Continued Tracker Progress, but a problem :)

[MiguelitoBeard]

Thanks for help so far! The MAV2 telemetry forward from mLRS/MWP seems to work over BlueTooth to the tracker. The PAN works perfectly but pitch not at all. You can see in the video successful pan. The tracker can be set for altitude from GPS or BARO and BARO is recommended. With the GPS option I get an altitude of 2000+ and with BARO 0. You can see the tracker screen in the image showing SATs, distance, direction and altitude. Altitude is wrong. So my question is how do I debug this? Altitude not correct in forwarded MAV2? Tracker not reading MAV2 correctly? Not sure how to figure it out. I am sooo close :) Tracker is a MFD Mini Crossbow. Logs included.

https://github.com/user-attachments/assets/092ca07e-e9ae-408e-8558-7829654a3378

3-15 logs.zip

[stronnag]

It is probably the case that the forwarder is scaling the GPS altitude incorrectly.
What does mwp claim the altitude is when the tracker reads 2000?

[MiguelitoBeard]

Will setup and test and reply :)

[stronnag]

There is a bug in mwp's MAV1/MAV2 forwarding. It added the origin altitude to the MSP GPS altitude (which is already AMSL), so if you're at 920, and your model is at say 60, you'd get 1900m. The MAVLINK altitude is also AMSL ...

[MiguelitoBeard]

Checked and MWP reporting +/-0 Altitude on the ground as you would expect. I live at around 1000M in San Jose Costa Rica so that would probably explain the altitude discrepancy. For interest, Is the Baro altitude included in the MAV2 data? For some reason the ATT supplier suggests using that. It is an option in the tracker interface.

[stronnag]

mwp forwards MAVLINK_GPS_RAW_INT (GPS altitude) and does not forward (or even process) MAVLINK_GPS_GLOBAL_INT as it's less useful for mwp.

[stronnag]

the forward bug is fixed in the development branch.

[MiguelitoBeard]

Thankyou! I will wait for the next Snapshot (Not much of a software guy!) Really appreciate the quick reply!

[stronnag]

You try the attached.

mwptools_25.03.16-1_amd64.deb.zip

[MiguelitoBeard]

Tried that version but as soon as MWP connects and received data from FC is shuts down. Every time I try. Video shows behavior. Attached are today's logs.

Shutdown.mp4

log 3-16.zip

[stronnag]

However, from the device manual, I think I need to add MAVLINK_MSG_ID_GLOBAL_POSITION_INT to the synthesised messages,

[stronnag]

This should generate MAVLINK_MSG_ID_GLOBAL_POSITION_INT with baro altitude.

mwptools_25.03.17_amd64.deb.zip

[MiguelitoBeard]

Fantastic! Will try later today :)

[MiguelitoBeard]

Tested and all seems to work! Application stable, Altitude registered as "0" which matches MWP, registered SATS matched so looks great! I can not test flying for a week, but as soon as I do I will report back. Thankyou so very much for working on this. As soon as I have test flown I will report back and do a blog in the MWP, mLRS and INAV Fixed wing groups. INAV + MWP Tools + mLRS with a tracker is the complete suite!