
        0f, 0f, 0f, 0f,
        473982493f, 85449242f,50f, 0))

    missionRawItems.add(createMissionItemRaw(3, 3, 16, 0, 1,
        0f, 0f, 0f, 0f,
        473977416f,85449242f, 50f, 0))

    missionRawItems.add(createMissionItemRaw(4, 2, 20, 0, 1,
        0f, 0f, 0f, 0f,
        0f, 0f, 0f, 0))`
        
        I tried this and got "Invalid Sequence INVALID_SEQUENCE"

Ba0Nguyen · 2024-09-30T17:43:34Z

    `// set home position
    missionRawItems.add(createMissionItemRaw(0, 5, 16, 0, 1,
        0f, 0f, 0f, 0f,
        473977420f, 85455939f,488.7872009277344f, 0))
    // set take off
    missionRawItems.add(createMissionItemRaw(0, 3, 22, 1, 1,
        0f, 0f, 0f, 0f,
        473977420f, 85455939f, 50f, 0))

    // set waypoints
    missionRawItems.add(createMissionItemRaw(1, 3, 16, 0, 1,
        0f, 0f, 0f, 0f,
        473982266f, 85455604f, 50f, 0))

    missionRawItems.add(createMissionItemRaw(2, 3, 16, 0, 1,
        0f, 0f, 0f, 0f,
        473982493f, 85449242f,50f, 0))

    missionRawItems.add(createMissionItemRaw(3, 3, 16, 0, 1,
        0f, 0f, 0f, 0f,
        473977416f,85449242f, 50f, 0))

    missionRawItems.add(createMissionItemRaw(4, 2, 20, 0, 1,
        0f, 0f, 0f, 0f,
        0f, 0f, 0f, 0))`

I also tried the above and got Invalid Sequence INVALID_SEQUENCE

julianoes · 2024-09-30T18:01:06Z

Do you think it could be that MavSDK did not send the Total Count (MISSION_COUNT) for waypoint?

I don't think so. I assume you're hitting this one:
https://github.com/mavlink/MAVSDK/blob/0b564f0deef4d6a67e6b542ec10c59cc0b33f482/src/mavsdk/core/mavlink_mission_transfer_client.cpp#L228-L234

The sequence should be 0, 1, 2, 3, not 0, 0, 1, 2, 3, pretty sure.

Ba0Nguyen · 2024-09-30T18:12:46Z

I also tried 0,1,2,3,4 sequence and got INVALID_ARGUMENT.

    `// set home position
    missionRawItems.add(createMissionItemRaw(0, 0, 16, 0, 1,
        0f, 0f, 0f, 0f,
        473977420f, 85455939f,0f, 0))
    // set take off
    missionRawItems.add(createMissionItemRaw(1, 3, 22,  1, 1,
        0f, 0f, 0f, 0f,
        473977420f, 85455939f, 50f, 0))

    // set waypoints
    missionRawItems.add(createMissionItemRaw(2, 3, 16, 0, 1,
        0f, 0f, 0f, 0f,
        473982266f, 85455604f, 50f, 0))

    missionRawItems.add(createMissionItemRaw(3, 3, 16, 0, 1,
        0f, 0f, 0f, 0f,
        473982493f, 85449242f,50f, 0))

    missionRawItems.add(createMissionItemRaw(4, 3, 16, 0, 1,
        0f, 0f, 0f, 0f,
        473977416f,85449242f, 50f, 0))
    missionRawItems.add(createMissionItemRaw(5, 2, 20, 0, 1,
        0f, 0f, 0f, 0f,
        0f, 0f, 0f, 0))`

Ba0Nguyen · 2024-09-30T19:06:08Z

I am logging out messages MavSDK is receiving from Ardupilot. What I notice is I only received MISSION_REQUEST_INT for 0, which explain why I was able to upload mission with 1 Mission Item successfully. I've never receive MISSION_REQUEST_INT for 1 and failed to upload mission with 2 or more Mission Items.

Ba0Nguyen · 2024-09-30T21:10:02Z

Do you think this might potentially giving us problem?

mavlink_mission_transfer_client.cpp

   ` // ArduCopter 3.6 sends MISSION_REQUEST (not _INT) but actually accepts ITEM_INT in reply

    // FIXME: this will mess with the sequence number.
    mavlink_message_t request_int_message;
    mavlink_msg_mission_request_int_pack(
        request_message.sysid,
        request_message.compid,
        &request_int_message,
        request.target_system,
        request.target_component,
        request.seq,
        request.mission_type);`

julianoes · 2024-10-01T17:40:42Z

Can you provide an example, or add a mission example to the example app? That way I can easily try to reproduce this issue.

Ba0Nguyen · 2024-10-01T18:38:20Z

private fun uploadMission(missionRaw: MissionRaw) {
        val missionCoordinates = listOf(
            Coordinate(id = "0", latitude = 40.4093871, longitude = -3.6904990),
            Coordinate(id = "1", latitude = 40.4088917, longitude = -3.6896253),
            Coordinate(id = "2", latitude = 40.4083849, longitude = -3.6901396),
            Coordinate(id = "3", latitude = 40.4089193, longitude = -3.6909593),
        )

        val missionPlan: MutableList<MissionRaw.MissionItem> = mutableListOf()
        val homeMissionItem = createMissionItemRaw(0, 0, 16, 1, 1,
            0f, 0f, 0f, 0f,
            40.4093928f, -3.6903115f,0f, 0)

        val takeoff = createMissionItemRaw(1, 3, 22,  0, 1,
            0f, 0f, 0f, 0f,
            0f, 0f, 50f, 0)

        missionPlan.add(homeMissionItem)
        missionPlan.add(takeoff)

        var seq = missionPlan.size // size = 2
        for (coordinate in missionCoordinates) {
            val missionItem = createMissionItemRaw(
                seq = seq,
                frame = 3,
                command = 22,
                current = 0,
                autocontinue = 1,
                0f,0f,0f,0f,
                x = coordinate.latitude.toFloat(),
                y = coordinate.longitude.toFloat(),
                z = 100f,
                missionType = 0)
            missionPlan.add(missionItem)
            seq++
        }

        CoroutineScope(Dispatchers.IO).launch {
            val completable = missionRaw.uploadMission(missionPlan)
            completable
                .doOnComplete { Log.d("UploadingMission", "Upload mission completed") }
                .doOnError { e -> Log.d("UploadingMission", "ERROR: ${e.message} ${e.cause}") }
                .subscribe()
        }
    }

    private fun createMissionItemRaw(seq: Int, frame: Int, command: Int, current: Int, autocontinue: Int,
                                     param1: Float, param2: Float, param3: Float, param4: Float,
                                     x: Float, y: Float, z: Float, missionType: Int): MissionRaw.MissionItem {

        val missionItem = MissionRaw.MissionItem(seq, frame, command, current, autocontinue,
            param1, param2, param3, param4,
            (x * 1e7).roundToInt(), (y * 1e7).roundToInt(), z, missionType)
        return missionItem
    }

Ba0Nguyen · 2024-10-01T18:41:05Z

I got this as result "ERROR: INVALID_SEQUENCE: Invalid Sequence null" for the above code.

julianoes · 2024-10-01T19:03:40Z

What does this do?

        var seq = missionPlan.size // size = 2

Oh nevermind, got it.

julianoes · 2024-10-01T19:05:24Z

You write v2.0.0 but that version doesn't exist, so what version exactly are you using?

Ba0Nguyen · 2024-10-01T19:07:08Z

Sorry, I meant v2.0.1

julianoes · 2024-10-01T19:10:27Z

v2.1.0 maybe?
https://github.com/mavlink/MAVSDK-Java/releases

Ba0Nguyen · 2024-10-01T19:17:52Z

To clarify:

MAVSDK-JAVA (I pulled from the main branch in May, so it wasn't an official release yet)

mavsdk-server: v2.1.0
sdk: v2.0.1

Ba0Nguyen · 2024-10-02T01:00:49Z

While debugging, I noticed that the unregister_all function in the MavlinkMessageHandler class (in MAVSDK C++) is called when I try to upload the mission to the drone flight controller. This did not happen with the simulator and I was able to upload the flight plan successfully.

julianoes · 2024-10-03T02:05:32Z

Hm, so this issue still persists for SITL then?

Ba0Nguyen · 2024-10-03T18:13:40Z

It is working when I upload mission to SITL.

julianoes · 2024-10-04T08:42:22Z

Nice ok, so I can close this.

Ba0Nguyen · 2024-10-07T17:00:38Z

To clarify :

It is always working with SITL but I've never get a mission to upload successfully on the actually Flight Controller with Ardupilot v4.4.4. I always got INVALID_SEQUENCE when try to upload to the actual Flight Controller.

julianoes · 2024-10-07T18:28:30Z

Ok, I understand, so this stays open and I need to try to reproduce it.

Ba0Nguyen · 2024-10-15T00:58:24Z

Were you able to reproduce the issue?

julianoes · 2024-10-15T20:34:41Z

Not yet, thanks for the reminder. Easiest would be if you can make a branch of the example app that shows it.

Ba0Nguyen changed the title ~~MavSDK-JAVA v2.0.0, INVALID_SEQUENCE for uploading mission with MissionRaw~~ MavSDK-JAVA v2.0.0, INVALID_SEQUENCE for uploading mission with MissionRaw -- Kotlin Android Sep 27, 2024

Ba0Nguyen changed the title ~~MavSDK-JAVA v2.0.0, INVALID_SEQUENCE for uploading mission with MissionRaw -- Kotlin Android~~ MavSDK-JAVA v2.0.1, INVALID_SEQUENCE for uploading mission with MissionRaw -- Kotlin Android Oct 1, 2024

julianoes closed this as completed Oct 4, 2024

julianoes reopened this Oct 7, 2024

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MavSDK-JAVA v2.0.1, INVALID_SEQUENCE for uploading mission with MissionRaw -- Kotlin Android #182

MavSDK-JAVA v2.0.1, INVALID_SEQUENCE for uploading mission with MissionRaw -- Kotlin Android #182

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MavSDK-JAVA v2.0.1, INVALID_SEQUENCE for uploading mission with MissionRaw -- Kotlin Android #182

MavSDK-JAVA v2.0.1, INVALID_SEQUENCE for uploading mission with MissionRaw -- Kotlin Android #182

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