Hi,
I’m seeing what looks like a UDP-specific parsing problem in gomavlib.
What works
- Direct connection to the same controller over serial works correctly with
gomavlib.
- QGroundControl (or MAVProxy) can connect directly to the remote UDP endpoint and works normally.
What fails
Direct connection with gomavlib to this remote UDP endpoint:
I use:
node := &gomavlib.Node{
Endpoints: []gomavlib.EndpointConf{
gomavlib.EndpointUDPClient{Address: "100.75.166.252:18450"},
},
Dialect: ardupilotmega.Dialect,
OutVersion: gomavlib.V2,
OutSystemID: 255,
OutComponentID: 1,
HeartbeatDisable: false,
HeartbeatPeriod: 5 * time.Second,
HeartbeatSystemType: 6,
StreamRequestEnable: true,
}The node initializes successfully and I do receive some valid messages, for example SYS_STATUS and RAW_GPS, but then parsing starts failing with errors like:
wrong checksum, expected 690b, got e1cf, message id is 34
invalid magic byte: b3
invalid magic byte: 3a
invalid magic byte: e1
I also tested with mavp2p, and the same remote UDP endpoint produces many errors there too:
mavp2p udpc:100.75.166.252:18450 udps:127.0.0.1:14550
Example output:
router started with 2 endpoints
channel opened: udp:100.75.166.252:18450
node appeared: chan=udp:100.75.166.252:18450 sid=1 cid=1
node appeared: chan=udp:100.75.166.252:18450 sid=0 cid=0
node appeared: chan=udp:100.75.166.252:18450 sid=205 cid=253
595 errors in the last 5s
node appeared: chan=udp:100.75.166.252:18450 sid=1 cid=253
node appeared: chan=udp:100.75.166.252:18450 sid=253 cid=28
483 errors in the last 5s
Why I think this points to gomavlib
- Same controller + same MAVLink stack over serial works.
- Same remote UDP stream works in QGroundControl.
- Both my app and
mavp2p fail on the same remote UDP stream
So this seems likely to be:
- a bug in UDP handling in
gomavlib, or
- an edge case in how this UDP MAVLink stream is parsed by
gomavlib.
Question
Is there any known issue with EndpointUDPClient and remote ArduPilot UDP streams that QGroundControl tolerates but gomavlib does not?
Hi,
I’m seeing what looks like a UDP-specific parsing problem in
gomavlib.What works
gomavlib.What fails
Direct connection with
gomavlibto this remote UDP endpoint:I use:
The node initializes successfully and I do receive some valid messages, for example
SYS_STATUSandRAW_GPS, but then parsing starts failing with errors like:I also tested with
mavp2p, and the same remote UDP endpoint produces many errors there too:Example output:
Why I think this points to
gomavlibmavp2pfail on the same remote UDP streamSo this seems likely to be:
gomavlib, orgomavlib.Question
Is there any known issue with
EndpointUDPClientand remote ArduPilot UDP streams that QGroundControl tolerates butgomavlibdoes not?