VTOL drop model fails to takeoff for airspeed sensor

[AhmedElsafy]

I am able to do simulations using the standard VTOL, but the VTOL drop model is suffering from an airspeed sensor alarm

INFO [airspeed_selector] No airspeed sensor detected. Switch to non-airspeed mode. I have edited the sdf file to add a link and joint for an airspeed sensor and it took off but then the VTOL crashes when transitioning to FW mode

thank you

[Jaeyoung-Lim]

@AhmedElsafy Can you share the full log?

[AhmedElsafy]

@Jaeyoung-Lim can you please guide me where to pull that log from please ?

[AhmedElsafy]

@Jaeyoung-Lim `[0______ __ __ ___ | ___ \ \ \ / / / | | |/ / \ V / / /| | | __/ / \ / /| | | | / /^\ \ ___ | _| / / |_/

px4 starting.

INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0 INFO [init] found model autostart file as SYS_AUTOSTART=1043 INFO [param] selected parameter default file eeprom/parameters_1043 [param] parameter file not found, creating eeprom/parameters_1043 SYS_AUTOCONFIG: curr: 0 -> new: 1 SYS_AUTOSTART: curr: 0 -> new: 1043 CAL_ACC0_ID: curr: 0 -> new: 1310988 CAL_GYRO0_ID: curr: 0 -> new: 1310988 CAL_ACC1_ID: curr: 0 -> new: 1310996 CAL_GYRO1_ID: curr: 0 -> new: 1310996 CAL_ACC2_ID: curr: 0 -> new: 1311004 CAL_GYRO2_ID: curr: 0 -> new: 1311004

• CAL_MAG0_ID: curr: 0 -> new: 197388
• CAL_MAG1_ID: curr: 0 -> new: 197644
• SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000
• SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010 Gazebo multi-robot simulator, version 10.2.0 Copyright (C) 2012 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org

[Msg] Waiting for master. [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [Msg] Publicized address: 10.82.43.106

• SYS_AUTOCONFIG: curr: 1 -> new: 0
• IMU_INTEG_RATE: curr: 200 -> new: 250 INFO [dataman] data manager file './dataman' size is 7866640 bytes PX4 SIM HOST: localhost INFO [simulator] Waiting for simulator to accept connection on TCP port 4560 INFO [simulator] Simulator connected on TCP port 4560. INFO [commander] LED: open /dev/led0 failed (22)
• MAV_TYPE: curr: 2 -> new: 22 etc/init.d-posix/rcS: 21: [: !=: unexpected operator INFO [init] Mixer: etc/mixers-sitl/standard_vtol_sitl.main.mix on /dev/pwm_output0 INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550 INFO [mavlink] partner IP: 127.0.0.1 INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540 INFO [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030 INFO [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280 INFO [logger] logger started (mode=all) INFO [logger] Start file log (type: full) INFO [logger] [logger] ./log/2022-03-02/14_24_20.ulg INFO [logger] Opened full log file: ./log/2022-03-02/14_24_20.ulg INFO [mavlink] MAVLink only on localhost (set param MAV_{i}BROADCAST = 1 to enable network) INFO [mavlink] MAVLink only on localhost (set param MAV{i}_BROADCAST = 1 to enable network) INFO [px4] Startup script returned successfully pxh> [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call INFO [commander] Failsafe mode activated INFO [airspeed_selector] No airspeed sensor detected. Switch to non-airspeed mode. INFO [commander] Failsafe mode deactivated INFO [tone_alarm] home set INFO [tone_alarm] notify negative WARN [PreFlightCheck] Preflight Fail: Airspeed invalid. INFO [tone_alarm] notify negative

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[AhmedElsafy]

@Jaeyoung-Lim Is that the right info ?

[sfuhrer]

It seems like there is no airspeed being simulated in the vtol_drop (make px4_sitl gazebo_standard_vtol_drop). You can check that by typing "listener airspeed" in the console.