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mavlink / MAVSDK-Python

MAVSDK client for Python.

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drone.core.connection_state() cycles between returns multiple incorrect values

rgreenaus opened this issue · comments

commented

I am under the impression drone.core.connection_state() returns a ConnectionState object which contains a single boolean variable is_connected which will be true if there is an active telemetry connection to the drone, and false otherwise.

I am writing a class to abstract away some of the telemetry code and need a member variable to indicate whether there is an active connection. e.g. the following code:

async def connect_to_drone(self):
    self.drone = System()
    await self.drone.connect(system_address=self.system_address) 
    self.logger.info('connected to telemetry via serial')
    while True:
        async for state in self.drone.core.connection_state():
            if state.is_connected:
                self.logger.info('drone metrics object connected to drone')
                self.is_connected = True
            if not state.is_connected:
                self.logger.info('drone metrics object disconnected to drone')
                self.is_connected = False
        await asyncio.sleep(1)

My expectation is this code would check the connection state at a rate of ~once per second, and the self.is_connected variable would remain true as long as there is a maintained connection. Instead the logs show the response from drone.core.connection_state() repeatedly flips even when maintaining a stable connection:

INFO : drone_api : drone metrics object connected to telemetry via serial : 2024-12-05 17:42:59,852
INFO : drone_api : drone metrics object connected to drone : 2024-12-05 17:42:59,864
INFO : drone_api : drone metrics object disconnected to drone : 2024-12-05 17:42:59,870
INFO : drone_api : drone metrics object disconnected to drone : 2024-12-05 17:42:59,874
INFO : drone_api : drone metrics object connected to drone : 2024-12-05 17:42:59,878
INFO : drone_api : drone metrics object disconnected to drone : 2024-12-05 17:42:59,882
INFO : drone_api : drone metrics object disconnected to drone : 2024-12-05 17:42:59,886
INFO : drone_api : drone metrics object disconnected to drone : 2024-12-05 17:43:03,357
INFO : drone_api : drone metrics object disconnected to drone : 2024-12-05 17:43:03,361
INFO : drone_api : drone metrics object disconnected to drone : 2024-12-05 17:43:03,364
INFO : drone_api : drone metrics object connected to drone : 2024-12-05 17:43:06,140
INFO : drone_api : drone metrics object disconnected to drone : 2024-12-05 17:43:06,147
INFO : drone_api : drone metrics object disconnected to drone : 2024-12-05 17:43:06,151
INFO : drone_api : drone metrics object disconnected to drone : 2024-12-05 17:43:09,148
INFO : drone_api : drone metrics object disconnected to drone : 2024-12-05 17:43:09,152
INFO : drone_api : drone metrics object disconnected to drone : 2024-12-05 17:43:09,156
INFO : drone_api : drone metrics object connected to drone : 2024-12-05 17:43:09,327
INFO : drone_api : drone metrics object disconnected to drone : 2024-12-05 17:43:09,335
INFO : drone_api : drone metrics object disconnected to drone : 2024-12-05 17:43:09,339
INFO : drone_api : drone metrics object disconnected to drone : 2024-12-05 17:43:20,152
INFO : drone_api : drone metrics object disconnected to drone : 2024-12-05 17:43:20,156
INFO : drone_api : drone metrics object disconnected to drone : 2024-12-05 17:43:20,160
INFO : drone_api : drone metrics object connected to drone : 2024-12-05 17:43:21,154
INFO : drone_api : drone metrics object disconnected to drone : 2024-12-05 17:43:21,160
....

It appears like the iterative returned by drone.core.connection_state() when there is an active connection contains 6 boolean values in the sequence [False, False, False, True, False, False]

This doesn't seem like the intended functionality.