Issue runnig the simulator with Ardupilot

[RadionL]

Hi, I'm trying run simulate ubx GPS into Ardupilot (4.4.2)
after im running the script Ardupilot detects the GPS as ublox and disconnects.

thats the log from Pycharm terminal

C:\PycharmProjects\GPS\venv\Scripts\python.exe C:\Desktop\Projects\פוד\Testing\ubx-gps-simulator-main\ubx_gps_simulator.py -b 115200 -t 2 COM17
Opened serial port 'COM17' with a baudrate of 115200 and serial blocking read timeout of 0.01 seconds. Simulating I/O target #2.

Received VALID message: class 0x06, ID 0x01 w/ payload b'\x01\x06\x01' (length: 3).
CFG-MSG for class 0x01, ID 0x06 (NAV-SOL).
Rate for current target: b'\x01'
Requested rate change: class=0x01, ID=0x06, rate=b'\x01'
<<< Sending ACK-ACK response: b'\xb5b\x05\x01\x02\x00\x06\x01\x0f8'

Received VALID message: class 0x06, ID 0x00 w/o payload.
Poll the configuration of the used I/O Port.
<<< Sending ACK-ACK response: b'\xb5b\x05\x01\x02\x00\x06\x00\x0e7'

Received VALID message: class 0x06, ID 0x00 w/o payload.
Poll the configuration of the used I/O Port.
<<< Sending ACK-ACK response: b'\xb5b\x05\x01\x02\x00\x06\x00\x0e7'

Received VALID message: class 0x06, ID 0x00 w/o payload.
Poll the configuration of the used I/O Port.
<<< Sending ACK-ACK response: b'\xb5b\x05\x01\x02\x00\x06\x00\x0e7'

Traceback (most recent call last):
File "C:\Users\rudion\Desktop\Projects\פוד\Testing\ubx-gps-simulator-main\ubx_gps_simulator.py", line 1051, in
run()
File "C:\Users\rudion\Desktop\Projects\פוד\Testing\ubx-gps-simulator-main\ubx_gps_simulator.py", line 1047, in run
simulator.run()
File "C:\Users\rudion\Desktop\Projects\פוד\Testing\ubx-gps-simulator-main\ubx_gps_simulator.py", line 324, in run
if self.check_cyclic_tx(base_rate_count, msg_class=b'\x01', msg_id=b'\x06'):
File "C:\Users\rudion\Desktop\Projects\פוד\Testing\ubx-gps-simulator-main\ubx_gps_simulator.py", line 764, in check_cyclic_tx
return base_rate_count % self.message_rates[msg_class][msg_id]['rate'] == 0
TypeError: unsupported operand type(s) for %: 'int' and 'bytes'

Process finished with exit code 1

[maehw]

Hi @RadionL,

this is the first user feedback. Thanks for creating the ticket here.

Seems to be a type incompatibility around the modulo operator (%): base_rate_count is an integer, self.message_rates[msg_class][msg_id]['rate'] is bytes. I don't have time & a working test setup here to validate this - and I don't know why I've never run into this (maybe I've always had a 0 there). The second one should also be integer.

Maybe, you can do two things:

Add a print statement before the line with modulo:
print(self.message_rates[msg_class][msg_id]['rate'])

Try to convert the bytes to an integer (if it's multi-byte, the following probably won't work - we'll need to specify endianness):
return base_rate_count % int(self.message_rates[msg_class][msg_id]['rate']) == 0

Have a nice weekend!

[RadionL]

Hi,
Converted to int and it's working.
Thanks

[maehw]

Hi @RadionL,

great to hear! I'd be happy if you made a pull request with your change(s).

Kind regards