status_text() doesn't work

[ferglezr1998]

Hi! I have the next problem:
I have two PC's connected to my Pixhawk. One of them is connected via serial port (micro usb) and the other is connected via 'Telem1' port (configured as Mavlink output). What I what to do is so simple. From one PC I want to send a custom command using telemetry_server.publish_status_text(). This message should travel across the pixhawk and it should be read by the other PC where I am using the next code block to be able to see the messages I receive:

async for msg in drone.telemetry.status_text():
        print(str(msg.type) + ": " + msg.text)

Well... If I run manually ./mavsdk_server serial:///dev/ttyACM0:115200 I can see that I receive the messages correctly because they are printed in the console.
However, when I run my python program, I only receive the messages auto generated by the pixhawk (Prearm check, etc etc) but I dont receive my messages.

The code I'm using to send the messages is the following:

from mavsdk import System
from mavsdk.telemetry_server import TelemetryServerError, StatusTextType, StatusText
import asyncio
import sys
import time

async def main(args=None):
    drone = System()
    await drone.connect("serial:///dev/ttyS0:115200")

    text = StatusText(StatusTextType.CRITICAL, "CUSTOM: Hello World")
    while (True):
        try:
            await drone.telemetry_server.publish_status_text(text)
        except TelemetryServerError as e:
            print(e)
            continue
        print("Message Sended!")
        time.sleep(1.5)

if __name__ == "__main__":
    loop = asyncio.get_event_loop()
    loop.run_until_complete(main(sys.argv))

Help please!

[julianoes]

So basically you want forward statustext messages from the companion through Pixhawk to the ground station, correct?

I think you're missing two pieces:

1. You need to make sure forwarding is enabled in PX4. For this, every mavlink instance (connection) needs to have forwarding enabled: For Telem1, this would be: MAV_0_FORWARD, for the USB one it doesn't look like it is easily possible. However, it might work without setting it there. The place where it would need a change is in cdc_acm_check.cpp. You would have to add '-f' before the last argument nullptr.
2. You probably need to set the system id on the companion side to be the same as the system id of the autopilot, like this:

   MAVSDK-Python/examples/send_status_message.py

   Line 21 in 108cb85

   drone = System(sysid=1)