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Published 20 hours ago • verified publisher icon PX4

r1_rover not stable when in offboard/mission mode v1.13.0

Open iftahnaf opened this issue 1 year ago • 0 comments

Hi,

I'm trying to run simple SITL with the r1_rover on v1.13.0 on MAVROS with gazebo11.

When sending position setpoints through MAVROS, the rover enters offboard mode with rosrun mavros mavsys mode -c OFFBOARD, but when armed it just spinning and not follows the setpoints.

The same thing happens if I upload a mission with QGC, its just spinning and not doing the mission.

I tried to change the PID values but it doesn't seems like the problem.

This is the terminal messages from the startup:

iftach@iftach:~/lulav_drone/launch$ ./runRover.sh GAZEBO_PLUGIN_PATH :/home/iftach/PX4-Autopilot/build/px4_sitl_default/build_gazebo GAZEBO_MODEL_PATH :/home/iftach/PX4-Autopilot/Tools/sitl_gazebo/models LD_LIBRARY_PATH /opt/ros/noetic/lib:/home/iftach/PX4-Autopilot/build/px4_sitl_default/build_gazebo ... logging to /home/iftach/.ros/log/a113347c-fdf4-11ec-9732-45f2fc216cc5/roslaunch-iftach-236033.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://iftach:38403/

SUMMARY

CLEAR PARAMETERS

  • /mavros/

PARAMETERS

  • /gazebo/enable_ros_network: True
  • /mavros/camera/frame_id: base_link
  • /mavros/cmd/use_comp_id_system_control: False
  • /mavros/conn/heartbeat_rate: 1.0
  • /mavros/conn/system_time_rate: 1.0
  • /mavros/conn/timeout: 10.0
  • /mavros/conn/timesync_rate: 10.0
  • /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
  • /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
  • /mavros/distance_sensor/hrlv_ez4_pub/id: 0
  • /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
  • /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
  • /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
  • /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
  • /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
  • /mavros/distance_sensor/laser_1_sub/id: 3
  • /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
  • /mavros/distance_sensor/laser_1_sub/subscriber: True
  • /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
  • /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
  • /mavros/distance_sensor/lidarlite_pub/id: 1
  • /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
  • /mavros/distance_sensor/lidarlite_pub/send_tf: True
  • /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
  • /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
  • /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
  • /mavros/distance_sensor/sonar_1_sub/horizontal_fov_ratio: 1.0
  • /mavros/distance_sensor/sonar_1_sub/id: 2
  • /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
  • /mavros/distance_sensor/sonar_1_sub/subscriber: True
  • /mavros/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0
  • /mavros/fake_gps/eph: 2.0
  • /mavros/fake_gps/epv: 2.0
  • /mavros/fake_gps/fix_type: 3
  • /mavros/fake_gps/geo_origin/alt: 408.0
  • /mavros/fake_gps/geo_origin/lat: 47.3667
  • /mavros/fake_gps/geo_origin/lon: 8.55
  • /mavros/fake_gps/gps_rate: 5.0
  • /mavros/fake_gps/mocap_transform: True
  • /mavros/fake_gps/satellites_visible: 5
  • /mavros/fake_gps/tf/child_frame_id: fix
  • /mavros/fake_gps/tf/frame_id: map
  • /mavros/fake_gps/tf/listen: False
  • /mavros/fake_gps/tf/rate_limit: 10.0
  • /mavros/fake_gps/tf/send: False
  • /mavros/fake_gps/use_mocap: True
  • /mavros/fake_gps/use_vision: False
  • /mavros/fcu_protocol: v2.0
  • /mavros/fcu_url: udp://:14540@loca...
  • /mavros/gcs_url:
  • /mavros/global_position/child_frame_id: base_link
  • /mavros/global_position/frame_id: map
  • /mavros/global_position/gps_uere: 1.0
  • /mavros/global_position/rot_covariance: 99999.0
  • /mavros/global_position/tf/child_frame_id: base_link
  • /mavros/global_position/tf/frame_id: map
  • /mavros/global_position/tf/global_frame_id: earth
  • /mavros/global_position/tf/send: False
  • /mavros/global_position/use_relative_alt: True
  • /mavros/image/frame_id: px4flow
  • /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
  • /mavros/imu/frame_id: base_link
  • /mavros/imu/linear_acceleration_stdev: 0.0003
  • /mavros/imu/magnetic_stdev: 0.0
  • /mavros/imu/orientation_stdev: 1.0
  • /mavros/interception/cont_gain: 4.0
  • /mavros/interception/g: 9.81
  • /mavros/interception/m: 0.0
  • /mavros/interception/mass: 1.5
  • /mavros/interception/max_dist: 260.0
  • /mavros/interception/max_height: 100.0
  • /mavros/interception/max_thrust: 0.5
  • /mavros/interception/min_tgo: 0.2
  • /mavros/interception/t_vx: -10.0
  • /mavros/interception/t_vy: 0.0
  • /mavros/interception/t_vz: 0.0
  • /mavros/interception/t_x: 100.0
  • /mavros/interception/t_y: 0.0
  • /mavros/interception/t_z: 50.0
  • /mavros/interception/tgo_gain: 15.0
  • /mavros/interception/xf: 0.0
  • /mavros/interception/yf: 0.0
  • /mavros/interception/zf: 2.0
  • /mavros/landing_target/camera/fov_x: 2.0071286398
  • /mavros/landing_target/camera/fov_y: 2.0071286398
  • /mavros/landing_target/image/height: 480
  • /mavros/landing_target/image/width: 640
  • /mavros/landing_target/land_target_type: VISION_FIDUCIAL
  • /mavros/landing_target/listen_lt: False
  • /mavros/landing_target/mav_frame: LOCAL_NED
  • /mavros/landing_target/target_size/x: 0.3
  • /mavros/landing_target/target_size/y: 0.3
  • /mavros/landing_target/tf/child_frame_id: camera_center
  • /mavros/landing_target/tf/frame_id: landing_target
  • /mavros/landing_target/tf/listen: False
  • /mavros/landing_target/tf/rate_limit: 10.0
  • /mavros/landing_target/tf/send: True
  • /mavros/local_position/frame_id: map
  • /mavros/local_position/tf/child_frame_id: base_link
  • /mavros/local_position/tf/frame_id: map
  • /mavros/local_position/tf/send: False
  • /mavros/local_position/tf/send_fcu: False
  • /mavros/mission/pull_after_gcs: True
  • /mavros/mission/use_mission_item_int: True
  • /mavros/mocap/use_pose: True
  • /mavros/mocap/use_tf: False
  • /mavros/odometry/fcu/odom_child_id_des: base_link
  • /mavros/odometry/fcu/odom_parent_id_des: map
  • /mavros/plugin_blacklist: ['safety_area', '...
  • /mavros/plugin_whitelist: []
  • /mavros/px4flow/frame_id: px4flow
  • /mavros/px4flow/ranger_fov: 0.118682
  • /mavros/px4flow/ranger_max_range: 5.0
  • /mavros/px4flow/ranger_min_range: 0.3
  • /mavros/rect_traj/active: False
  • /mavros/rect_traj/height: 2.5
  • /mavros/rect_traj/length: 3.0
  • /mavros/rect_traj/n: 5
  • /mavros/rect_traj/tol: 0.2
  • /mavros/rectraj/l: 15
  • /mavros/rectraj/r_tol: 1.5
  • /mavros/rectraj/x0: 0
  • /mavros/rectraj/y0: 0
  • /mavros/rectraj/z0: 15
  • /mavros/safety_area/p1/x: 1.0
  • /mavros/safety_area/p1/y: 1.0
  • /mavros/safety_area/p1/z: 1.0
  • /mavros/safety_area/p2/x: -1.0
  • /mavros/safety_area/p2/y: -1.0
  • /mavros/safety_area/p2/z: -1.0
  • /mavros/setpoint_accel/send_force: False
  • /mavros/setpoint_attitude/reverse_thrust: False
  • /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
  • /mavros/setpoint_attitude/tf/frame_id: map
  • /mavros/setpoint_attitude/tf/listen: False
  • /mavros/setpoint_attitude/tf/rate_limit: 50.0
  • /mavros/setpoint_attitude/use_quaternion: False
  • /mavros/setpoint_position/mav_frame: LOCAL_NED
  • /mavros/setpoint_position/tf/child_frame_id: target_position
  • /mavros/setpoint_position/tf/frame_id: map
  • /mavros/setpoint_position/tf/listen: False
  • /mavros/setpoint_position/tf/rate_limit: 50.0
  • /mavros/setpoint_raw/thrust_scaling: 1.0
  • /mavros/setpoint_velocity/mav_frame: LOCAL_NED
  • /mavros/softLanding/SF: 1.3
  • /mavros/softLanding/Um: 21.0
  • /mavros/softLanding/Vf: 2.0
  • /mavros/softLanding/Vm: 19.0
  • /mavros/softLanding/g: 9.81
  • /mavros/softLanding/m: 2.0
  • /mavros/softLanding/max_err: 0.75
  • /mavros/softLanding/max_thrust: 1.0
  • /mavros/softLanding/min_tgo: 0.01
  • /mavros/softLanding/t_vx: 0.0
  • /mavros/softLanding/t_vy: 0.0
  • /mavros/softLanding/t_vz: 0.0
  • /mavros/softLanding/t_x: 10.0
  • /mavros/softLanding/t_y: 10.0
  • /mavros/softLanding/t_z: 10.0
  • /mavros/softLanding/x0: 50.0
  • /mavros/softLanding/y0: 50.0
  • /mavros/softLanding/z0: 50.0
  • /mavros/startup_px4_usb_quirk: True
  • /mavros/sys/disable_diag: False
  • /mavros/sys/min_voltage: 10.0
  • /mavros/target_component_id: 1
  • /mavros/target_system_id: 1
  • /mavros/tdr_radio/low_rssi: 40
  • /mavros/time/time_ref_source: fcu
  • /mavros/time/timesync_avg_alpha: 0.6
  • /mavros/time/timesync_mode: MAVLINK
  • /mavros/vibration/frame_id: base_link
  • /mavros/vision_pose/tf/child_frame_id: vision_estimate
  • /mavros/vision_pose/tf/frame_id: odom
  • /mavros/vision_pose/tf/listen: False
  • /mavros/vision_pose/tf/rate_limit: 10.0
  • /mavros/vision_speed/listen_twist: True
  • /mavros/vision_speed/twist_cov: True
  • /mavros/wheel_odometry/child_frame_id: base_link
  • /mavros/wheel_odometry/count: 2
  • /mavros/wheel_odometry/frame_id: odom
  • /mavros/wheel_odometry/send_raw: True
  • /mavros/wheel_odometry/send_twist: False
  • /mavros/wheel_odometry/tf/child_frame_id: base_link
  • /mavros/wheel_odometry/tf/frame_id: odom
  • /mavros/wheel_odometry/tf/send: False
  • /mavros/wheel_odometry/use_rpm: False
  • /mavros/wheel_odometry/vel_error: 0.1
  • /mavros/wheel_odometry/wheel0/radius: 0.05
  • /mavros/wheel_odometry/wheel0/x: 0.0
  • /mavros/wheel_odometry/wheel0/y: -0.15
  • /mavros/wheel_odometry/wheel1/radius: 0.05
  • /mavros/wheel_odometry/wheel1/x: 0.0
  • /mavros/wheel_odometry/wheel1/y: 0.15
  • /rosdistro: noetic
  • /rosversion: 1.15.13
  • /use_sim_time: True

NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) mavros (mavros/mavros_node) sitl (px4/px4) vehicle_spawn_iftach_236033_467749867323836858 (gazebo_ros/spawn_model)

auto-starting new master process[master]: started with pid [236048] ROS_MASTER_URI=http://localhost:11311

setting /run_id to a113347c-fdf4-11ec-9732-45f2fc216cc5 process[rosout-1]: started with pid [236061] started core service [/rosout] process[sitl-2]: started with pid [236069] Creating symlink /home/iftach/PX4-Autopilot/build/px4_sitl_default/etc -> /home/iftach/.ros/etc

| ___ \ \ \ / / / | | |/ / \ V / / /| | | __/ / \ / /| | | | / /^\ \ ___ | _| / / |_/

px4 starting.

INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0 process[gazebo-3]: started with pid [236081] INFO [init] found model autostart file as SYS_AUTOSTART=1061 INFO [param] selected parameter default file eeprom/parameters_1061 INFO [parameters] BSON document size 353 bytes, decoded 353 bytes (INT32:15, FLOAT:3) [param] Loaded: eeprom/parameters_1061 process[gazebo_gui-4]: started with pid [236093] process[vehicle_spawn_iftach_236033_467749867323836858-5]: started with pid [236104] process[mavros-6]: started with pid [236110] [ INFO] [1657198766.635519482]: FCU URL: udp://:14540@localhost:14557 [ INFO] [1657198766.637058611]: udp0: Bind address: 0.0.0.0:14540 [ INFO] [1657198766.637148400]: udp0: Remote address: 127.0.0.1:14557 [ INFO] [1657198766.637191878]: GCS bridge disabled [ INFO] [1657198766.646205668]: Plugin 3dr_radio loaded INFO [dataman] data manager file './dataman' size is 7866640 bytes [ INFO] [1657198766.648435454]: Plugin 3dr_radio initialized [ INFO] [1657198766.648528331]: Plugin actuator_control loaded PX4 SIM HOST: localhost [ INFO] [1657198766.651003165]: Plugin actuator_control initialized INFO [simulator] Waiting for simulator to accept connection on TCP port 4560 [ INFO] [1657198766.654413856]: Plugin adsb loaded [ INFO] [1657198766.656808260]: Plugin adsb initialized [ INFO] [1657198766.656959819]: Plugin altitude loaded [ INFO] [1657198766.657967027]: Plugin altitude initialized [ INFO] [1657198766.658104378]: Plugin cam_imu_sync loaded [ INFO] [1657198766.658568494]: Plugin cam_imu_sync initialized [ INFO] [1657198766.658644986]: Plugin camera loaded [ INFO] [1657198766.659050935]: Plugin camera initialized [ INFO] [1657198766.659134119]: Plugin command loaded [ INFO] [1657198766.662983540]: Plugin command initialized [ INFO] [1657198766.663173899]: Plugin companion_process_status loaded [ INFO] [1657198766.665074104]: Plugin companion_process_status initialized [ INFO] [1657198766.665168663]: Plugin debug_value loaded [ INFO] [1657198766.667687948]: Plugin debug_value initialized [ INFO] [1657198766.667713959]: Plugin distance_sensor blacklisted [ INFO] [1657198766.667770161]: Plugin esc_status loaded [ INFO] [1657198766.668377538]: Plugin esc_status initialized [ INFO] [1657198766.668432425]: Plugin esc_telemetry loaded [ INFO] [1657198766.668840844]: Plugin esc_telemetry initialized [ INFO] [1657198766.668902369]: Plugin fake_gps loaded [ INFO] [1657198766.680622433]: Plugin fake_gps initialized [ INFO] [1657198766.680754928]: Plugin ftp loaded [ INFO] [1657198766.685660469]: Plugin ftp initialized [ INFO] [1657198766.685799672]: Plugin geofence loaded [ INFO] [1657198766.688208113]: Plugin geofence initialized [ INFO] [1657198766.688360360]: Plugin global_position loaded [ INFO] [1657198766.699811517]: Plugin global_position initialized [ INFO] [1657198766.699893606]: Plugin gps_input loaded [ INFO] [1657198766.701515055]: Plugin gps_input initialized [ INFO] [1657198766.701581608]: Plugin gps_rtk loaded [ INFO] [1657198766.703145351]: Plugin gps_rtk initialized [ INFO] [1657198766.703206147]: Plugin gps_status loaded [ INFO] [1657198766.704448684]: Plugin gps_status initialized [ INFO] [1657198766.704522788]: Plugin hil loaded [ INFO] [1657198766.711610302]: Plugin hil initialized [ INFO] [1657198766.711702320]: Plugin home_position loaded [ INFO] [1657198766.714104812]: Plugin home_position initialized [ INFO] [1657198766.714241434]: Plugin imu loaded [ INFO] [1657198766.719197517]: Plugin imu initialized [ INFO] [1657198766.719286942]: Plugin landing_target loaded [ INFO] [1657198766.727679413]: Plugin landing_target initialized [ INFO] [1657198766.727779647]: Plugin local_position loaded [ INFO] [1657198766.731712095]: Plugin local_position initialized [ INFO] [1657198766.731799552]: Plugin log_transfer loaded [ INFO] [1657198766.734076512]: Plugin log_transfer initialized [ INFO] [1657198766.734163417]: Plugin mag_calibration_status loaded [ INFO] [1657198766.734835902]: Plugin mag_calibration_status initialized [ INFO] [1657198766.734922567]: Plugin manual_control loaded [ INFO] [1657198766.736613276]: Plugin manual_control initialized [ INFO] [1657198766.736687581]: Plugin mocap_pose_estimate loaded [ INFO] [1657198766.738935368]: Plugin mocap_pose_estimate initialized [ INFO] [1657198766.739028546]: Plugin mount_control loaded [ INFO] [1657198766.741350315]: Plugin mount_control initialized [ INFO] [1657198766.741431864]: Plugin nav_controller_output loaded [ INFO] [1657198766.741777793]: Plugin nav_controller_output initialized [ INFO] [1657198766.741845390]: Plugin obstacle_distance loaded [ INFO] [1657198766.743404358]: Plugin obstacle_distance initialized [ INFO] [1657198766.743470785]: Plugin odom loaded [ INFO] [1657198766.745830927]: Plugin odom initialized [ INFO] [1657198766.745903815]: Plugin onboard_computer_status loaded [ INFO] [1657198766.747179705]: Plugin onboard_computer_status initialized [ INFO] [1657198766.747251242]: Plugin param loaded [ INFO] [1657198766.748745478]: Plugin param initialized [ INFO] [1657198766.748816177]: Plugin play_tune loaded [ INFO] [1657198766.750150389]: Plugin play_tune initialized [ INFO] [1657198766.750245062]: Plugin px4flow loaded [ INFO] [1657198766.754983718]: Plugin px4flow initialized [ INFO] [1657198766.755143022]: Plugin rallypoint loaded [ INFO] [1657198766.757019322]: Plugin rallypoint initialized [ INFO] [1657198766.757053414]: Plugin rangefinder blacklisted [ INFO] [1657198766.757137747]: Plugin rc_io loaded [ INFO] [1657198766.759132288]: Plugin rc_io initialized [ INFO] [1657198766.759166346]: Plugin safety_area blacklisted [ INFO] [1657198766.759236528]: Plugin setpoint_accel loaded [ INFO] [1657198766.760923005]: Plugin setpoint_accel initialized [ INFO] [1657198766.761013360]: Plugin setpoint_attitude loaded [ INFO] [1657198766.766533883]: Plugin setpoint_attitude initialized [ INFO] [1657198766.766637440]: Plugin setpoint_position loaded [ INFO] [1657198766.775455742]: Plugin setpoint_position initialized [ INFO] [1657198766.775553652]: Plugin setpoint_raw loaded [ INFO] [1657198766.780613900]: Plugin setpoint_raw initialized [ INFO] [1657198766.780745498]: Plugin setpoint_trajectory loaded [ INFO] [1657198766.783458685]: Plugin setpoint_trajectory initialized [ INFO] [1657198766.783589004]: Plugin setpoint_velocity loaded [ INFO] [1657198766.786696316]: Plugin setpoint_velocity initialized [ INFO] [1657198766.786826241]: Plugin sys_status loaded [ INFO] [1657198766.793288915]: Plugin sys_status initialized [ INFO] [1657198766.793396327]: Plugin sys_time loaded [ INFO] [1657198766.796728747]: TM: Timesync mode: MAVLINK [ INFO] [1657198766.796970070]: TM: Not publishing sim time [ INFO] [1657198766.797826728]: Plugin sys_time initialized [ INFO] [1657198766.797903900]: Plugin trajectory loaded [ INFO] [1657198766.800986682]: Plugin trajectory initialized [ INFO] [1657198766.801072218]: Plugin tunnel loaded [ INFO] [1657198766.802904972]: Plugin tunnel initialized [ INFO] [1657198766.802997280]: Plugin vfr_hud loaded [ INFO] [1657198766.803417815]: Plugin vfr_hud initialized [ INFO] [1657198766.803442546]: Plugin vibration blacklisted [ INFO] [1657198766.803517062]: Plugin vision_pose_estimate loaded [ INFO] [1657198766.808185824]: Plugin vision_pose_estimate initialized [ INFO] [1657198766.808284573]: Plugin vision_speed_estimate loaded [ INFO] [1657198766.810399168]: Plugin vision_speed_estimate initialized [ INFO] [1657198766.810600176]: Plugin waypoint loaded [ INFO] [1657198766.814266345]: Plugin waypoint initialized [ INFO] [1657198766.814314506]: Plugin wheel_odometry blacklisted [ INFO] [1657198766.814388364]: Plugin wind_estimation loaded [ INFO] [1657198766.814790630]: Plugin wind_estimation initialized [ INFO] [1657198766.814861774]: Autostarting mavlink via USB on PX4 [ INFO] [1657198766.814894402]: Built-in SIMD instructions: SSE, SSE2 [ INFO] [1657198766.814910339]: Built-in MAVLink package version: 2021.11.11 [ INFO] [1657198766.814933386]: Known MAVLink dialects: common ardupilotmega ASLUAV all development icarous matrixpilot paparazzi standard uAvionix ualberta [ INFO] [1657198766.814957988]: MAVROS started. MY ID 1.240, TARGET ID 1.1 [INFO] [1657198766.959038, 0.000000]: Loading model XML from file /home/iftach/PX4-Autopilot/Tools/sitl_gazebo/models/r1_rover/r1_rover.sdf [INFO] [1657198766.962317, 0.000000]: Waiting for service /gazebo/spawn_sdf_model [ INFO] [1657198767.049402219]: Finished loading Gazebo ROS API Plugin. [ INFO] [1657198767.050353356]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1657198767.147470078]: Finished loading Gazebo ROS API Plugin. [ INFO] [1657198767.148287248]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [ INFO] [1657198767.640542357]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1657198767.653133035, 0.012000000]: Physics dynamic reconfigure ready. [INFO] [1657198767.866371, 0.224000]: Calling service /gazebo/spawn_sdf_model [INFO] [1657198768.135322, 0.380000]: Spawn status: SpawnModel: Successfully spawned entity [ INFO] [1657198768.594717329, 0.380000000]: Camera Plugin: The 'robotNamespace' param was empty [ INFO] [1657198768.596222460, 0.380000000]: Camera Plugin (ns = r1_rover) <tf_prefix_>, set to "" INFO [simulator] Simulator connected on TCP port 4560. INFO [commander] LED: open /dev/led0 failed (22) rover mixer undefined ERROR [init] Mixer undefined INFO [init] setting PWM_AUX_OUT none 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] [1657198768.851554975, 0.544000000]: udp0: Remote address: 127.0.0.1:14580 [ INFO] [1657198768.851655325, 0.544000000]: IMU: High resolution IMU detected! INFO [logger] Start file log (type: full) INFO [logger] [logger] ./log/2022-07-07/12_59_28.ulg INFO [logger] Opened full log file: ./log/2022-07-07/12_59_28.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) [vehicle_spawn_iftach_236033_467749867323836858-5] process has finished cleanly log file: /home/iftach/.ros/log/a113347c-fdf4-11ec-9732-45f2fc216cc5/vehicle_spawn_iftach_236033_467749867323836858-5*.log INFO [px4] Startup script returned successfully pxh> INFO [mavlink] partner IP: 127.0.0.1 [ INFO] [1657198770.122688808, 1.524000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot [ INFO] [1657198770.123736474, 1.524000000]: IMU: High resolution IMU detected! [ INFO] [1657198771.131402148, 2.532000000]: GF: Using MISSION_ITEM_INT [ INFO] [1657198771.131440178, 2.532000000]: RP: Using MISSION_ITEM_INT [ INFO] [1657198771.131458630, 2.532000000]: WP: Using MISSION_ITEM_INT [ INFO] [1657198771.131479913, 2.532000000]: VER: 1.1: Capabilities 0x000000000000e4ff [ INFO] [1657198771.131502009, 2.532000000]: VER: 1.1: Flight software: 010d0080 (f16ea921c2000000) [ INFO] [1657198771.131523672, 2.532000000]: VER: 1.1: Middleware software: 010d0080 (f16ea921c2000000) [ INFO] [1657198771.131537573, 2.532000000]: VER: 1.1: OS software: 050d00ff (0000000000000000) [ INFO] [1657198771.131550906, 2.532000000]: VER: 1.1: Board hardware: 00000001 [ INFO] [1657198771.131564833, 2.532000000]: VER: 1.1: VID/PID: 0000:0000 [ INFO] [1657198771.131577501, 2.532000000]: VER: 1.1: UID: 4954414c44494e4f WARN [PreFlightCheck] Arming denied! manual control lost [ INFO] [1657198771.571388000, 2.972000000]: IMU: Attitude quaternion IMU detected! INFO [tone_alarm] home set INFO [tone_alarm] notify negative

I'll appreciate any help, thanks in advance, Iftach.

iftahnaf avatar Jul 07 '22 13:07 iftahnaf