no LRF data

[zekesarosi]

It seems that when running the example script with the latest firmware on the VIO and upgraded to payload v3 python the LRF data is 0. However on the OSD you can see the correct LRF data.

[duongGremsy]

Hi,

This is a bug on the payload software. We will fix it soon.

[DanieleMarchisotti]

@zekesarosi which example script are you using?

[zekesarosi]

class Gremsy():
    def __init__ (self):
        self.payload = PayloadSdkInterface()
        self.payload.sdkInitConnection()
        self.payload.checkPayloadConnection()

        # Lock for thread-safe dictionary updates
        self.state_lock = threading.Lock()
        
        # Set Gimbal to FOLLOW Mode (use encoder to hold yaw)
        self.payload.setPayloadCameraParam(PAYLOAD_CAMERA_GIMBAL_MODE, 
                                           payload_camera_gimbal_mode.PAYLOAD_CAMERA_GIMBAL_MODE_FOLLOW, 
                                           mavutil.mavlink.MAV_PARAM_TYPE_UINT32)
        
        # Set callback function to read gimbal data
        self.payload.regPayloadStatusChanged(self.onPayloadStatusChanged)

        # Initialize state dictionary to store payload status
        self.state = {
            "pan": 0.0,
            "tilt": 0.0,
            "roll": 0.0,
            "eo_zoom_level": 0.0,
            "ir_zoom_level": 0.0,
            "lrf_range": 0.0,
            "lrf_offset_x": 0.0,
            "lrf_offset_y": 0.0,
            "target_coord_lon": 0.0,
            "target_coord_lat": 0.0,
            "target_coord_alt": 0.0,
            "cam_view_mode": 0.0,
            "cam_rec_source": 0.0,
            "cam_ir_type": 0.0,
            "cam_ir_palette_id": 0.0,
            "gimbal_mode": 0.0,
            "payload_gps_lon": 0.0,
            "payload_gps_lat": 0.0,
            "payload_gps_alt": 0.0,
            "cam_ir_ffc_mode": 0.0,
            "track_x": 0,
            "track_y": 0,
            "track_h": 0,
            "track_w": 0,
            "track_status":0
        }

        # Map parameter indices to state dictionary keys
        self.param_map = {
            payload_param_t.PARAM_EO_ZOOM_LEVEL: "eo_zoom_level",
            payload_param_t.PARAM_IR_ZOOM_LEVEL: "ir_zoom_level",
            payload_param_t.PARAM_LRF_RANGE: "lrf_range",
            payload_param_t.PARAM_LRF_OFSET_X: "lrf_offset_x",
            payload_param_t.PARAM_LRF_OFSET_Y: "lrf_offset_y",
            payload_param_t.PARAM_TARGET_COOR_LON: "target_coord_lon",
            payload_param_t.PARAM_TARGET_COOR_LAT: "target_coord_lat",
            payload_param_t.PARAM_TARGET_COOR_ALT: "target_coord_alt",
            payload_param_t.PARAM_CAM_VIEW_MODE: "cam_view_mode",
            payload_param_t.PARAM_CAM_REC_SOURCE: "cam_rec_source",
            payload_param_t.PARAM_CAM_IR_TYPE: "cam_ir_type",
            payload_param_t.PARAM_CAM_IR_PALETTE_ID: "cam_ir_palette_id",
            payload_param_t.PARAM_GIMBAL_MODE: "gimbal_mode",
            payload_param_t.PARAM_PAYLOAD_GPS_LON: "payload_gps_lon",
            payload_param_t.PARAM_PAYLOAD_GPS_LAT: "payload_gps_lat",
            payload_param_t.PARAM_PAYLOAD_GPS_ALT: "payload_gps_alt",
            payload_param_t.PARAM_CAM_IR_FFC_MODE: "cam_ir_ffc_mode",
            payload_param_t.PARAM_TRACK_POS_X: "track_x",
            payload_param_t.PARAM_TRACK_POS_Y: "track_y",
            payload_param_t.PARAM_TRACK_POS_H: "track_h",
            payload_param_t.PARAM_TRACK_POS_W: "track_w",
            payload_param_t.PARAM_TRACK_STATUS: "track_status"
        }

        # Initialize callback frequency of desired gimbal information
        self.setupReadBackFrequency()

    
    def setupReadBackFrequency(self):
        """Setup the desired read back frequency for gimbal data"""
        self.payload.setParamRate(payload_param_t.PARAM_LRF_RANGE, 20) # 50Hz
        self.payload.setParamRate(payload_param_t.PARAM_LRF_OFSET_X, 20)
        self.payload.setParamRate(payload_param_t.PARAM_LRF_OFSET_Y, 20)

        self.payload.setParamRate(payload_param_t.PARAM_TRACK_POS_X, 100) # 50 Hz
        self.payload.setParamRate(payload_param_t.PARAM_TRACK_POS_Y, 100)
        self.payload.setParamRate(payload_param_t.PARAM_TRACK_POS_H, 100)
        self.payload.setParamRate(payload_param_t.PARAM_TRACK_POS_W, 100)
        self.payload.setParamRate(payload_param_t.PARAM_TRACK_STATUS, 100)

        self.payload.setParamRate(payload_param_t.PARAM_EO_ZOOM_LEVEL, 20) # 50 Hz
        self.payload.setParamRate(payload_param_t.PARAM_IR_ZOOM_LEVEL, 20)

        self.payload.setParamRate(payload_param_t.PARAM_TARGET_COOR_LON, 1000) # 1Hz
        self.payload.setParamRate(payload_param_t.PARAM_TARGET_COOR_LAT, 1000)
        self.payload.setParamRate(payload_param_t.PARAM_TARGET_COOR_ALT, 1000)

        self.payload.setParamRate(payload_param_t.PARAM_CAM_VIEW_MODE, 1000)
        self.payload.setParamRate(payload_param_t.PARAM_CAM_REC_SOURCE, 1000)
        self.payload.setParamRate(payload_param_t.PARAM_CAM_IR_TYPE, 1000)
        self.payload.setParamRate(payload_param_t.PARAM_CAM_IR_PALETTE_ID, 1000)
        self.payload.setParamRate(payload_param_t.PARAM_GIMBAL_MODE, 1000)

        self.payload.setParamRate(payload_param_t.PARAM_PAYLOAD_GPS_LON, 1000)
        self.payload.setParamRate(payload_param_t.PARAM_PAYLOAD_GPS_LAT, 1000)
        self.payload.setParamRate(payload_param_t.PARAM_PAYLOAD_GPS_ALT, 1000)

        self.payload.setParamRate(payload_param_t.PARAM_CAM_IR_FFC_MODE, 1000)
    
    def onPayloadStatusChanged(self, event: int, params: list):
        """Callback to update state dictionary based on payload status changes."""
        with self.state_lock:
            if payload_status_event_t(event) == payload_status_event_t.PAYLOAD_GB_ATTITUDE:
                # Update gimbal attitude
                self.state["pan"] = float(params[2])
                self.state["tilt"] = float(params[0])
                self.state["roll"] = float(params[1])

            elif payload_status_event_t(event) == payload_status_event_t.PAYLOAD_PARAMS:
                param_index = payload_param_t(params[0])
                param_value = float(params[1])

                # Update state
                if param_index in self.param_map:
                    self.state[self.param_map[param_index]] = param_value
    
    def get_state_value(self, key):
        """Retrieve a specific value from the state dictionary thread-safely."""
        with self.state_lock:
            return self.state.get(key, None)

[zekesarosi]

@zekesarosi which example script are you using?

See examples/payload_get_status.py, the LRF data reads 0.0 while the OSD can show valid LRF data.