Copter: APMPlanner2 can't read for the automatic flight plan

[muramura]

Bug report

I am using APM PLANNER2 and Mission Planner.
I'm using APM PLANNER2 and Mission Planner to create my plan.
Up to AC3.6.12, both plans could be written and read.
However, in AC4.0.X, APM PLANNER2 is not able to write and read the plan.

Has there been a change in the writing and reading procedures?
If there is a change, where do I look for it?

Issue details

Please describe the problem

Version

AC4.0.X

What version was the issue encountered with

Platform
[ ] All
[ ] AntennaTracker
[X] Copter
[ ] Plane
[ ] Rover
[ ] Submarine

Airframe type
What type of airframe (flying wing, glider, hex, Y6, octa etc)

Hardware type
What autopilot hardware was used? (Pixhawk, Cube, Pixracer, Navio2, etc)

Logs
Please provide a link to any relevant logs that show the issue

[rmackay9]

Yes, we've moved to a new protocol I think. @peterbarker knows the details.

[peterbarker]

No, rally points and fences moved to using the same protocol as missions.

I'll test here later today and see what I see.

[peterbarker]

... testing will be delayed until I can compile APM Planner2 again. I'm asking around in gitter on that front.

[peterbarker]

I'm using master here and don't have any issues reading or writing waypoints with apmplanner2

Can you give me a specific git hash, please?

[muramura]

@peterbarker san. Check and Comments thanks.
Software hash info:
APM PLANNER2 v2.0.27-rc1 : 750a12ac
ArduCopter V4.0.0 (4969354)

SITL, APM PLANNER2 is running on MAC OS X 10.15.4.

[peterbarker]

On Thu, 14 May 2020, murata,katsutoshi wrote: @peterbarker san. Check and Comments thanks. Software hash info: APM PLANNER2 : 750a12ac ArduCopter V4.0.0 (4969354) SITL, APM PLANNER2 is running on MAC OS X 10.15.4.

OK, so someone just opened a PR against APM Planner2 which could very well fix the problem you're seeing: ArduPilot/apm_planner#1207 If that was you - great stuff. If not - do you have the capacity to check if that PR fixed your problem? ... because using uninitialised stack space is very, very rarely a good thing :-)

[muramura]

@peterbarker san.
I've incorporated this PR.
ArduPilot/apm_planner#1207

I was able to do that when I didn't have an automatic flight plan written into my FC.
I was able to execute this automatic flight plan.

I then rebooted the APM PLANNER2.
I can't get the auto flight plan to show up on the screen.
I created a new automatic flight plan in this state and did a write operation.
I was able to confirm that it was written in SITL's Mission Editor.
I found out that APM PLANNER2 can't read the auto flight plan that is written on it.

[peterbarker]

Still unable to replicate here, sorry. Perhaps if you send me a mission file which I can load using wp load in SITL and then fails to load in APMplanner2?

[muramura]

@peterbarker san.

I was able to confirm that the automatic flight plan appears at startup, read, refresh, write & read by doing the following.

I added the following to the message that sets MAV_COMP_ID_MISSIONPLANNER in target_component.
mission_type = MAV_MISSION_TYPE_MISSION

Other:
I got the same result by initializing the stack variable.
I think this is a good way to do it.

[peterbarker]

@muramura so we're agreed that this was an uninitialised stack variable, and that ArduPilot/apm_planner#1207 ought to have fixed the problem?

[muramura]

@peterbarker san.. Yes, I agree. Check and Comments thaks.
I am happy to use APM PLANNER2 in the future.

[muramura]

I've put up a related fix that needs to be fixed, an issue with automatic flight plan reading, writing and loading to AC4.0.0 or later that causes a communication timeout and does not complete.

ArduPilot/apm_planner#1209