Waypoint V2 Mission Error: Mission Exits Without Executing Finish Action

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Umesh
After reaching the last waypoint, the Waypoint V2 mission is entering the mission exit state with an error code and is not executing the designated finish action to return home. The following log was observed on the terminal:
[79.611][user]-[Info]-[DjiTest_WaypointV2EventCallback:345) [Arrival Event]: Current waypoint index is 6 
[80.230][user]-[Info]-[DjiTest_WaypointV2StateCallback:377) [Waypoint Index:6]: State: Execute mission, velocity:1.11 m/s 
[81.231][user]-[Info]-[DjiTest_WaypointV2StateCallback:377) [Waypoint Index:6]: State: Execute mission, velocity:1.78 m/s 
[82.330][user]-[Info]-[DjiTest_WaypointV2StateCallback:377) [Waypoint Index:6]: State: Execute mission, velocity:1.81 m/s 
[83.330][user]-[Info]-[DjiTest_WaypointV2StateCallback:377) [Waypoint Index:6]: State: Execute mission, velocity:1.62 m/s 
[84.330][user]-[Info]-[DjiTest_WaypointV2StateCallback:377) [Waypoint Index:6]: State: Execute mission, velocity:0.76 m/s 
[84.417][user]-[Info]-[DjiTest_WaypointV2EventCallback:345) [Arrival Event]: Current waypoint index is 7 
[84.931][user]-[Info]-[DjiTest_WaypointV2EventCallback:357) [Action Switch Event]: action id:4, pre actuator state:1, current actuator state:1, result:0xFFFF00420004 
[84.933][user]-[Info]-[DjiTest_WaypointV2EventCallback:357) [Action Switch Event]: action id:4, pre actuator state:1, current actuator state:1, result:0xFFFF00420004 
[84.934][user]-[Info]-[DjiTest_WaypointV2EventCallback:357) [Action Switch Event]: action id:4, pre actuator state:1, current actuator state:1, result:0xFFFF00420004 
[84.935][user]-[Info]-[DjiTest_WaypointV2EventCallback:357) [Action Switch Event]: action id:4, pre actuator state:1, current actuator state:1, result:0xFFFF00420004 
[84.936][user]-[Info]-[DjiTest_WaypointV2EventCallback:341) [Stop Event]: Mission exit reason is 0x0 
[85.131][user]-[Info]-[DjiTest_WaypointV2EventCallback:345) [Arrival Event]: Current waypoint index is 7 
[85.330][user]-[Info]-[DjiTest_WaypointV2StateCallback:377) [Waypoint Index:0]: State: Ground station not start, velocity:0.09 m/s 
[85.651][user]-[Info]-[DjiTest_WaypointV2EventCallback:341) [Stop Event]: Mission exit reason is 0x0 
[85.850][user]-[Info]-[DjiTest_WaypointV2EventCallback:345) [Arrival Event]: Current waypoint index is 7 
[86.330][user]-[Info]-[DjiTest_WaypointV2StateCallback:377) [Waypoint Index:0]: State: Ground station not start, velocity:0.04 m/s 
[86.369][user]-[Info]-[DjiTest_WaypointV2EventCallback:341) [Stop Event]: Mission exit reason is 0x0 
[87.430][user]-[Info]-[DjiTest_WaypointV2StateCallback:377) [Waypoint Index:0]: State: Ground station not start, velocity:0.03 m/s
[88.430][user]-[Info]-[DjiTest_WaypointV2StateCallback:377) [Waypoint Index:0]: State: Ground station not start, velocity:0.02 m/s 
[89.430][user]-[Info]-[DjiTest_WaypointV2StateCallback:377) [Waypoint Index:0]: State: Ground station not start, velocity:0.01 m/s 
[90.430][user]-[Info]-[DjiTest_WaypointV2StateCallback:377) [Waypoint Index:0]: State: Ground station not start, velocity:0.01 m/s 
[91.430][user]-[Info]-[DjiTest_WaypointV2StateCallback:377) [Waypoint Index:0]: State: Ground station not start, velocity:0.01 m/s 
[92.430][user]-[Info]-[DjiTest_WaypointV2StateCallback:377) [Waypoint Index:0]: State: Ground station not start, velocity:0.00 m/s 
[93.430][user]-[Info]-[DjiTest_WaypointV2StateCallback:377) [Waypoint Index:0]: State: Ground station not start, velocity:0.00 m/s 
[94.430][user]-[Info]-[DjiTest_WaypointV2StateCallback:377) [Waypoint Index:0]: State: Ground station not start, velocity:0.00 m/s 
[95.431][user]-[Info]-[DjiTest_WaypointV2StateCallback:377) [Waypoint Index:0]: State: Ground station not start, velocity:0.00 m/s 
[96.430][user]-[Info]-[DjiTest_WaypointV2StateCallback:377) [Waypoint Index:0]: State: Ground station not start, velocity:0.00 m/s 
[96.983][user]-[Info]-[DjiTest_WaypointV2RunSample:187) --> Step 10: Deinit Waypoint V2 sample

 

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6 条评论

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  • DJI Developer Support
    Hello, what is the end action of the waypoint mission you set? Currently, the waypoint mission is exited normally according to the log, but the log does not contain other information. You can also provide us with the debug level log for further confirmation.
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  • Umesh

    The end action is set to `DJI_WAYPOINT_V2_FINISHED_GO_HOME`. I have also tried different end actions like `DJI_WAYPOINT_V2_FINISHED_AUTO_LANDING` and `DJI_WAYPOINT_V2_FINISHED_GO_TO_FIRST_WAYPOINT`. However, after the drone arrives at the last waypoint, it goes into a "Stop Event," and I receive the log message `[Stop Event]: Mission exit reason is 0x0`. Then drone  just hover at last waypoint.

    I'm testing this using the DJI simulator, and the remote controller (RC) is not turned on. After arriving at the last waypoint, the mission exits but does not perform the finish/end action as expected.

    Debug Log:


    [81.837][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0A01 0x3C10 
    [81.837][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0603 0x3C10 
    [81.838][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0205 len:31 
    [81.839][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0205 len:31 
    [81.840][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0205 len:31 
    [81.841][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0205 len:31 
    [81.843][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0205 len:31 
    [81.843][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0A01->0x0A06 0x3C45 
    [81.844][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0205 len:31 
    [81.844][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x3C45 len:0 
    [81.844][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x3C cmdid: 0x45 
    [81.845][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0205 len:31 
    [81.846][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0205 len:31 
    [81.847][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0205 len:31 
    [81.848][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0205 len:31 
    [81.849][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0205 len:31 
    [81.850][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0205 len:31 
    [81.851][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0A01->0x0A06 0x3C45 
    [81.852][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0205 len:31 
    [81.852][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x3C45 len:0 
    [81.852][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x3C cmdid: 0x45 
    [81.852][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0300->0x0A06 0x221C 
    [81.852][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0300->0x0A06 0x221B 
    [81.853][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0205 len:31 
    [81.853][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x221C len:6 
    [81.853][user]-[Info]-[DjiTest_WaypointV2EventCallback:341) [Stop Event]: Mission exit reason is 0x0 

    Based on this information, the mission is being exited normally (`exit reason is 0x0`), but the specified end action is not being executed as expected.

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  • DJI Developer Support
    Sorry, we may need to confirm again whether this is a known issue within our company. Did you open RC during the entire flight? Can you synchronize your waypoint mission content with us? We will retest this issue.
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  • DJI Developer Support
    If you close the RC midway, the end action set by the PSDK will not be executed. This behavior is a known issue within our organization.
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  • Umesh

    The RC was off throughout the entire mission as I'm flying without the RC, so I didn't open or close it during the mission. The mission I'm testing is the same sample mission provided in the PSDK sample code.

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  • DJI Developer Support
    Hello, we understand what you mean and thank you for your supplement. We will investigate and confirm this matter as soon as possible.
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