goto example returns action error

[yunpengye]

I tried the goto.py in the examples but returns a action error

Tried in SITL Gazebo

python3 goto.py 
Waiting for drone to connect...
-- Connected to drone!
Waiting for drone to have a global position estimate...
-- Global position state is good enough for flying.
Fetching amsl altitude at home location....
-- Arming
-- Taking off
Traceback (most recent call last):
  File "goto.py", line 47, in <module>
    asyncio.run(run())
  File "/usr/lib/python3.8/asyncio/runners.py", line 44, in run
    return loop.run_until_complete(main)
  File "/usr/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
    return future.result()
  File "goto.py", line 38, in run
    await drone.action.goto_location(47.397606, 8.543060, flying_alt, 0)
  File "/home/yunpeng/.local/lib/python3.8/site-packages/mavsdk/action.py", line 548, in goto_location
    raise ActionError(result, "goto_location()", latitude_deg, longitude_deg, absolute_altitude_m, yaw_deg)
mavsdk.action.ActionError: UNSUPPORTED: 'Unsupported'; origin: goto_location(); params: (47.397606, 8.54306, 508.1050109863281, 0)

[Jaeyoung-Lim]

I can confirm that this is a problem. The vehicle actually reaches the target point, but mavsdk returns an error

@JonasVautherin @julianoes Any clues on how we can solve this?

[JonasVautherin]

Seems like it throws UNSUPPORTED, which from the implementation seems to come either from here or from here, which is translated from here 🤔.

Could it be that PX4 returned MAV_RESULT_UNSUPPORTED for some reason?

[Jaeyoung-Lim]

@JonasVautherin Looked a bit into PX4 side, and indeed PX4 returns MAV_RESULT_UNSUPPORTED

It is complaining that the mode switch was not requested: https://github.com/PX4/PX4-Autopilot/blob/d6dbf38a1ba376cde9e65c10430e6feb52f6fdd5/src/modules/commander/Commander.cpp#L723

It seems like the check was introduced in PX4/PX4-Autopilot#22078, so looks like a real regression to me

[Jaeyoung-Lim]

@JonasVautherin I have made a fix here: mavlink/MAVSDK#2170

[farhad-ibrahimzade]

Hey all, thank you for opening this issue. I seem to be getting the same result when I run goto.py in examples. I have looked at the fix here, but I am not sure how to proceed to fix the error. Can you please explain how to implement the fix in MAVSDK Python?

[farhad-ibrahimzade]

@JonasVautherin I have made a fix here: mavlink/MAVSDK#2170

Thank you for this. Could you please walk me through how to implement the fix in mavsdk python?

[julianoes]

So the fix is in main, and not the current released v1.4 MAVSDK version. So I assume we have to wait until v2 is released?