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mavlink
FCU not connected Heartbeat not received
This is only bug and feature tracker, please use it to report bugs or request features.
Issue details
I'm able to view all the published topics using rostopic list command but we are not able to get data as we use rostopic echo command we see usb is connected by using lsusb command and found out that the mount location was /dev/ttyACM0
MAVROS version and platform
Mavros: ?0.27.0? ROS: ?Kinetic? Ubuntu: ?16.04?
Autopilot type and version
[ - ] ArduPilot [ ] PX4
Version: ?3.6.5?
Node logs
SUMMARY
========
CLEAR PARAMETERS
* /mavros/
PARAMETERS
* /mavros/cmd/use_comp_id_system_control: False
* /mavros/conn/heartbeat_rate: 1.0
* /mavros/conn/system_time_rate: 0.0
* /mavros/conn/timeout: 10.0
* /mavros/conn/timesync_rate: 0.0
* /mavros/distance_sensor/rangefinder_pub/field_of_view: 0.0
* /mavros/distance_sensor/rangefinder_pub/frame_id: lidar
* /mavros/distance_sensor/rangefinder_pub/id: 0
* /mavros/distance_sensor/rangefinder_pub/send_tf: False
* /mavros/distance_sensor/rangefinder_pub/sensor_position/x: 0.0
* /mavros/distance_sensor/rangefinder_pub/sensor_position/y: 0.0
* /mavros/distance_sensor/rangefinder_pub/sensor_position/z: -0.1
* /mavros/distance_sensor/rangefinder_sub/id: 1
* /mavros/distance_sensor/rangefinder_sub/orientation: PITCH_270
* /mavros/distance_sensor/rangefinder_sub/subscriber: True
* /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: /dev/ttyACM0:921600
* /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: 0.000349065850399
* /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/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/mocap/use_pose: True
* /mavros/mocap/use_tf: False
* /mavros/odometry/estimator_type: 3
* /mavros/odometry/frame_tf/desired_frame: ned
* /mavros/plugin_blacklist: ['actuator_contro...
* /mavros/plugin_whitelist: []
* /mavros/px4flow/frame_id: px4flow
* /mavros/px4flow/ranger_fov: 0.118682389136
* /mavros/px4flow/ranger_max_range: 5.0
* /mavros/px4flow/ranger_min_range: 0.3
* /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_velocity/mav_frame: LOCAL_NED
* /mavros/startup_px4_usb_quirk: False
* /mavros/sy[0m[ INFO] [1551767119.157943744]: FCU URL: /dev/ttyACM0:921600[0m
[0m[ INFO] [1551767119.160998176]: serial0: device: /dev/ttyACM0 @ 921600 bps[0m
[0m[ INFO] [1551767119.162542848]: GCS bridge disabled[0m
[0m[ INFO] [1551767119.208216992]: Plugin 3dr_radio loaded[0m
[0m[ INFO] [1551767119.235265056]: Plugin 3dr_radio initialized[0m
[0m[ INFO] [1551767119.235512960]: Plugin actuator_control blacklisted[0m
[0m[ INFO] [1551767119.242718752]: Plugin adsb loaded[0m
[0m[ INFO] [1551767119.305748960]: Plugin adsb initialized[0m
[0m[ INFO] [1551767119.305815008]: Plugin altitude blacklisted[0m
[0m[ INFO] [1551767119.306009152]: Plugin cam_imu_sync loaded[0m
[0m[ INFO] [1551767119.310478720]: Plugin cam_imu_sync initialized[0m
[0m[ INFO] [1551767119.310737376]: Plugin command loaded[0m
[0m[ INFO] [1551767119.364842432]: Plugin command initialized[0m
[0m[ INFO] [1551767119.364904288]: Plugin debug_value blacklisted[0m
[0m[ INFO] [1551767119.365108128]: Plugin distance_sensor loaded[0m
[0m[ INFO] [1551767119.478249952]: Plugin distance_sensor initialized[0m
[0m[ INFO] [1551767119.478511072]: Plugin fake_gps loaded[0m
[0m[ INFO] [1551767119.648053536]: Plugin fake_gps initialized[0m
[0m[ INFO] [1551767119.648111936]: Plugin ftp blacklisted[0m
[0m[ INFO] [1551767119.648368448]: Plugin global_position loaded[0m
[0m[ INFO] [1551767119.701071776]: Plugin global_position initialized[0m
[0m[ INFO] [1551767119.701300384]: Plugin gps_rtk loaded[0m
[0m[ INFO] [1551767119.708219328]: Plugin gps_rtk initialized[0m
[0m[ INFO] [1551767119.708278304]: Plugin hil blacklisted[0m
[0m[ INFO] [1551767119.708503392]: Plugin home_position loaded[0m
[0m[ INFO] [1551767119.718465536]: Plugin home_position initialized[0m
[0m[ INFO] [1551767119.718725120]: Plugin imu loaded[0m
[0m[ INFO] [1551767119.740050656]: Plugin imu initialized[0m
[0m[ INFO] [1551767119.740312352]: Plugin local_position loaded[0m
[0m[ INFO] [1551767119.754480736]: Plugin local_position initialized[0m
[0m[ INFO] [1551767119.754709248]: Plugin log_transfer loaded[0m
[0m[ INFO] [1551767119.762174208]: Plugin log_transfer initialized[0m
[0m[ INFO] [1551767119.762451072]: Plugin manual_control loaded[0m
[0m[ INFO] [1551767119.770368800]: Plugin manual_control initialized[0m
[0m[ INFO] [1551767119.770592704]: Plugin mocap_pose_estimate loaded[0m
[0m[ INFO] [1551767119.780980032]: Plugin mocap_pose_estimate initialized[0m
[0m[ INFO] [1551767119.781219808]: Plugin obstacle_distance loaded[0m
[0m[ INFO] [1551767119.787842240]: Plugin obstacle_distance initialized[0m
[0m[ INFO] [1551767119.788080800]: Plugin odom loaded[0m
[0m[ INFO] [1551767119.796844960]: Plugin odom initialized[0m
[0m[ INFO] [1551767119.797132384]: Plugin param loaded[0m
[0m[ INFO] [1551767119.803740416]: Plugin param initialized[0m
[0m[ INFO] [1551767119.803807968]: Plugin px4flow blacklisted[0m
[0m[ INFO] [1551767119.804038400]: Plugin rangefinder loaded[0m
[0m[ INFO] [1551767119.806037344]: Plugin rangefinder initialized[0m
[0m[ INFO] [1551767119.806299712]: Plugin rc_io loaded[0m
[0m[ INFO] [1551767119.817076320]: Plugin rc_io initialized[0m
[0m[ INFO] [1551767119.817150560]: Plugin safety_area blacklisted[0m
[0m[ INFO] [1551767119.817430208]: Plugin setpoint_accel loaded[0m
[0m[ INFO] [1551767119.830625856]: Plugin setpoint_accel initialized[0m
[0m[ INFO] [1551767119.830966848]: Plugin setpoint_attitude loaded[0m
[0m[ INFO] [1551767119.866681792]: Plugin setpoint_attitude initialized[0m
[0m[ INFO] [1551767119.866966592]: Plugin setpoint_position loaded[0m
[0m[ INFO] [1551767119.922418432]: Plugin setpoint_position initialized[0m
[0m[ INFO] [1551767119.922685984]: Plugin setpoint_raw loaded[0m
[0m[ INFO] [1551767119.949634944]: Plugin setpoint_raw initialized[0m
[0m[ INFO] [1551767119.949909248]: Plugin setpoint_velocity loaded[0m
[0m[ INFO] [1551767119.967141568]: Plugin setpoint_velocity initialized[0m
[0m[ INFO] [1551767119.967468384]: Plugin sys_status loaded[0m
[0m[ INFO] [1551767119.993051680]: Plugin sys_status initialized[0m
[0m[ INFO] [1551767119.993467648]: Plugin sys_time loaded[0m
[0m[ INFO] [1551767120.008959168]: TM: Timesync mode: NONE[0m
[0m[ INFO] [1551767120.012801536]: Plugin sys_time initialized[0m
[0m[ INFO] [1551767120.013043264]: Plugin trajectory loaded[0m
[0m[ INFO] [1551767120.029253344]: Plugin trajectory initialized[0m
[0m[ INFO] [1551767120.029516288]: Plugin vfr_hud loaded[0m
[0m[ INFO] [1551767120.031150400]: Plugin vfr_hud initialized[0m
[0m[ INFO] [1551767120.031212352]: Plugin vibration blacklisted[0m
[0m[ INFO] [1551767120.031414432]: Plugin vision_pose_estimate loaded[0m
[0m[ INFO] [1551767120.052297696]: Plugin vision_pose_estimate initialized[0m
[0m[ INFO] [1551767120.052370560]: Plugin vision_speed_estimate blacklisted[0m
[0m[ INFO] [1551767120.052611392]: Plugin waypoint loaded[0m
[0m[ INFO] [1551767120.063508544]: Plugin waypoint initialized[0m
[0m[ INFO] [1551767120.063794976]: Plugin wind_estimation loaded[0m
[0m[ INFO] [1551767120.065610816]: Plugin wind_estimation initialized[0m
[0m[ INFO] [1551767120.065713824]: Built-in SIMD instructions: ARM NEON[0m
[0m[ INFO] [1551767120.065758208]: Built-in MAVLink package version: 2018.11.11[0m
[0m[ INFO] [1551767120.065831552]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta[0m
[0m[ INFO] [1551767120.065867840]: MAVROS started. MY ID 1.240, TARGET ID 1.1[0m
s/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: NONE
* /mavros/vibration/frame_id: base_link
* /mavros/vision_pose/tf/child_frame_id: vision_estimate
* /mavros/vision_pose/tf/frame_id: map
* /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
* /rosdistro: kinetic
* /rosversion: 1.12.14
NODES
/
mavros (mavros/mavros_node)
Diagnostics
header:
seq: 164
stamp:
secs: 1551766977
nsecs: 579947232
frame_id: ''
status:
-
level: 1
name: "mavros: FCU connection"
message: "not connected"
hardware_id: "/dev/ttyACM0:115200"
values:
-
key: "Received packets:"
value: "10135"
-
key: "Dropped packets:"
value: "0"
-
key: "Buffer overruns:"
value: "0"
-
key: "Parse errors:"
value: "0"
-
key: "Rx sequence number:"
value: "202"
-
key: "Tx sequence number:"
value: "24"
-
key: "Rx total bytes:"
value: "296886"
-
key: "Tx total bytes:"
value: "68180"
-
key: "Rx speed:"
value: "0.000000"
-
key: "Tx speed:"
value: "320.000000"
-
level: 2
name: "mavros: GPS"
message: "No satellites"
hardware_id: "/dev/ttyACM0:115200"
values:
-
key: "Satellites visible"
value: "0"
-
key: "Fix type"
value: "1"
-
key: "EPH (m)"
value: "99.99"
-
key: "EPV (m)"
value: "99.99"
-
level: 2
name: "mavros: Heartbeat"
message: "No events recorded."
hardware_id: "/dev/ttyACM0:115200"
values:
-
key: "Heartbeats since startup"
value: "48"
-
key: "Frequency (Hz)"
value: "0.000000"
-
key: "Vehicle type"
value: "Quadrotor"
-
key: "Autopilot type"
value: "ArduPilot - Plane/Copter/Rover/Sub/Tracker"
-
key: "Mode"
value: "STABILIZE"
-
key: "System status"
value: "Standby"
-
level: 0
name: "mavros: System"
message: "Normal"
hardware_id: "/dev/ttyACM0:115200"
values:
-
key: "Sensor present"
value: "0x0360FC2F"
-
key: "Sensor enabled"
value: "0x00601C2F"
-
key: "Sensor helth"
value: "0x0160FC2F"
-
key: "3D gyro"
value: "Ok"
-
key: "3D accelerometer"
value: "Ok"
-
key: "3D magnetometer"
value: "Ok"
-
key: "absolute pressure"
value: "Ok"
-
key: "GPS"
value: "Ok"
-
key: "3D angular rate control"
value: "Ok"
-
key: "attitude stabilization"
value: "Ok"
-
key: "yaw position"
value: "Ok"
-
key: "AHRS subsystem health"
value: "Ok"
-
key: "Terrain subsystem health"
value: "Ok"
-
key: "CPU Load (%)"
value: "41.1"
-
key: "Drop rate (%)"
value: "0.0"
-
key: "Errors comm"
value: "0"
-
key: "Errors count #1"
value: "0"
-
key: "Errors count #2"
value: "0"
-
key: "Errors count #3"
value: "0"
-
key: "Errors count #4"
value: "0"
-
level: 1
name: "mavros: Battery"
message: "Low voltage"
hardware_id: "/dev/ttyACM0:115200"
values:
-
key: "Voltage"
value: "0.00"
-
key: "Current"
value: "-0.0"
-
key: "Remaining"
value: "-1.0"
-
level: 2
name: "mavros: Time Sync"
message: "No events recorded."
hardware_id: "/dev/ttyACM0:115200"
values:
-
key: "Timesyncs since startup"
value: "412"
-
key: "Frequency (Hz)"
value: "0.000000"
-
key: "Last RTT (ms)"
value: "9383.587872"
-
key: "Mean RTT (ms)"
value: "298.997048"
-
key: "Last remote time (s)"
value: "134.879041000"
-
key: "Estimated time offset (s)"
value: "1551766689.869423866"
---
header:
seq: 165
stamp:
secs: 1551766979
nsecs: 82696160
frame_id: ''
status:
-
level: 1
name: "mavros: FCU connection"
message: "not connected"
hardware_id: "/dev/ttyACM0:115200"
values:
-
key: "Received packets:"
value: "10135"
-
key: "Dropped packets:"
value: "0"
-
key: "Buffer overruns:"
value: "0"
-
key: "Parse errors:"
value: "0"
-
key: "Rx sequence number:"
value: "202"
-
key: "Tx sequence number:"
value: "44"
-
key: "Rx total bytes:"
value: "296886"
-
key: "Tx total bytes:"
value: "68698"
-
key: "Rx speed:"
value: "0.000000"
-
key: "Tx speed:"
value: "518.000000"
-
level: 2
name: "mavros: GPS"
message: "No satellites"
hardware_id: "/dev/ttyACM0:115200"
values:
-
key: "Satellites visible"
value: "0"
-
key: "Fix type"
value: "1"
-
key: "EPH (m)"
value: "99.99"
-
key: "EPV (m)"
value: "99.99"
-
level: 2
name: "mavros: Heartbeat"
message: "No events recorded."
hardware_id: "/dev/ttyACM0:115200"
values:
-
key: "Heartbeats since startup"
value: "48"
-
key: "Frequency (Hz)"
value: "0.000000"
-
key: "Vehicle type"
value: "Quadrotor"
-
key: "Autopilot type"
value: "ArduPilot - Plane/Copter/Rover/Sub/Tracker"
-
key: "Mode"
value: "STABILIZE"
-
key: "System status"
value: "Standby"
-
level: 0
name: "mavros: System"
message: "Normal"
hardware_id: "/dev/ttyACM0:115200"
values:
-
key: "Sensor present"
value: "0x0360FC2F"
-
key: "Sensor enabled"
value: "0x00601C2F"
-
key: "Sensor helth"
value: "0x0160FC2F"
-
key: "3D gyro"
value: "Ok"
-
key: "3D accelerometer"
value: "Ok"
-
key: "3D magnetometer"
value: "Ok"
-
key: "absolute pressure"
value: "Ok"
-
key: "GPS"
value: "Ok"
-
key: "3D angular rate control"
value: "Ok"
-
key: "attitude stabilization"
value: "Ok"
-
key: "yaw position"
value: "Ok"
-
key: "AHRS subsystem health"
value: "Ok"
-
key: "Terrain subsystem health"
value: "Ok"
-
key: "CPU Load (%)"
value: "41.1"
-
key: "Drop rate (%)"
value: "0.0"
-
key: "Errors comm"
value: "0"
-
key: "Errors count #1"
value: "0"
-
key: "Errors count #2"
value: "0"
-
key: "Errors count #3"
value: "0"
-
key: "Errors count #4"
value: "0"
-
level: 1
name: "mavros: Battery"
message: "Low voltage"
hardware_id: "/dev/ttyACM0:115200"
values:
-
key: "Voltage"
value: "0.00"
-
key: "Current"
value: "-0.0"
-
key: "Remaining"
value: "-1.0"
-
level: 2
name: "mavros: Time Sync"
message: "No events recorded."
hardware_id: "/dev/ttyACM0:115200"
values:
-
key: "Timesyncs since startup"
value: "412"
-
key: "Frequency (Hz)"
value: "0.000000"
-
key: "Last RTT (ms)"
value: "9383.587872"
-
key: "Mean RTT (ms)"
value: "298.997048"
-
key: "Last remote time (s)"
value: "134.879041000"
-
key: "Estimated time offset (s)"
value: "1551766689.869423866"
---
header:
seq: 166
stamp:
secs: 1551766980
nsecs: 579440736
frame_id: ''
status:
-
level: 1
name: "mavros: FCU connection"
message: "not connected"
hardware_id: "/dev/ttyACM0:115200"
values:
-
key: "Received packets:"
value: "10135"
-
key: "Dropped packets:"
value: "0"
-
key: "Buffer overruns:"
value: "0"
-
key: "Parse errors:"
value: "0"
-
key: "Rx sequence number:"
value: "202"
-
key: "Tx sequence number:"
value: "62"
-
key: "Rx total bytes:"
value: "296886"
-
key: "Tx total bytes:"
value: "69176"
-
key: "Rx speed:"
value: "0.000000"
-
key: "Tx speed:"
value: "478.000000"
-
level: 2
name: "mavros: GPS"
message: "No satellites"
hardware_id: "/dev/ttyACM0:115200"
values:
-
key: "Satellites visible"
value: "0"
-
key: "Fix type"
value: "1"
-
key: "EPH (m)"
value: "99.99"
-
key: "EPV (m)"
value: "99.99"
-
level: 2
name: "mavros: Heartbeat"
message: "No events recorded."
hardware_id: "/dev/ttyACM0:115200"
values:
-
key: "Heartbeats since startup"
value: "48"
-
key: "Frequency (Hz)"
value: "0.000000"
-
key: "Vehicle type"
value: "Quadrotor"
-
key: "Autopilot type"
value: "ArduPilot - Plane/Copter/Rover/Sub/Tracker"
-
key: "Mode"
value: "STABILIZE"
-
key: "System status"
value: "Standby"
-
level: 0
name: "mavros: System"
message: "Normal"
hardware_id: "/dev/ttyACM0:115200"
values:
-
key: "Sensor present"
value: "0x0360FC2F"
-
key: "Sensor enabled"
value: "0x00601C2F"
-
key: "Sensor helth"
value: "0x0160FC2F"
-
key: "3D gyro"
value: "Ok"
-
key: "3D accelerometer"
value: "Ok"
-
key: "3D magnetometer"
value: "Ok"
-
key: "absolute pressure"
value: "Ok"
-
key: "GPS"
value: "Ok"
-
key: "3D angular rate control"
value: "Ok"
-
key: "attitude stabilization"
value: "Ok"
-
key: "yaw position"
value: "Ok"
-
key: "AHRS subsystem health"
value: "Ok"
-
key: "Terrain subsystem health"
value: "Ok"
-
key: "CPU Load (%)"
value: "41.1"
-
key: "Drop rate (%)"
value: "0.0"
-
key: "Errors comm"
value: "0"
-
key: "Errors count #1"
value: "0"
-
key: "Errors count #2"
value: "0"
-
key: "Errors count #3"
value: "0"
-
key: "Errors count #4"
value: "0"
-
level: 1
name: "mavros: Battery"
message: "Low voltage"
hardware_id: "/dev/ttyACM0:115200"
values:
-
key: "Voltage"
value: "0.00"
-
key: "Current"
value: "-0.0"
-
key: "Remaining"
value: "-1.0"
-
level: 2
name: "mavros: Time Sync"
message: "No events recorded."
hardware_id: "/dev/ttyACM0:115200"
values:
-
key: "Timesyncs since startup"
value: "412"
-
key: "Frequency (Hz)"
value: "0.000000"
-
key: "Last RTT (ms)"
value: "9383.587872"
-
key: "Mean RTT (ms)"
value: "298.997048"
-
key: "Last remote time (s)"
value: "134.879041000"
-
key: "Estimated time offset (s)"
value: "1551766689.869423866"
---
header:
seq: 167
stamp:
secs: 1551766981
nsecs: 579511872
frame_id: ''
status:
-
level: 1
name: "mavros: FCU connection"
message: "not connected"
hardware_id: "/dev/ttyACM0:115200"
values:
-
key: "Received packets:"
value: "10135"
-
key: "Dropped packets:"
value: "0"
-
key: "Buffer overruns:"
value: "0"
-
key: "Parse errors:"
value: "0"
-
key: "Rx sequence number:"
value: "202"
-
key: "Tx sequence number:"
value: "74"
-
key: "Rx total bytes:"
value: "296886"
-
key: "Tx total bytes:"
value: "69496"
-
key: "Rx speed:"
value: "0.000000"
-
key: "Tx speed:"
value: "320.000000"
-
level: 2
name: "mavros: GPS"
message: "No satellites"
hardware_id: "/dev/ttyACM0:115200"
values:
-
key: "Satellites visible"
value: "0"
-
key: "Fix type"
value: "1"
-
key: "EPH (m)"
value: "99.99"
-
key: "EPV (m)"
value: "99.99"
-
level: 2
name: "mavros: Heartbeat"
message: "No events recorded."
hardware_id: "/dev/ttyACM0:115200"
values:
-
key: "Heartbeats since startup"
value: "48"
-
key: "Frequency (Hz)"
value: "0.000000"
-
key: "Vehicle type"
value: "Quadrotor"
-
key: "Autopilot type"
value: "ArduPilot - Plane/Copter/Rover/Sub/Tracker"
-
key: "Mode"
value: "STABILIZE"
-
key: "System status"
value: "Standby"
-
level: 0
name: "mavros: System"
message: "Normal"
hardware_id: "/dev/ttyACM0:115200"
values:
-
key: "Sensor present"
value: "0x0360FC2F"
-
key: "Sensor enabled"
value: "0x00601C2F"
-
key: "Sensor helth"
value: "0x0160FC2F"
-
key: "3D gyro"
value: "Ok"
-
key: "3D accelerometer"
value: "Ok"
-
key: "3D magnetometer"
value: "Ok"
-
key: "absolute pressure"
value: "Ok"
-
key: "GPS"
value: "Ok"
-
key: "3D angular rate control"
value: "Ok"
-
key: "attitude stabilization"
value: "Ok"
-
key: "yaw position"
value: "Ok"
-
key: "AHRS subsystem health"
value: "Ok"
-
key: "Terrain subsystem health"
value: "Ok"
-
key: "CPU Load (%)"
value: "41.1"
-
key: "Drop rate (%)"
value: "0.0"
-
key: "Errors comm"
value: "0"
-
key: "Errors count #1"
value: "0"
-
key: "Errors count #2"
value: "0"
-
key: "Errors count #3"
value: "0"
-
key: "Errors count #4"
value: "0"
-
level: 1
name: "mavros: Battery"
message: "Low voltage"
hardware_id: "/dev/ttyACM0:115200"
values:
-
key: "Voltage"
value: "0.00"
-
key: "Current"
value: "-0.0"
-
key: "Remaining"
value: "-1.0"
-
level: 2
name: "mavros: Time Sync"
message: "No events recorded."
hardware_id: "/dev/ttyACM0:115200"
values:
-
key: "Timesyncs since startup"
value: "412"
-
key: "Frequency (Hz)"
value: "0.000000"
-
key: "Last RTT (ms)"
value: "9383.587872"
-
key: "Mean RTT (ms)"
value: "298.997048"
-
key: "Last remote time (s)"
value: "134.879041000"
-
key: "Estimated time offset (s)"
value: "1551766689.869423866"
---
header:
seq: 168
stamp:
secs: 1551766982
nsecs: 581623488
frame_id: ''
status:
-
level: 1
name: "mavros: FCU connection"
message: "not connected"
hardware_id: "/dev/ttyACM0:115200"
values:
-
key: "Received packets:"
value: "10135"
-
key: "Dropped packets:"
value: "0"
-
key: "Buffer overruns:"
value: "0"
-
key: "Parse errors:"
value: "0"
-
key: "Rx sequence number:"
value: "202"
-
key: "Tx sequence number:"
value: "87"
-
key: "Rx total bytes:"
value: "296886"
-
key: "Tx total bytes:"
value: "69834"
-
key: "Rx speed:"
value: "0.000000"
-
key: "Tx speed:"
value: "338.000000"
-
level: 2
name: "mavros: GPS"
message: "No satellites"
hardware_id: "/dev/ttyACM0:115200"
values:
-
key: "Satellites visible"
value: "0"
-
key: "Fix type"
value: "1"
-
key: "EPH (m)"
value: "99.99"
-
key: "EPV (m)"
value: "99.99"
-
level: 2
name: "mavros: Heartbeat"
message: "No events recorded."
hardware_id: "/dev/ttyACM0:115200"
values:
-
key: "Heartbeats since startup"
value: "48"
-
key: "Frequency (Hz)"
value: "0.000000"
-
key: "Vehicle type"
value: "Quadrotor"
-
key: "Autopilot type"
value: "ArduPilot - Plane/Copter/Rover/Sub/Tracker"
-
key: "Mode"
value: "STABILIZE"
-
key: "System status"
value: "Standby"
-
level: 0
name: "mavros: System"
message: "Normal"
hardware_id: "/dev/ttyACM0:115200"
values:
-
key: "Sensor present"
value: "0x0360FC2F"
-
key: "Sensor enabled"
value: "0x00601C2F"
-
key: "Sensor helth"
value: "0x0160FC2F"
-
key: "3D gyro"
value: "Ok"
-
key: "3D accelerometer"
value: "Ok"
-
key: "3D magnetometer"
value: "Ok"
-
key: "absolute pressure"
value: "Ok"
-
key: "GPS"
value: "Ok"
-
key: "3D angular rate control"
value: "Ok"
-
key: "attitude stabilization"
value: "Ok"
-
key: "yaw position"
value: "Ok"
-
key: "AHRS subsystem health"
value: "Ok"
-
key: "Terrain subsystem health"
value: "Ok"
-
key: "CPU Load (%)"
value: "41.1"
-
key: "Drop rate (%)"
value: "0.0"
-
key: "Errors comm"
value: "0"
-
key: "Errors count #1"
value: "0"
-
key: "Errors count #2"
value: "0"
-
key: "Errors count #3"
value: "0"
-
key: "Errors count #4"
value: "0"
-
level: 1
name: "mavros: Battery"
message: "Low voltage"
hardware_id: "/dev/ttyACM0:115200"
values:
-
key: "Voltage"
value: "0.00"
-
key: "Current"
value: "-0.0"
-
key: "Remaining"
value: "-1.0"
-
level: 2
name: "mavros: Time Sync"
message: "No events recorded."
hardware_id: "/dev/ttyACM0:115200"
values:
-
key: "Timesyncs since startup"
value: "412"
-
key: "Frequency (Hz)"
value: "0.000000"
-
key: "Last RTT (ms)"
value: "9383.587872"
-
key: "Mean RTT (ms)"
value: "298.997048"
-
key: "Last remote time (s)"
value: "134.879041000"
-
key: "Estimated time offset (s)"
value: "1551766689.869423866"
---
Check ID
Exception in thread Thread-4:
Traceback (most recent call last):
File "/usr/lib/python2.7/threading.py", line 801, in __bootstrap_inner
self.run()
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/timer.py", line 235, in run
self._callback(TimerEvent(last_expected, last_real, current_expected, current_real, last_duration))
File "/home/nvidia/mavrosws/src/mavros/mavros/scripts/checkid", line 59, in timer_cb
tgt_ids[idx] = rospy.get_param(key)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/client.py", line 465, in get_param
return _param_server[param_name] #MasterProxy does all the magic for us
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/msproxy.py", line 121, in __getitem__
code, msg, value = self.target.getParam(rospy.names.get_caller_id(), resolved_key)
File "/usr/lib/python2.7/xmlrpclib.py", line 1243, in __call__
return self.__send(self.__name, args)
File "/usr/lib/python2.7/xmlrpclib.py", line 1602, in __request
verbose=self.__verbose
File "/usr/lib/python2.7/xmlrpclib.py", line 1283, in request
return self.single_request(host, handler, request_body, verbose)
File "/usr/lib/python2.7/xmlrpclib.py", line 1311, in single_request
self.send_content(h, request_body)
File "/usr/lib/python2.7/xmlrpclib.py", line 1459, in send_content
connection.endheaders(request_body)
File "/usr/lib/python2.7/httplib.py", line 1053, in endheaders
self._send_output(message_body)
File "/usr/lib/python2.7/httplib.py", line 897, in _send_output
self.send(msg)
File "/usr/lib/python2.7/httplib.py", line 859, in send
self.connect()
File "/usr/lib/python2.7/httplib.py", line 836, in connect
self.timeout, self.source_address)
File "/usr/lib/python2.7/socket.py", line 575, in create_connection
raise err
error: [Errno 111] Connection refused
State Log
header:
seq: 49
stamp:
secs: 1551766836
nsecs: 345778880
frame_id: ''
connected: False
armed: False
guided: False
mode: ''
system_status: 0
---
Do you connect via USB port on FCU? Usually only that uses CDC ACM protocol, which maps to ttyACM%d. All USB-Serial chips should be on ttyUSB%d.
For ACM baud rate is ignored, for serial ports - default is 57600.
Check dmesg. Also do you sure that firmware is flashed and working ok? Try to connect with GCS.
I have also encountered the problem, at that time, the problem is the FCU is broken.
@maxammann I have solved it. Use make px4_sitl_default gazebo instead of make posix_sitl_default gazebo. It seems that the px4 team changed firmware.
@YCH188 so you are having problems with the simulator? I'm having this problem with a Pixracer PX4, so with real hardware. I'm experiencing the above problem about 50% of the time when launching mavros.
Any news on this issue ? @maxammann Have you find a solution ? I'm having the same issue
If I remember correctly, then we were having trouble with the serial connection between the PX4 and a Raspberry PI.
We forgot to disable bluetooth (disable-bt) and disable the hci service (sudo systemctl disable hciuart): https://www.raspberrypi.org/documentation/configuration/uart.md
Double check if you are using a PI :P
On my side, it was that MAV_SYS_ID of the autopilot wasn't matching tgt_system of mavros.
I had to run mavros that way:
roslaunch mavros px4.launch fcu_url:="$FCU_URL" tgt_system:="$MAV_SYS_ID"
On my side, it was that MAV_SYS_ID of the autopilot wasn't matching tgt_system of mavros.
I had to run mavros that way:
roslaunch mavros px4.launch fcu_url:="$FCU_URL" tgt_system:="$MAV_SYS_ID"
This solved my issue as well.
