RtcmData

[xinadax2000]

How can I make a MAVsdk RtcmData out of RTCM ByteArray?
I get the RTCM ByteArray from u-center ntrip.

[JonasVautherin]

What have you tried? Can you show us some code so we can help?

[julianoes]

What format are you getting out of u-center ntrip?

[xinadax2000]

I use this ntrip client: https://github.com/jcmb/NTRIP/blob/master/NTRIP%20Client/NtripClient.py

def readLoop(self):
		while True:
			data = self.read()
			if data is None:
				continue
			asyncio.run(self.send_data(data))

#data = self.rtcm3.get_packet()

async def send_data(self, data):
		await self.drone.rtk.send_rtcm_data(data)

[julianoes]

Ok, and what's the type of the data from self.read()?

[julianoes]

From other issue:

code:
await drone.rtk.send_rtcm_data(rtcm_data)

error:
AttributeError: 'bytearray' object has no attribute 'translate_to_rpc'

rtcm_data:
bytearray(b'\xd3\x00mCP\x00\x8c2\x16\x82\x00\x00,@\x88\x00\x00\x00\x00\x00 \x00\x00\x00~\x9c\xa4\x9a\x90\xa2\x8c\x00\x00\x01\xa7\xa2\x1e=gv\x8f\x1fq{\\x13_\xc9\xdf\x17\x02L$\xb6\xdd\x17\x9a.\xe8\xba\x94\x02U6^\xa2^\x08\xac\xf5\xf4\x1d\xcc\n\x9d\xe7\xeb\x04R\x15\x92\x93\xf9o\xf2\xc1\xb5-j\xba\xf12`@\r\x83\xc0\xe8B\x0f\x05\xec\x8c\xfc\xc4\x88l\xac\x7f\xf1\x1aR\xc2\xbc\x87')

[julianoes]

So you're presumably passing a bytearray to send_rtcm_data().

However, send_rtcm_data wants a RtcmData type.

And RtcmData wants to be initialized with a string.

See: http://mavsdk-python-docs.s3-website.eu-central-1.amazonaws.com/plugins/rtk.html#mavsdk.rtk.RtcmData

I then tried to line up the types:

#!/usr/bin/env python3

import asyncio
from mavsdk import System
from mavsdk.rtk import RtcmData

async def send_data(data):
    drone = System()
    await drone.connect()
    await drone.rtk.send_rtcm_data(data)

if __name__ == '__main__':
    rtcm_data = bytearray(b'\xd3\x00mCP\x00\x8c2\x16\x82\x00\x00,@\x88\x00\x00\x00\x00\x00 \x00\x00\x00~\x9c\xa4\x9a\x90\xa2\x8c\x00\x00\x01\xa7\xa2\x1e=gv\x8f\x1fq{\\x13_\xc9\xdf\x17\x02L$\xb6\xdd\x17\x9a.\xe8\xba\x94\x02U6^\xa2^\x08\xac\xf5\xf4\x1d\xcc\n\x9d\xe7\xeb\x04R\x15\x92\x93\xf9o\xf2\xc1\xb5-j\xba\xf12`@\r\x83\xc0\xe8B\x0f\x05\xec\x8c\xfc\xc4\x88l\xac\x7f\xf1\x1aR\xc2\xbc\x87')
    asyncio.run(send_data(RtcmData(str(rtcm_data))))

And that worked, except that the mavsdk_server v1.4.3 which comes with the pip install doesn't support the Rtk plugin yet, so I will fix that.

grpc._channel._MultiThreadedRendezvous: <_MultiThreadedRendezvous of RPC that terminated with:
	status = StatusCode.UNIMPLEMENTED

[julianoes]

Fix coming here: mavlink/MAVSDK#1865

I'll release it to mavsdk v1.4.3 and to the Python wrappers as well ASAP.

[julianoes]

mavsdk on PyPy should now be updated to version 1.4.1 containing mavsdk_server version v1.4.4 including the Rtk plugin.

[julianoes]

I'm closing this but just comment again if it's not resolved for you.

[swimmingseeds]

This issue has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/gps-rtcm-data-not-recognized-from-f9p-chip-u-center/30915/1