LINK : fatal error LNK1104:“drone_physics.lib”

[hazidh]

Hello, I compiled the Cmaketist file in the src directory through Cmake and generated a sln file that can be opened with Visual Studio 2022, but when I generated the solution, I got an error drone_service_rc and could not find drone_physics.lib,or how should I compile the source code

[tmori]

Hello, I compiled the Cmaketist file in the src directory through Cmake and generated a sln file that can be opened with Visual Studio 2022, but when I generated the solution, I got an error drone_service_rc and could not find drone_physics.lib,or how should I compile the source code

Thank you for using it, and I’m sorry for the inconvenience. The required libraries were not included.

I have uploaded lib-win.zip at the following URL:
https://github.com/toppers/hakoniwa-drone-core/releases/tag/v3.1.9

Please extract this zip file directly under hakoniwa-drone-core, so that the libraries are placed like this:

hakoniwa-drone-core/lib/xxx*.lib

To build the project, open the src directory with Visual Studio 2022, and build it with the x64-Release configuration.

If the build succeeds, drone_service_rc.exe will be generated.

[hazidh]

Hello, I compiled the Cmaketist file in the src directory through Cmake and generated a sln file that can be opened with Visual Studio 2022, but when I generated the solution, I got an error drone_service_rc and could not find drone_physics.lib,or how should I compile the source code

Thank you for using it, and I’m sorry for the inconvenience. The required libraries were not included.

I have uploaded lib-win.zip at the following URL: https://github.com/toppers/hakoniwa-drone-core/releases/tag/v3.1.9

Please extract this zip file directly under hakoniwa-drone-core, so that the libraries are placed like this:

hakoniwa-drone-core/lib/xxx*.lib

To build the project, open the src directory with Visual Studio 2022, and build it with the x64-Release configuration.

If the build succeeds, drone_service_rc.exe will be generated.

Thank you for your reply. I did what you said and re-generated it, but it gave an error

4>hako_aircraft.lib(aircraft_factory.obj) : error LNK2038: Mismatch detected for "_ITERATOR_DEBUG_LEVEL" : Value '0' does not match value '2' (in main_drone_service_rc.obj)
4>hako_aircraft.lib(aircraft_factory.obj) : error LNK2038: Mismatch detected for "RuntimeLibrary" : Value "MD_DynamicRelease" does not match value "MDd_DynamicDebug" (in main_drone_service_rc.obj)
4>hako_controller.lib(aircraft_controller_factory.obj) : error LNK2038: Mismatch detected for "_ITERATOR_DEBUG_LEVEL" : Value '0' does not match value '2' (in main_drone_service_rc.obj)
4>hako_controller.lib(aircraft_controller_factory.obj) : error LNK2038: Mismatch detected for "RuntimeLibrary" : Value "MD_DynamicRelease" does not match value "MDd_DynamicDebug" (in main_drone_service_rc.obj)
4>hako_controller.lib(radio_controller.obj) : error LNK2038: Mismatch detected for "_ITERATOR_DEBUG_LEVEL" : Value '0' does not match value '2' (in main_drone_service_rc.obj)
4>hako_controller.lib(radio_controller.obj) : error LNK2038: Mismatch detected for "RuntimeLibrary" : Value "MD_DynamicRelease" does not match value "MDd_DynamicDebug" (in main_drone_service_rc.obj)
4>hako_controller.lib(flight_controller.obj) : error LNK2038: Mismatch detected for "_ITERATOR_DEBUG_LEVEL" : Value '0' does not match value '2' (in main_drone_service_rc.obj)
4>hako_controller.lib(flight_controller.obj) : error LNK2038: Mismatch detected for "RuntimeLibrary" : Value "MD_DynamicRelease" does not match value "MDd_DynamicDebug" (in main_drone_service_rc.obj)
4>hako_logger.lib(hako_logger.obj) : error LNK2038: Mismatch detected for "_ITERATOR_DEBUG_LEVEL" : Value '0' does not match value '2' (in main_drone_service_rc.obj)
4>hako_logger.lib(hako_logger.obj) : error LNK2038: Mismatch detected for "RuntimeLibrary" : Value "MD_DynamicRelease" does not match value "MDd_DynamicDebug" (in main_drone_service_rc.obj)
4>hako_service.lib(drone_service.obj) : error LNK2038: Mismatch detected for "_ITERATOR_DEBUG_LEVEL" : Value '0' does not match value '2' (in main_drone_service_rc.obj)
4>hako_service.lib(drone_service.obj) : error LNK2038: Mismatch detected for "RuntimeLibrary" : Value "MD_DynamicRelease" does not match value "MDd_DynamicDebug" (in main_drone_service_rc.obj)
4>drone_physics.lib(drone_frames.obj) : error LNK2038: Mismatch detected for "_ITERATOR_DEBUG_LEVEL" : Value '0' does not match value '2' (in main_drone_service_rc.obj)
4>drone_physics.lib(drone_frames.obj) : error LNK2038: Mismatch detected for "RuntimeLibrary" : Value "MD_DynamicRelease" does not match value "MDd_DynamicDebug" (in main_drone_service_rc.obj)
4>drone_physics.lib(body_physics.obj) : error LNK2038: Mismatch detected for "_ITERATOR_DEBUG_LEVEL" : Value '0' does not match value '2' (in main_drone_service_rc.obj)
4>drone_physics.lib(body_physics.obj) : error LNK2038: Mismatch detected for "RuntimeLibrary" : Value "MD_DynamicRelease" does not match value "MDd_DynamicDebug" (in main_drone_service_rc.obj)
4>drone_physics.lib(rotor_physics.obj) : error LNK2038: Mismatch detected for "_ITERATOR_DEBUG_LEVEL" : Value '0' does not match value '2' (in main_drone_service_rc.obj)
4>drone_physics.lib(rotor_physics.obj) : error LNK2038: Mismatch detected for "RuntimeLibrary" : Value "MD_DynamicRelease" does not match value "MDd_DynamicDebug" (in main_drone_service_rc.obj)

[tmori]

Thank you for your screenshot.
The error occurred because you are building with the Debug configuration, but the libraries were built in Release mode.

Please change the build configuration at the top of Visual Studio from “Debug” to “Release”, and rebuild the project with x64-Release.

Let me know if you encounter any further issues!

[hazidh]

Thank you for your screenshot. The error occurred because you are building with the Debug configuration, but the libraries were built in Release mode.

Please change the build configuration at the top of Visual Studio from “Debug” to “Release”, and rebuild the project with x64-Release.

Let me know if you encounter any further issues!

Thank you very much for your answer, the above problem has been solved, can you upload the dll used in this project? I think it is only hako_service_c.dll, how to get the dll of other third-party libraries? On the java side, I only need to load hako_service_c.dll, is this dll, or do I need to load all the dll of the third party? I look forward to your reply

[tmori]

Thank you for your screenshot. The error occurred because you are building with the Debug configuration, but the libraries were built in Release mode.
Please change the build configuration at the top of Visual Studio from “Debug” to “Release”, and rebuild the project with x64-Release.
Let me know if you encounter any further issues!

Thank you very much for your answer, the above problem has been solved, can you upload the dll used in this project? I think it is only hako_service_c.dll, how to get the dll of other third-party libraries? On the java side, I only need to load hako_service_c.dll, is this dll, or do I need to load all the dll of the third party? I look forward to your reply

I see, you are planning to use it from Java.
In that case, you should be able to use it by wrapping the hako_service_c.dll interface so that it can be called from Java.

The DLL is included in the win.zip file available at the following release page:

https://github.com/toppers/hakoniwa-drone-core/releases/tag/v3.1.9

Please take a look and let me know if you have any questions.

[hazidh]

Thank you for your screenshot. The error occurred because you are building with the Debug configuration, but the libraries were built in Release mode.
Please change the build configuration at the top of Visual Studio from “Debug” to “Release”, and rebuild the project with x64-Release.
Let me know if you encounter any further issues!

Thank you very much for your answer, the above problem has been solved, can you upload the dll used in this project? I think it is only hako_service_c.dll, how to get the dll of other third-party libraries? On the java side, I only need to load hako_service_c.dll, is this dll, or do I need to load all the dll of the third party? I look forward to your reply

I see, you are planning to use it from Java. In that case, you should be able to use it by wrapping the hako_service_c.dll interface so that it can be called from Java.

The DLL is included in the win.zip file available at the following release page:

https://github.com/toppers/hakoniwa-drone-core/releases/tag/v3.1.9

Please take a look and let me know if you have any questions.

Thank you very much for your reply. I have passed the test in java, thank you!

[hazidh]

Hello, I started main_drone_service_rc.cpp and at first printed the coordinates and pressed w to increase them, but when I printed the coordinates again, nothing changed. What happened

body_boundary_disturbance_power is enabled: power = 4
BatteryModelCsvFilePath: F:/17-hakoniwa-drone-core/hakoniwa/hakoniwa-drone-core/tmp_battery_model.csv
BatteryModelCsvFilePath does not exist.
Parameter not found: ANGLE_RATE_CONTROL_ENABLE
Angle rate control is disabled
Parameter not found: ALT_SPD_CONTROL_ENABLE
Parameter not found: ANGLE_RATE_CONTROL_ENABLE
Angle rate control is disabled
Parameter not found: ALT_SPD_CONTROL_ENABLE
flip_target_time_sec: 0.3
flip_constant_time_sec: 0.05
target_angular_rate_rad_sec: 35.9039
target_angular_rate_delta: 0.287231
target_angular_inc_time_sec: 0.125
target_angular_dec_time_sec: 0.175
INFO: mixer is enabled
timestep_usec: 1000
DroneService::startService: 1000
> Start service
DroneService::advanceTimeStep: initialize_pdu_data
DroneService::initialize_pdu_data
p
position x=0.0 y=-0.0 z=-0.0
w
w
w
w
w
p
position x=0.0 y=-0.0 z=-0.0

[tmori]

Hello, I started main_drone_service_rc.cpp and at first printed the coordinates and pressed w to increase them, but when I printed the coordinates again, nothing changed. What happened

body_boundary_disturbance_power is enabled: power = 4
BatteryModelCsvFilePath: F:/17-hakoniwa-drone-core/hakoniwa/hakoniwa-drone-core/tmp_battery_model.csv
BatteryModelCsvFilePath does not exist.
Parameter not found: ANGLE_RATE_CONTROL_ENABLE
Angle rate control is disabled
Parameter not found: ALT_SPD_CONTROL_ENABLE
Parameter not found: ANGLE_RATE_CONTROL_ENABLE
Angle rate control is disabled
Parameter not found: ALT_SPD_CONTROL_ENABLE
flip_target_time_sec: 0.3
flip_constant_time_sec: 0.05
target_angular_rate_rad_sec: 35.9039
target_angular_rate_delta: 0.287231
target_angular_inc_time_sec: 0.125
target_angular_dec_time_sec: 0.175
INFO: mixer is enabled
timestep_usec: 1000
DroneService::startService: 1000
> Start service
DroneService::advanceTimeStep: initialize_pdu_data
DroneService::initialize_pdu_data
p
position x=0.0 y=-0.0 z=-0.0
w
w
w
w
w
p
position x=0.0 y=-0.0 z=-0.0

Maybe the drone is not armed?

There is an operation sequence at the following URL:

https://github.com/toppers/hakoniwa-drone-core?tab=readme-ov-file#%E7%AE%B1%E5%BA%AD%E3%83%89%E3%83%AD%E3%83%BC%E3%83%B3%E3%81%AEcui%E3%82%B5%E3%83%B3%E3%83%97%E3%83%AB%E3%82%A2%E3%83%97%E3%83%AA%E3%81%AE%E5%88%A9%E7%94%A8%E6%96%B9%E6%B3%95

> Start service
x
w
position x=0.0 y=-0.0 z=0.1
position x=0.0 y=-0.0 z=0.2
position x=0.0 y=-0.0 z=0.3
position x=0.0 y=-0.0 z=0.4
position x=0.0 y=-0.0 z=0.5
position x=0.0 y=-0.0 z=0.6
position x=0.0 y=-0.0 z=0.7
position x=0.0 y=-0.0 z=0.8
position x=0.0 y=-0.0 z=0.9
position x=0.0 y=-0.0 z=1.0
position x=0.0 y=-0.0 z=1.1

[hazidh]

您好，我开始main_drone_service_rc.cpp，起初打印坐标并按 w 增加坐标，但是当我再次打印坐标时，没有任何变化。 发生了什么事

body_boundary_disturbance_power is enabled: power = 4
BatteryModelCsvFilePath: F:/17-hakoniwa-drone-core/hakoniwa/hakoniwa-drone-core/tmp_battery_model.csv
BatteryModelCsvFilePath does not exist.
Parameter not found: ANGLE_RATE_CONTROL_ENABLE
Angle rate control is disabled
Parameter not found: ALT_SPD_CONTROL_ENABLE
Parameter not found: ANGLE_RATE_CONTROL_ENABLE
Angle rate control is disabled
Parameter not found: ALT_SPD_CONTROL_ENABLE
flip_target_time_sec: 0.3
flip_constant_time_sec: 0.05
target_angular_rate_rad_sec: 35.9039
target_angular_rate_delta: 0.287231
target_angular_inc_time_sec: 0.125
target_angular_dec_time_sec: 0.175
INFO: mixer is enabled
timestep_usec: 1000
DroneService::startService: 1000
> Start service
DroneService::advanceTimeStep: initialize_pdu_data
DroneService::initialize_pdu_data
p
position x=0.0 y=-0.0 z=-0.0
w
w
w
w
w
p
position x=0.0 y=-0.0 z=-0.0

也许无人机没有武装？

在以下 URL 中有一个作序列：

https://github.com/toppers/hakoniwa-drone-core?tab=readme-ov-file#%E7%AE%B1%E5%BA%AD%E3%83%89%E3%83%AD%E3%83%BC%E3%83%B3%E3%81%AEcui%E3%82%B5%E3%83%B3%E3%83%97%E3%83%AB%E3%82%A2%E3%83%97%E3%83%AA%E3%81%AE%E5%88%A9%E7%94%A8%E6%96%B9%E6%B3%95

> Start service
x
w
position x=0.0 y=-0.0 z=0.1
position x=0.0 y=-0.0 z=0.2
position x=0.0 y=-0.0 z=0.3
position x=0.0 y=-0.0 z=0.4
position x=0.0 y=-0.0 z=0.5
position x=0.0 y=-0.0 z=0.6
position x=0.0 y=-0.0 z=0.7
position x=0.0 y=-0.0 z=0.8
position x=0.0 y=-0.0 z=0.9
position x=0.0 y=-0.0 z=1.0
position x=0.0 y=-0.0 z=1.1

Is it my file configuration path problem or? Below is my code

#include "service.hpp"
#include <iostream>
#include <thread>
#include <sstream>
#include <vector>
#include <string>
#include <queue>

using namespace hako::aircraft;
using namespace hako::controller;
using namespace hako::service;
using namespace hako::logger;
using namespace hako::config;

static void do_collision(DroneServiceRcProtocol& rc)
{
    bool is_target_static = false;
    Vector3Type target_velocity = {1, 2, 3};
    Vector3Type target_angular_velocity = {4, 5, 6};
    Vector3Type target_euler = {9, 99, 999};
    Vector3Type self_contact_vector = {7, 8, 9};
    Vector3Type target_contact_vector = {10, 11, 12};
    Vector3Type target_inertia = { 0.0061, 0.00653, 0.0116 };
    Vector3Type normal = {1, 2, 3};
    double target_mass = 0.71;
    double restitution_coefficient = 0.8;
    std::cout << "do_collision" << std::endl;
    rc.trigger_impulse_collision(0,
        is_target_static, 
        target_velocity, 
        target_angular_velocity, 
        target_euler,
        self_contact_vector, 
        target_contact_vector, 
        target_inertia, 
        normal, 
        target_mass, 
        restitution_coefficient);
}

int main(int argc, const char* argv[])
{
    /*if (argc != 3) {
        std::cerr << "Usage: " << argv[0] << "<real_sleep_msec> <drone_config_dir_path>" << std::endl;
        return 1;
    }*/
    argv[0] = "F:\\17-hakoniwa-drone-core\\hakoniwa\\hakoniwa-drone-core\\config";
    argv[1] = "1";
    argv[2] = "F:\\17-hakoniwa-drone-core\\hakoniwa\\hakoniwa-drone-core\\config\\drone\\rc";
    int real_sleep_msec = std::stoi(argv[1]);
    const char* drone_config_dir_path = argv[2];
    IHakoLogger::enable();

    /*
     * Load drone config 
     */
    DroneConfigManager configManager;
    std::string drone_config_file_path = drone_config_dir_path + std::string("/drone_config_0.json");
    //fileopen
    std::ifstream configFile(drone_config_file_path);
    if (!configFile.is_open()) {
        std::cerr << "Unable to open config file: " << drone_config_file_path << std::endl;
        return 1;
    }
    std::stringstream ss;
    ss << configFile.rdbuf();
    //load config
    configManager.loadConfigFromText(ss.str());

    /*
     * Create aircraft container
     */
    auto aircraft_container = IAirCraftContainer::create();
    aircraft_container->createAirCrafts(configManager);

    /*
     * Create controller container
     */
    //get controller file path
    DroneConfig& config = configManager.getConfig(0);
    std::string controller_config_file_path = config.getControllerParamFilePath();
    //fileopen
    std::ifstream controllerConfigFile(controller_config_file_path);
    if (!controllerConfigFile.is_open()) {
        std::cerr << "Unable to open controller config file: " << controller_config_file_path << std::endl;
        return 1;
    }
    std::stringstream controller_ss;
    controller_ss << controllerConfigFile.rdbuf();
    //load config
    config.setControllerParamText(controller_ss.str());

    std::shared_ptr<IAircraftControllerContainer> controller_container = IAircraftControllerContainer::create();
    controller_container->createAircraftControllers(configManager, true);

    /*
     * Create service container
     */
    std::shared_ptr<IDroneServiceContainer> service_container = IDroneServiceContainer::create(aircraft_container, controller_container);

    /*
     * Setup Service
     */
    configManager.getConfig(0, config);
    uint64_t timestep_usec = (uint64_t)(config.getSimTimeStep() * 1000000.0);
    std::cout << "timestep_usec: " << timestep_usec << std::endl;
    auto ret = service_container->startService(timestep_usec);
    if (!ret) {
        std::cerr << "Failed to start service" << std::endl;
        return 1;
    }


    /*
     * Setup Radio Control Protocol
     * keyboard control is enabled
     */
    DroneServiceRcProtocol rc(service_container, true);

    /*
     * Main loop
     */
    std::thread th([&service_container, real_sleep_msec]() {
        std::cout << "> Start service" << std::endl;
        while (service_container->isServiceAvailable()) {
            /*
            * Advance time step
            */
            IHakoLogger::set_time_usec(service_container->getSimulationTimeUsec(0));
            service_container->advanceTimeStep();
            std::this_thread::sleep_for(std::chrono::milliseconds(real_sleep_msec));
        }
        std::cout << "Finish service" << std::endl;
    });
    std::queue<char> queue_keyboard;
    std::thread keyboard_th([&queue_keyboard]() {
        while (true) {
            std::string line;
            std::getline(std::cin, line);
            char c = line[0];
            if (line.empty()) {
                c = 'h';
            }
            else if (line.size() > 1) {
                c = line[0];
            }
            //printf("c: 0x%x\n", c);
            queue_keyboard.push(c);
        }
    });
    char event_c = 0;
    int delayed_rotation_count = 0;
    hako::service::ServiceBatteryStatusType battery_status;
    while (true) {
        if (!queue_keyboard.empty()) {
            event_c = queue_keyboard.front();
            queue_keyboard.pop();
        }
        else {
            event_c = 0;
        }
        /*
         * Radio Control Protocol
         */
        /*
         * Usage:
         *  - w : up
         *  - s : down
         *  - a : turn left
         *  - d : turn right
         *  - i : forward
         *  - k : backward
         *  - j : left
         *  - l : right
         *  - x : radio control button
         *  - c : collision
         */
        //keyboard read
        switch (event_c) {
        case 'w':
            rc.drone_vertical_op(0, -1.0);
            break;
        case 's':
            rc.drone_vertical_op(0, 1.0);
            break;
        case 'a':
            rc.drone_heading_op(0, -1.0);
            delayed_rotation_count = 1000;
            break;
        case 'd':
            rc.drone_heading_op(0, 1.0);
            delayed_rotation_count = 1000;
            break;
        case 'i':
            rc.drone_forward_op(0, -0.8);
            break;
        case 'k':
            rc.drone_forward_op(0, 0.8);
            break;
        case 'j':
            rc.drone_horizontal_op(0, -0.8);
            break;
        case 'l':
            rc.drone_horizontal_op(0, 0.8);
            break;
        case 'x':
            rc.drone_radio_control_button(0, true);
            break;
        case 'b':
            battery_status = rc.get_battery_status(0);
            std::cout << "full_voltage: " << battery_status.full_voltage << std::endl;
            std::cout << "curr_voltage: " << battery_status.curr_voltage << std::endl;
            std::cout << "curr_temp: " << battery_status.curr_temp << std::endl;
            std::cout << "status: " << battery_status.status << std::endl;
            std::cout << "cycles: " << battery_status.cycles << std::endl;
            break;
        case 'p':
            {
                auto pos = rc.get_position(0);
                std::cout << "position x=" << std::fixed << std::setprecision(1) << pos.x << " y=" << pos.y << " z=" << pos.z << std::endl;
            }
            break;
        case 'r':
            {
                auto att = rc.get_attitude(0);
                std::cout << "attitude roll=" << std::fixed << std::setprecision(1) << att.x << " pitch=" << att.y << " yaw=" << att.z << std::endl;
            }
            break;
        case 't':
            std::cout << "simtime usec: " << service_container->getSimulationTimeUsec(0) << std::endl;
            break;
        case 'f':
            std::cout << "flip" << std::endl;
            for (int i = 0; i < 99; i++) {
                rc.drone_horizontal_op(0, 0.0);
                rc.run();
            }
            rc.drone_horizontal_op(0, 1.0);
            break;
        case 'c':
            do_collision(rc);
            break;
        case 0:
            break;
        default:
            std::cout  << " ----- USAGE -----" << std::endl;
            std::cout  << " ----- STICK -----" << std::endl;
            std::cout  << "|  LEFT  | RIGHT  |" << std::endl;
            std:: cout << "|   w    |   i    |" << std::endl;
            std:: cout << "| a   d  | j   l  |" << std::endl;
            std:: cout << "|   s    |   k    |" << std::endl;
            std::cout  << " ---- BUTTON ----" << std::endl;
            std::cout  << " x : radio control button" << std::endl;
            std::cout  << " p : get position" << std::endl;
            std::cout  << " r : get attitude" << std::endl;
            std::cout  << " t : get simtime usec" << std::endl;
            std::cout  << " c : collision" << std::endl;
            std::cout  << " b : get battery status" << std::endl;
            break;
        }
        rc.run();
        static Vector3Type prev_pos = { 0.0, 0.0, 0.0 };
        auto pos = rc.get_position(0);
        if (fabs(pos.x - prev_pos.x) > 0.1 || fabs(pos.y - prev_pos.y) > 0.1 || fabs(pos.z - prev_pos.z) > 0.1) {
            std::cout << "position x=" << std::fixed << std::setprecision(1) << pos.x << " y=" << pos.y << " z=" << pos.z << std::endl;
            prev_pos = pos;
        }
        if (delayed_rotation_count > 0) {
            delayed_rotation_count--;
            if (delayed_rotation_count == 0)
            {
                auto att = rc.get_attitude(0);
                std::cout << "attitude roll=" << std::fixed << std::setprecision(1) << att.x << " pitch=" << att.y << " yaw=" << att.z << std::endl;
            }
        }
        std::this_thread::sleep_for(std::chrono::milliseconds(real_sleep_msec));
    }

    /*
     * Stop service
     */
    service_container->stopService();
    th.join();
    return 0;
}

[tmori]

It looks like your code and configuration are basically fine.
But the drone won’t move unless it is armed first.
This is part of the normal operation flow, not a problem with your code.

When the drone is properly armed,
you should see the position values increasing like this after pressing w:

> Start service
x   ← arm the drone
w   ← send RC input to move forward
position x=0.0 y=-0.0 z=0.1
position x=0.0 y=-0.0 z=0.2
position x=0.0 y=-0.0 z=0.3

If you don’t arm the drone (press x), the position will not change,
even if you press w.

[hazidh]

It looks like your code and configuration are basically fine. But the drone won’t move unless it is armed first. This is part of the normal operation flow, not a problem with your code.

When the drone is properly armed, you should see the position values increasing like this after pressing w:

> Start service
x   ← arm the drone
w   ← send RC input to move forward
position x=0.0 y=-0.0 z=0.1
position x=0.0 y=-0.0 z=0.2
position x=0.0 y=-0.0 z=0.3

If you don’t arm the drone (press x), the position will not change, even if you press w.

Thank you very much. Got it. Thank you again for your reply!

[hazidh]

Hello, I press the x key and then press the s key, why can't I print the coordinate position? Doesn't the s key make the aircraft descend

20250708_161522.mp4

[tmori]

Hello, I press the x key and then press the s key, why can't I print the coordinate position? Doesn't the s key make the aircraft descend

20250708_161522.mp4

Thank you for your question.
You are correct that you armed the drone with the x key and then pressed the s key to descend.
However, at the initial state, the drone is already on the ground, so it cannot go any lower.
That’s why the position does not change when you press s.

If you want to see the drone descend, first increase the altitude using the w key or throttle up. Then, after the drone is in the air, press s to make it descend.

example:

x ← arm
w ← ascend
position x=0.0 y=0.0 z=0.1
position x=0.0 y=0.0 z=0.2
s ← descend
position x=0.0 y=0.0 z=0.1

[hazidh]

Yes, I also have a question about the coordinate system used in this project, which is the left hand coordinate system or the right hand coordinate system. At present, I speculate that it is as shown below, is this correct

[tmori]

Yes, I also have a question about the coordinate system used in this project, which is the left hand coordinate system or the right hand coordinate system. At present, I speculate that it is as shown below, is this correct

Thank you for your question. Your diagram matches the API coordinate system, which is a right-handed system, the same as ROS.

To be more precise:
• The API and user interface use a right-handed coordinate system:
• X axis: forward
• Y axis: left
• Z axis: up
• But internally, the physics dynamics simulation uses the NED coordinate system:
• X axis: North (forward)
• Y axis: East (right)
• Z axis: Down

Also, please note that the log output is in NED coordinates, following the physics system.