mavros QGC can't display full interface under UDP connection (”MAVConnUDP::send_message: TX queue overflow“) and can't read x & y position from FCU

QGC can't display full interface under UDP connection (”MAVConnUDP::send_message: TX queue overflow“) and can't read x & y position from FCU

Open YX-G1881 opened this issue 1 year ago • 3 comments

This is only bug and feature tracker, please use it to report bugs or request features.

Hi, guys! I'm a beginner with px4 & mavros and this is my first time asking for help here, so I'm sorry if i didn't follow the rules.

Issue details

I'm using CUAV V5+ FCU with Nvidia Jetson Nano 4GB on the drone, and QGroundControl on my laptop. The FCU communicates with the Nano board via serial port (only GND, Tx, and Rx are connected). The Nano board communicates with QGC on the laptop via UDP connection.

The first problem is that the QGC can't display the full interface when I run roslaunch mavros px4.launch fcu_url:="/dev/ttyTHS1:921600" gcs_url:="udp://@192.168.3.43" (192.168.3.43 is my laptop ip). It says "vehicle1 did not respond to the request for parameters". Sometimes the full interface shows up in QGC but I can't change any value of parameters or restart the FCU via QGC. And it keeps saying "Communication lost" and "Data link lost". Also, I often get DROPPED Message-Id xx IDs: 1.1 Seq xx: MAVConnUDP::send_message: TX queue overflow in the mavros terminal. If I use USB to connect the FCU and the laptop, everything seems alright in QGC. I can change the value of the parameters and restart the FCU via QGC.

My settings in QGC (v4.0.11) are: MAV_0_CONFIG TELEM 1
MAV_1_CONFIG TELEM 2 MAV_1_FORWARD 1 MAV_1_MODE Onboard MAV_1_RATE 0 B/s SER_TEL2_BAUD 921600 8N1

I have tried the MAV_1_RATE with 80000 B/s and other values, but I still got the ”MAVConnUDP::send_message: TX queue overflow“ error eventually. It is just a matter of time. I am using EW-7811UN wireless network equipment on one of the Nano board USB ports and I think the wifi is ok. And in QGC, the loss rate of mavlink is low (usually below 5%). Is this a network quality problem?

Another problem is that I am able to read the imu data in either QGC MAVLink Inspector or Nano board terminal. The velocity x, y, and z is not zero (move the drome with my hands, not flying) but meanwhile, the position x and y remain zero (position z is measured by a range sensor and it works fine) or sometimes position x and y have values but it seems they are not matched with the velocity values (looks like have a delay or stuck). Is this a hardware issue or a problem with the wrong mavros configuration?

MAVROS version and platform

Mavros: 1.5.0 ROS: melodic Ubuntu: 18.04LTS

Autopilot type and version

[ ] ArduPilot [ √ ] PX4

Version: v1.9.2 (firmware: px4_fmu_v5_default.px4)

Node logs

roslaunch mavros px4.launch fcu_url:="/dev/ttyTHS1:921600" gcs_url:="udp://@192.168.3.43"
... logging to /home/bcsh/.ros/log/a02a375a-c666-11ed-9ca7-1e3ef778179d/roslaunch-bcsh-desktop-10661.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://192.168.3.24:45391/

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /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/id: 2
 * /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
 * /mavros/distance_sensor/sonar_1_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/ttyTHS1:921600
 * /mavros/gcs_url: udp://@192.168.3.43
 * /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/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/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/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: melodic
 * /rosversion: 1.14.10

NODES
  /
    mavros (mavros/mavros_node)

auto-starting new master
process[master]: started with pid [13029]
ROS_MASTER_URI=http://192.168.3.24:11311

setting /run_id to 3b8bec82-c669-11ed-a597-1e3ef778179d
process[rosout-1]: started with pid [13045]
started core service [/rosout]
process[mavros-2]: started with pid [13053]
[ INFO] [1679239082.876494761]: FCU URL: /dev/ttyTHS1:921600
[ INFO] [1679239082.883652415]: serial0: device: /dev/ttyTHS1 @ 921600 bps
[ INFO] [1679239082.884922166]: GCS URL: udp://@192.168.3.43
[ INFO] [1679239082.885385940]: udp1: Bind address: 0.0.0.0:14555
[ INFO] [1679239082.885644338]: udp1: Remote address: 192.168.3.43:14550
[ INFO] [1679239082.927636829]: Plugin 3dr_radio loaded
[ INFO] [1679239082.931997362]: Plugin 3dr_radio initialized
[ INFO] [1679239082.932298211]: Plugin actuator_control loaded
[ INFO] [1679239082.945829156]: Plugin actuator_control initialized
[ INFO] [1679239082.959262336]: Plugin adsb loaded
[ INFO] [1679239082.992514645]: Plugin adsb initialized
[ INFO] [1679239082.992871746]: Plugin altitude loaded
[ INFO] [1679239083.001265400]: Plugin altitude initialized
[ INFO] [1679239083.001765426]: Plugin cam_imu_sync loaded
[ INFO] [1679239083.004604423]: Plugin cam_imu_sync initialized
[ INFO] [1679239083.004946159]: Plugin command loaded
[ INFO] [1679239083.033900333]: Plugin command initialized
[ INFO] [1679239083.034230871]: Plugin companion_process_status loaded
[ INFO] [1679239083.050024952]: Plugin companion_process_status initialized
[ INFO] [1679239083.051346946]: Plugin debug_value loaded
[ INFO] [1679239083.075876833]: Plugin debug_value initialized
[ INFO] [1679239083.076156430]: Plugin distance_sensor blacklisted
[ INFO] [1679239083.076461654]: Plugin esc_status loaded
[ INFO] [1679239083.080970164]: Plugin esc_status initialized
[ INFO] [1679239083.081657438]: Plugin fake_gps loaded
[ INFO] [1679239083.149301799]: Plugin fake_gps initialized
[ INFO] [1679239083.149724581]: Plugin ftp loaded
[ INFO] [1679239083.172977529]: Plugin ftp initialized
[ INFO] [1679239083.173324109]: Plugin global_position loaded
[ INFO] [1679239083.252960692]: Plugin global_position initialized
[ INFO] [1679239083.253418215]: Plugin gps_rtk loaded
[ INFO] [1679239083.267800089]: Plugin gps_rtk initialized
[ INFO] [1679239083.268272300]: Plugin gps_status loaded
[ INFO] [1679239083.278094047]: Plugin gps_status initialized
[ INFO] [1679239083.278513860]: Plugin hil loaded
[ INFO] [1679239083.343864355]: Plugin hil initialized
[ INFO] [1679239083.344422092]: Plugin home_position loaded
[ INFO] [1679239083.361343886]: Plugin home_position initialized
[ INFO] [1679239083.361702498]: Plugin imu loaded
[ INFO] [1679239083.406183812]: Plugin imu initialized
[ INFO] [1679239083.406525183]: Plugin landing_target loaded
[ INFO] [1679239083.472770776]: Plugin landing_target initialized
[ INFO] [1679239083.473194547]: Plugin local_position loaded
[ INFO] [1679239083.502218360]: Plugin local_position initialized
[ INFO] [1679239083.502666352]: Plugin log_transfer loaded
[ INFO] [1679239083.513693264]: Plugin log_transfer initialized
[ INFO] [1679239083.514132244]: Plugin manual_control loaded
[ INFO] [1679239083.525377605]: Plugin manual_control initialized
[ INFO] [1679239083.525716424]: Plugin mocap_pose_estimate loaded
[ INFO] [1679239083.544203506]: Plugin mocap_pose_estimate initialized
[ INFO] [1679239083.544628892]: Plugin mount_control loaded
[ INFO] [1679239083.573208412]: Plugin mount_control initialized
[ INFO] [1679239083.573599161]: Plugin obstacle_distance loaded
[ INFO] [1679239083.583764675]: Plugin obstacle_distance initialized
[ INFO] [1679239083.584300015]: Plugin odom loaded
[ INFO] [1679239083.601160139]: Plugin odom initialized
[ INFO] [1679239083.602663757]: Plugin onboard_computer_status loaded
[ INFO] [1679239083.619321110]: Plugin onboard_computer_status initialized
[ INFO] [1679239083.619694254]: Plugin param loaded
[ INFO] [1679239083.634414062]: Plugin param initialized
[ INFO] [1679239083.634743245]: Plugin play_tune loaded
[ INFO] [1679239083.641571247]: Plugin play_tune initialized
[ INFO] [1679239083.641905430]: Plugin px4flow loaded
[ INFO] [1679239083.666815962]: Plugin px4flow initialized
[ INFO] [1679239083.666985710]: Plugin rangefinder blacklisted
[ INFO] [1679239083.667312966]: Plugin rc_io loaded
[ INFO] [1679239083.679477280]: Plugin rc_io initialized
[ INFO] [1679239083.679688072]: Plugin safety_area blacklisted
[ INFO] [1679239083.680175024]: Plugin setpoint_accel loaded
[ INFO] [1679239083.690469295]: Plugin setpoint_accel initialized
[ INFO] [1679239083.690901035]: Plugin setpoint_attitude loaded
[ INFO] [1679239083.734206092]: Plugin setpoint_attitude initialized
[ INFO] [1679239083.734776433]: Plugin setpoint_position loaded
[ INFO] [1679239083.812579694]: Plugin setpoint_position initialized
[ INFO] [1679239083.814504062]: Plugin setpoint_raw loaded
[ INFO] [1679239083.863334398]: Plugin setpoint_raw initialized
[ INFO] [1679239083.863748742]: Plugin setpoint_trajectory loaded
[ INFO] [1679239083.889649585]: Plugin setpoint_trajectory initialized
[ INFO] [1679239083.890027572]: Plugin setpoint_velocity loaded
[ INFO] [1679239083.919098315]: Plugin setpoint_velocity initialized
[ INFO] [1679239083.919698866]: Plugin sys_status loaded
[ INFO] [1679239083.962190912]: Plugin sys_status initialized
[ INFO] [1679239083.962578015]: Plugin sys_time loaded
[ INFO] [1679239083.992997576]: TM: Timesync mode: MAVLINK
[ INFO] [1679239083.999090124]: Plugin sys_time initialized
[ INFO] [1679239083.999497801]: Plugin trajectory loaded
[ INFO] [1679239084.023474535]: Plugin trajectory initialized
[ INFO] [1679239084.023891327]: Plugin vfr_hud loaded
[ INFO] [1679239084.025915023]: Plugin vfr_hud initialized
[ INFO] [1679239084.026039925]: Plugin vibration blacklisted
[ INFO] [1679239084.026417653]: Plugin vision_pose_estimate loaded
[ INFO] [1679239084.102483898]: Plugin vision_pose_estimate initialized
[ INFO] [1679239084.102822144]: Plugin vision_speed_estimate loaded
[ INFO] [1679239084.132150555]: Plugin vision_speed_estimate initialized
[ INFO] [1679239084.132577921]: Plugin waypoint loaded
[ INFO] [1679239084.154346939]: Plugin waypoint initialized
[ INFO] [1679239084.154548616]: Plugin wheel_odometry blacklisted
[ INFO] [1679239084.154960928]: Plugin wind_estimation loaded
[ INFO] [1679239084.157654189]: Plugin wind_estimation initialized
[ INFO] [1679239084.157834980]: Autostarting mavlink via USB on PX4
[ INFO] [1679239084.158011864]: Built-in SIMD instructions: ARM NEON
[ INFO] [1679239084.158152808]: Built-in MAVLink package version: 2020.12.12
[ INFO] [1679239084.158287867]: Known MAVLink dialects: common ardupilotmega ASLUAV all autoquad icarous matrixpilot paparazzi standard uAvionix ualberta
[ INFO] [1679239084.158401467]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1679239084.180179340]: IMU: High resolution IMU detected!
[ INFO] [1679239084.180507221]: IMU: Attitude quaternion IMU detected!
[ INFO] [1679239084.446191759]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1679239084.448576203]: IMU: High resolution IMU detected!
[ INFO] [1679239084.449972940]: IMU: Attitude quaternion IMU detected!
[ INFO] [1679239084.608904368]: udp1: Remote address: 192.168.3.43:14550
[ WARN] [1679239086.457160426]: VER: broadcast request timeout, retries left 4
[ WARN] [1679239087.452649784]: VER: broadcast request timeout, retries left 3
[ERROR] [1679239089.940898184]: FCU: Onboard controller lost
[ INFO] [1679239089.990834614]: FCU: Onboard controller regained
[ WARN] [1679239093.450403352]: CMD: Command 520 -- wait ack timeout
[ WARN] [1679239093.450694148]: VER: unicast request timeout, retries left 2
[ INFO] [1679239094.446739236]: HP: requesting home position
[ERROR] [1679239096.016954702]: FCU: Onboard controller lost
[ INFO] [1679239096.065127445]: FCU: Data link regained
[ WARN] [1679239098.454633328]: CMD: Command 520 -- wait ack timeout
[ WARN] [1679239098.457616031]: PR: request list timeout, retries left 2
[ WARN] [1679239098.461555604]: VER: unicast request timeout, retries left 1
[ERROR] [1679239098.919223275]: 1: DROPPED Message-Id 22 [25 bytes] IDs: 1.1 Seq: 216: MAVConnUDP::send_message: TX queue overflow

Diagnostics

header: 
  seq: 193
  stamp: 
    secs: 1679239217
    nsecs: 973355357
  frame_id: ''
status: 
  - 
    level: 0
    name: "mavros: FCU connection"
    message: "connected"
    hardware_id: "/dev/ttyTHS1:921600"
    values: 
      - 
        key: "Received packets:"
        value: "48623"
      - 
        key: "Dropped packets:"
        value: "0"
      - 
        key: "Buffer overruns:"
        value: "0"
      - 
        key: "Parse errors:"
        value: "0"
      - 
        key: "Rx sequence number:"
        value: "11"
      - 
        key: "Tx sequence number:"
        value: "0"
      - 
        key: "Rx total bytes:"
        value: "2961905"
      - 
        key: "Tx total bytes:"
        value: "81644"
      - 
        key: "Rx speed:"
        value: "32463.000000"
      - 
        key: "Tx speed:"
        value: "929.000000"
  - 
    level: 2
    name: "mavros: GPS"
    message: "No satellites"
    hardware_id: "/dev/ttyTHS1:921600"
    values: 
      - 
        key: "Satellites visible"
        value: "0"
      - 
        key: "Fix type"
        value: "0"
      - 
        key: "EPH (m)"
        value: "Unknown"
      - 
        key: "EPV (m)"
        value: "Unknown"
  - 
    level: 0
    name: "mavros: Heartbeat"
    message: "Normal"
    hardware_id: "/dev/ttyTHS1:921600"
    values: 
      - 
        key: "Heartbeats since startup"
        value: "134"
      - 
        key: "Frequency (Hz)"
        value: "0.999882"
      - 
        key: "Vehicle type"
        value: "Quadrotor"
      - 
        key: "Autopilot type"
        value: "PX4 Autopilot"
      - 
        key: "Mode"
        value: "MANUAL"
      - 
        key: "System status"
        value: "Standby"
  - 
    level: 2
    name: "mavros: System"
    message: "Sensor health"
    hardware_id: "/dev/ttyTHS1:921600"
    values: 
      - 
        key: "Sensor present"
        value: "0x0006002F"
      - 
        key: "Sensor enabled"
        value: "0x0021000F"
      - 
        key: "Sensor health"
        value: "0x0006002F"
      - 
        key: "3D gyro"
        value: "Ok"
      - 
        key: "3D accelerometer"
        value: "Ok"
      - 
        key: "3D magnetometer"
        value: "Ok"
      - 
        key: "absolute pressure"
        value: "Ok"
      - 
        key: "rc receiver"
        value: "Fail"
      - 
        key: "AHRS subsystem health"
        value: "Fail"
      - 
        key: "CPU Load (%)"
        value: "53.2"
      - 
        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: 0
    name: "mavros: Battery"
    message: "Normal"
    hardware_id: "/dev/ttyTHS1:921600"
    values: 
      - 
        key: "Voltage"
        value: "16.25"
      - 
        key: "Current"
        value: "0.1"
      - 
        key: "Remaining"
        value: "66.0"
  - 
    level: 0
    name: "mavros: Time Sync"
    message: "Normal"
    hardware_id: "/dev/ttyTHS1:921600"
    values: 
      - 
        key: "Timesyncs since startup"
        value: "130"
      - 
        key: "Frequency (Hz)"
        value: "1.642671"
      - 
        key: "Last RTT (ms)"
        value: "5.720594"
      - 
        key: "Mean RTT (ms)"
        value: "3.890858"
      - 
        key: "Last remote time (s)"
        value: "5856.937410000"
      - 
        key: "Estimated time offset (s)"
        value: "1679233360.536698818"
---

Check ID

rosrun mavros checked
OK. I got messages from 1:1.

---
Received 5331 messages, from 1 addresses
sys:comp   list of messages
  1:1     0, 1, 2, 132, 140, 141, 147, 4, 30, 31, 32, 36, 74, 331, 76, 83, 340, 230, 105, 111, 241, 245, 253

I'm stuck with the issue for over a week, please help me! Thanks!

Mar 19 '23 15:03 YX-G1881

Well, that's really unexpected to happen on UDP links. Could you try to run without gcs_url? And can you please try to use latest version built from source?

Mar 20 '23 17:03 vooon

Well, that's really unexpected to happen on UDP links. Could you try to run without gcs_url? And can you please try to use latest version built from source?

Hello, @vooon! Thanks for your reply. I tried to run without gcs_url just now. Here are the results:

Node logs

roslaunch mavros px4.launch fcu_url:="/dev/ttyTHS1:921600"
... logging to /home/bcsh/.ros/log/cf737ee6-c78c-11ed-87d5-1e3ef778179d/roslaunch-bcsh-desktop-13995.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://192.168.3.24:32803/

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /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/id: 2
 * /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
 * /mavros/distance_sensor/sonar_1_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/ttyTHS1:921600
 * /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: 0.0003490659 // 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/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/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/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: melodic
 * /rosversion: 1.14.10

NODES
  /
    mavros (mavros/mavros_node)

auto-starting new master
process[master]: started with pid [14009]
ROS_MASTER_URI=http://192.168.3.24:11311

setting /run_id to cf737ee6-c78c-11ed-87d5-1e3ef778179d
process[rosout-1]: started with pid [14028]
started core service [/rosout]
process[mavros-2]: started with pid [14036]
[ INFO] [1679364314.446060400]: FCU URL: /dev/ttyTHS1:921600
[ INFO] [1679364314.451462133]: serial0: device: /dev/ttyTHS1 @ 921600 bps
[ INFO] [1679364314.452406112]: GCS bridge disabled
[ INFO] [1679364314.486601499]: Plugin 3dr_radio loaded
[ INFO] [1679364314.490506220]: Plugin 3dr_radio initialized
[ INFO] [1679364314.491286394]: Plugin actuator_control loaded
[ INFO] [1679364314.501597870]: Plugin actuator_control initialized
[ INFO] [1679364314.526787174]: Plugin adsb loaded
[ INFO] [1679364314.537647048]: Plugin adsb initialized
[ INFO] [1679364314.538449149]: Plugin altitude loaded
[ INFO] [1679364314.552443258]: Plugin altitude initialized
[ INFO] [1679364314.552780818]: Plugin cam_imu_sync loaded
[ INFO] [1679364314.557657748]: Plugin cam_imu_sync initialized
[ INFO] [1679364314.558187186]: Plugin command loaded
[ INFO] [1679364314.576920671]: Plugin command initialized
[ INFO] [1679364314.577256095]: Plugin companion_process_status loaded
[ INFO] [1679364314.583318624]: Plugin companion_process_status initialized
[ INFO] [1679364314.583668632]: Plugin debug_value loaded
[ INFO] [1679364314.601692726]: Plugin debug_value initialized
[ INFO] [1679364314.601818353]: Plugin distance_sensor blacklisted
[ INFO] [1679364314.602088620]: Plugin esc_status loaded
[ INFO] [1679364314.605857244]: Plugin esc_status initialized
[ INFO] [1679364314.606223919]: Plugin fake_gps loaded
[ INFO] [1679364314.662428435]: Plugin fake_gps initialized
[ INFO] [1679364314.662814277]: Plugin ftp loaded
[ INFO] [1679364314.688085822]: Plugin ftp initialized
[ INFO] [1679364314.689383298]: Plugin global_position loaded
[ INFO] [1679364314.771316452]: Plugin global_position initialized
[ INFO] [1679364314.771669273]: Plugin gps_rtk loaded
[ INFO] [1679364314.781611939]: Plugin gps_rtk initialized
[ INFO] [1679364314.782124398]: Plugin gps_status loaded
[ INFO] [1679364314.800700171]: Plugin gps_status initialized
[ INFO] [1679364314.801051481]: Plugin hil loaded
[ INFO] [1679364314.876335791]: Plugin hil initialized
[ INFO] [1679364314.876676788]: Plugin home_position loaded
[ INFO] [1679364314.891938009]: Plugin home_position initialized
[ INFO] [1679364314.892357393]: Plugin imu loaded
[ INFO] [1679364314.925875682]: Plugin imu initialized
[ INFO] [1679364314.926183553]: Plugin landing_target loaded
[ INFO] [1679364314.959866637]: Plugin landing_target initialized
[ INFO] [1679364314.960278833]: Plugin local_position loaded
[ INFO] [1679364314.989566404]: Plugin local_position initialized
[ INFO] [1679364314.989904015]: Plugin log_transfer loaded
[ INFO] [1679364315.000591542]: Plugin log_transfer initialized
[ INFO] [1679364315.000976446]: Plugin manual_control loaded
[ INFO] [1679364315.013554535]: Plugin manual_control initialized
[ INFO] [1679364315.013971263]: Plugin mocap_pose_estimate loaded
[ INFO] [1679364315.053562497]: Plugin mocap_pose_estimate initialized
[ INFO] [1679364315.054205845]: Plugin mount_control loaded
[ INFO] [1679364315.076629931]: Plugin mount_control initialized
[ INFO] [1679364315.077043065]: Plugin obstacle_distance loaded
[ INFO] [1679364315.097854252]: Plugin obstacle_distance initialized
[ INFO] [1679364315.098190822]: Plugin odom loaded
[ INFO] [1679364315.114185027]: Plugin odom initialized
[ INFO] [1679364315.114555921]: Plugin onboard_computer_status loaded
[ INFO] [1679364315.122850895]: Plugin onboard_computer_status initialized
[ INFO] [1679364315.123376011]: Plugin param loaded
[ INFO] [1679364315.132871740]: Plugin param initialized
[ INFO] [1679364315.133209091]: Plugin play_tune loaded
[ INFO] [1679364315.147767536]: Plugin play_tune initialized
[ INFO] [1679364315.148140305]: Plugin px4flow loaded
[ INFO] [1679364315.175996750]: Plugin px4flow initialized
[ INFO] [1679364315.176167743]: Plugin rangefinder blacklisted
[ INFO] [1679364315.176561867]: Plugin rc_io loaded
[ INFO] [1679364315.189490797]: Plugin rc_io initialized
[ INFO] [1679364315.189666738]: Plugin safety_area blacklisted
[ INFO] [1679364315.190113831]: Plugin setpoint_accel loaded
[ INFO] [1679364315.200933756]: Plugin setpoint_accel initialized
[ INFO] [1679364315.201341109]: Plugin setpoint_attitude loaded
[ INFO] [1679364315.240085450]: Plugin setpoint_attitude initialized
[ INFO] [1679364315.240618951]: Plugin setpoint_position loaded
[ INFO] [1679364315.298263968]: Plugin setpoint_position initialized
[ INFO] [1679364315.298645851]: Plugin setpoint_raw loaded
[ INFO] [1679364315.339140387]: Plugin setpoint_raw initialized
[ INFO] [1679364315.339588574]: Plugin setpoint_trajectory loaded
[ INFO] [1679364315.354135404]: Plugin setpoint_trajectory initialized
[ INFO] [1679364315.354517652]: Plugin setpoint_velocity loaded
[ INFO] [1679364315.371979233]: Plugin setpoint_velocity initialized
[ INFO] [1679364315.372457056]: Plugin sys_status loaded
[ INFO] [1679364315.414250266]: Plugin sys_status initialized
[ INFO] [1679364315.414745017]: Plugin sys_time loaded
[ INFO] [1679364315.429731700]: TM: Timesync mode: MAVLINK
[ INFO] [1679364315.434491753]: Plugin sys_time initialized
[ INFO] [1679364315.435545474]: Plugin trajectory loaded
[ INFO] [1679364315.456831514]: Plugin trajectory initialized
[ INFO] [1679364315.457435902]: Plugin vfr_hud loaded
[ INFO] [1679364315.459232973]: Plugin vfr_hud initialized
[ INFO] [1679364315.459352559]: Plugin vibration blacklisted
[ INFO] [1679364315.459663503]: Plugin vision_pose_estimate loaded
[ INFO] [1679364315.485985436]: Plugin vision_pose_estimate initialized
[ INFO] [1679364315.486800141]: Plugin vision_speed_estimate loaded
[ INFO] [1679364315.512815244]: Plugin vision_speed_estimate initialized
[ INFO] [1679364315.513732816]: Plugin waypoint loaded
[ INFO] [1679364315.527757135]: Plugin waypoint initialized
[ INFO] [1679364315.527892451]: Plugin wheel_odometry blacklisted
[ INFO] [1679364315.528367357]: Plugin wind_estimation loaded
[ INFO] [1679364315.536368105]: Plugin wind_estimation initialized
[ INFO] [1679364315.536866710]: Autostarting mavlink via USB on PX4
[ INFO] [1679364315.537272344]: Built-in SIMD instructions: ARM NEON
[ INFO] [1679364315.537414795]: Built-in MAVLink package version: 2020.12.12
[ INFO] [1679364315.537696312]: Known MAVLink dialects: common ardupilotmega ASLUAV all autoquad icarous matrixpilot paparazzi standard uAvionix ualberta
[ INFO] [1679364315.537919233]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1679364315.539722971]: IMU: Attitude quaternion IMU detected!
[ INFO] [1679364315.544396667]: IMU: High resolution IMU detected!
[ INFO] [1679364316.318357995]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1679364316.321532284]: IMU: High resolution IMU detected!
[ INFO] [1679364316.322385115]: IMU: Attitude quaternion IMU detected!
[ERROR] [1679364316.390609635]: FCU: Onboard controller lost
[ INFO] [1679364316.443526944]: FCU: Onboard controller regained
[ WARN] [1679364318.330569083]: VER: broadcast request timeout, retries left 4
[ WARN] [1679364319.322619578]: VER: broadcast request timeout, retries left 3
[ WARN] [1679364325.329016298]: CMD: Command 520 -- wait ack timeout
[ WARN] [1679364325.330859099]: VER: unicast request timeout, retries left 2
[ INFO] [1679364326.318774297]: HP: requesting home position
[ WARN] [1679364330.336979419]: CMD: Command 520 -- wait ack timeout
[ WARN] [1679364330.338002723]: PR: request list timeout, retries left 2
[ WARN] [1679364330.339266970]: VER: unicast request timeout, retries left 1
[ WARN] [1679364331.323542402]: CMD: Command 410 -- wait ack timeout
[ INFO] [1679364331.341393471]: WP: mission received
[ WARN] [1679364335.343347980]: CMD: Command 520 -- wait ack timeout
[ WARN] [1679364335.344571705]: VER: unicast request timeout, retries left 0
[ INFO] [1679364336.318816553]: HP: requesting home position
[ WARN] [1679364340.349386436]: CMD: Command 520 -- wait ack timeout
[ WARN] [1679364340.350551149]: VER: your FCU don't support AUTOPILOT_VERSION, switched to default capabilities
[ERROR] [1679364340.357727557]: FCU: Onboard controller lost
[ERROR] [1679364340.407848086]: FCU: Operation timeout
[ INFO] [1679364340.458146535]: FCU: Onboard controller regained
[ WARN] [1679364341.322536418]: CMD: Command 410 -- wait ack timeout
[ INFO] [1679364346.318692893]: HP: requesting home position
[ WARN] [1679364351.324095046]: CMD: Command 410 -- wait ack timeout
[ERROR] [1679364355.357952985]: FCU: Onboard controller lost
[ INFO] [1679364355.406191441]: FCU: Onboard controller regained
[ INFO] [1679364356.318652540]: HP: requesting home position
[ WARN] [1679364361.322232633]: CMD: Command 410 -- wait ack timeout
[ INFO] [1679364366.318689503]: HP: requesting home position
[ WARN] [1679364371.322302630]: CMD: Command 410 -- wait ack timeout
[ERROR] [1679364375.358282509]: FCU: Onboard controller lost
[ INFO] [1679364375.405446411]: FCU: Onboard controller regained
[ INFO] [1679364376.318714823]: HP: requesting home position
[ WARN] [1679364381.322064466]: CMD: Command 410 -- wait ack timeout
[ INFO] [1679364386.318791521]: HP: requesting home position
[ERROR] [1679364388.356563048]: FCU: Onboard controller lost
[ INFO] [1679364388.405875695]: FCU: Onboard controller regained
^C[mavros-2] killing on exit
Debug:   mavconn: serial0: recv: v2.0 !CRC Message-Id: 74 [17 bytes] IDs: 1.1 Seq: 170
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Diagnostics

header: 
  seq: 8
  stamp: 
    secs: 1679364318
    nsecs: 538488599
  frame_id: ''
status: 
  - 
    level: 0
    name: "mavros: FCU connection"
    message: "connected"
    hardware_id: "/dev/ttyTHS1:921600"
    values: 
      - 
        key: "Received packets:"
        value: "1461"
      - 
        key: "Dropped packets:"
        value: "0"
      - 
        key: "Buffer overruns:"
        value: "0"
      - 
        key: "Parse errors:"
        value: "0"
      - 
        key: "Rx sequence number:"
        value: "21"
      - 
        key: "Tx sequence number:"
        value: "0"
      - 
        key: "Rx total bytes:"
        value: "88876"
      - 
        key: "Tx total bytes:"
        value: "1881"
      - 
        key: "Rx speed:"
        value: "32709.000000"
      - 
        key: "Tx speed:"
        value: "974.000000"
  - 
    level: 2
    name: "mavros: GPS"
    message: "No satellites"
    hardware_id: "/dev/ttyTHS1:921600"
    values: 
      - 
        key: "Satellites visible"
        value: "0"
      - 
        key: "Fix type"
        value: "0"
      - 
        key: "EPH (m)"
        value: "Unknown"
      - 
        key: "EPV (m)"
        value: "Unknown"
  - 
    level: 0
    name: "mavros: Heartbeat"
    message: "Normal"
    hardware_id: "/dev/ttyTHS1:921600"
    values: 
      - 
        key: "Heartbeats since startup"
        value: "3"
      - 
        key: "Frequency (Hz)"
        value: "0.947572"
      - 
        key: "Vehicle type"
        value: "Quadrotor"
      - 
        key: "Autopilot type"
        value: "PX4 Autopilot"
      - 
        key: "Mode"
        value: "MANUAL"
      - 
        key: "System status"
        value: "Standby"
  - 
    level: 2
    name: "mavros: System"
    message: "Sensor health"
    hardware_id: "/dev/ttyTHS1:921600"
    values: 
      - 
        key: "Sensor present"
        value: "0x0006002F"
      - 
        key: "Sensor enabled"
        value: "0x0021000F"
      - 
        key: "Sensor health"
        value: "0x0006002F"
      - 
        key: "3D gyro"
        value: "Ok"
      - 
        key: "3D accelerometer"
        value: "Ok"
      - 
        key: "3D magnetometer"
        value: "Ok"
      - 
        key: "absolute pressure"
        value: "Ok"
      - 
        key: "rc receiver"
        value: "Fail"
      - 
        key: "AHRS subsystem health"
        value: "Fail"
      - 
        key: "CPU Load (%)"
        value: "52.3"
      - 
        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: 0
    name: "mavros: Battery"
    message: "Normal"
    hardware_id: "/dev/ttyTHS1:921600"
    values: 
      - 
        key: "Voltage"
        value: "16.25"
      - 
        key: "Current"
        value: "0.1"
      - 
        key: "Remaining"
        value: "0.0"
  - 
    level: 0
    name: "mavros: Time Sync"
    message: "Normal"
    hardware_id: "/dev/ttyTHS1:921600"
    values: 
      - 
        key: "Timesyncs since startup"
        value: "16"
      - 
        key: "Frequency (Hz)"
        value: "5.122035"
      - 
        key: "Last RTT (ms)"
        value: "4.056079"
      - 
        key: "Mean RTT (ms)"
        value: "6.272706"
      - 
        key: "Last remote time (s)"
        value: "5789.518192000"
      - 
        key: "Estimated time offset (s)"
        value: "1679358528.418471336"

Check ID

rosrun mavros checkid
OK. I got messages from 1:1.

---
Received 6052 messages, from 1 addresses
sys:comp   list of messages
  1:1     0, 1, 2, 132, 140, 141, 147, 22, 4, 30, 31, 32, 36, 44, 74, 331, 76, 83, 340, 230, 105, 111, 241, 245

Also, I updated QGC to v4.2.4 and the px4 firmware to v1.13.3. Imported the parameters from the .params file and tried again. Here are the results:

Node logs

roslaunch mavros px4.launch fcu_url:="/dev/ttyTHS1:921600"
... logging to /home/bcsh/.ros/log/e3438688-c7c2-11ed-ac93-1e3ef778179d/roslaunch-bcsh-desktop-8491.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://192.168.3.24:42367/

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /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/id: 2
 * /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
 * /mavros/distance_sensor/sonar_1_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/ttyTHS1:921600
 * /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: 0.0003490659 // 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/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/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/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: melodic
 * /rosversion: 1.14.10

NODES
  /
    mavros (mavros/mavros_node)

auto-starting new master
process[master]: started with pid [8501]
ROS_MASTER_URI=http://192.168.3.24:11311

setting /run_id to e3438688-c7c2-11ed-ac93-1e3ef778179d
process[rosout-1]: started with pid [8512]
started core service [/rosout]
process[mavros-2]: started with pid [8520]
[ INFO] [1679387540.829308444]: FCU URL: /dev/ttyTHS1:921600
[ INFO] [1679387540.835353710]: serial0: device: /dev/ttyTHS1 @ 921600 bps
[ INFO] [1679387540.838265979]: GCS bridge disabled
[ INFO] [1679387540.914225285]: Plugin 3dr_radio loaded
[ INFO] [1679387540.919436182]: Plugin 3dr_radio initialized
[ INFO] [1679387540.920086750]: Plugin actuator_control loaded
[ INFO] [1679387540.930610626]: Plugin actuator_control initialized
[ INFO] [1679387540.961841373]: Plugin adsb loaded
[ INFO] [1679387540.984994996]: Plugin adsb initialized
[ INFO] [1679387540.985336712]: Plugin altitude loaded
[ INFO] [1679387540.989588137]: Plugin altitude initialized
[ INFO] [1679387540.990045269]: Plugin cam_imu_sync loaded
[ INFO] [1679387540.996810112]: Plugin cam_imu_sync initialized
[ INFO] [1679387540.997583908]: Plugin command loaded
[ INFO] [1679387541.028590920]: Plugin command initialized
[ INFO] [1679387541.028915241]: Plugin companion_process_status loaded
[ INFO] [1679387541.037328721]: Plugin companion_process_status initialized
[ INFO] [1679387541.037645177]: Plugin debug_value loaded
[ INFO] [1679387541.058504036]: Plugin debug_value initialized
[ INFO] [1679387541.058627368]: Plugin distance_sensor blacklisted
[ INFO] [1679387541.058885752]: Plugin esc_status loaded
[ INFO] [1679387541.065646328]: Plugin esc_status initialized
[ INFO] [1679387541.066448822]: Plugin fake_gps loaded
[ INFO] [1679387541.117919281]: Plugin fake_gps initialized
[ INFO] [1679387541.118422975]: Plugin ftp loaded
[ INFO] [1679387541.142380196]: Plugin ftp initialized
[ INFO] [1679387541.143383158]: Plugin global_position loaded
[ INFO] [1679387541.197206151]: Plugin global_position initialized
[ INFO] [1679387541.197618284]: Plugin gps_rtk loaded
[ INFO] [1679387541.204319485]: Plugin gps_rtk initialized
[ INFO] [1679387541.204599848]: Plugin gps_status loaded
[ INFO] [1679387541.213118744]: Plugin gps_status initialized
[ INFO] [1679387541.214851023]: Plugin hil loaded
[ INFO] [1679387541.257658420]: Plugin hil initialized
[ INFO] [1679387541.258406071]: Plugin home_position loaded
[ INFO] [1679387541.272684144]: Plugin home_position initialized
[ INFO] [1679387541.273293046]: Plugin imu loaded
[ INFO] [1679387541.295288510]: Plugin imu initialized
[ INFO] [1679387541.295682101]: Plugin landing_target loaded
[ INFO] [1679387541.339868707]: Plugin landing_target initialized
[ INFO] [1679387541.340230371]: Plugin local_position loaded
[ INFO] [1679387541.355186929]: Plugin local_position initialized
[ INFO] [1679387541.355469583]: Plugin log_transfer loaded
[ INFO] [1679387541.364129051]: Plugin log_transfer initialized
[ INFO] [1679387541.364497330]: Plugin manual_control loaded
[ INFO] [1679387541.372046858]: Plugin manual_control initialized
[ INFO] [1679387541.372416699]: Plugin mocap_pose_estimate loaded
[ INFO] [1679387541.386280296]: Plugin mocap_pose_estimate initialized
[ INFO] [1679387541.387145706]: Plugin mount_control loaded
[ INFO] [1679387541.397861514]: Plugin mount_control initialized
[ INFO] [1679387541.398269532]: Plugin obstacle_distance loaded
[ INFO] [1679387541.415254200]: Plugin obstacle_distance initialized
[ INFO] [1679387541.415731280]: Plugin odom loaded
[ INFO] [1679387541.433043810]: Plugin odom initialized
[ INFO] [1679387541.433363026]: Plugin onboard_computer_status loaded
[ INFO] [1679387541.440999169]: Plugin onboard_computer_status initialized
[ INFO] [1679387541.441404270]: Plugin param loaded
[ INFO] [1679387541.451488571]: Plugin param initialized
[ INFO] [1679387541.451931745]: Plugin play_tune loaded
[ INFO] [1679387541.457525715]: Plugin play_tune initialized
[ INFO] [1679387541.457981024]: Plugin px4flow loaded
[ INFO] [1679387541.487042427]: Plugin px4flow initialized
[ INFO] [1679387541.487508413]: Plugin rangefinder blacklisted
[ INFO] [1679387541.488060857]: Plugin rc_io loaded
[ INFO] [1679387541.500003062]: Plugin rc_io initialized
[ INFO] [1679387541.500246237]: Plugin safety_area blacklisted
[ INFO] [1679387541.500681026]: Plugin setpoint_accel loaded
[ INFO] [1679387541.510571631]: Plugin setpoint_accel initialized
[ INFO] [1679387541.511115377]: Plugin setpoint_attitude loaded
[ INFO] [1679387541.547706048]: Plugin setpoint_attitude initialized
[ INFO] [1679387541.548660208]: Plugin setpoint_position loaded
[ INFO] [1679387541.608634042]: Plugin setpoint_position initialized
[ INFO] [1679387541.609196590]: Plugin setpoint_raw loaded
[ INFO] [1679387541.645079975]: Plugin setpoint_raw initialized
[ INFO] [1679387541.645511222]: Plugin setpoint_trajectory loaded
[ INFO] [1679387541.662273131]: Plugin setpoint_trajectory initialized
[ INFO] [1679387541.662677555]: Plugin setpoint_velocity loaded
[ INFO] [1679387541.682357724]: Plugin setpoint_velocity initialized
[ INFO] [1679387541.683709485]: Plugin sys_status loaded
[ INFO] [1679387541.728720720]: Plugin sys_status initialized
[ INFO] [1679387541.730110502]: Plugin sys_time loaded
[ INFO] [1679387541.749715359]: TM: Timesync mode: MAVLINK
[ INFO] [1679387541.753286739]: Plugin sys_time initialized
[ INFO] [1679387541.753612362]: Plugin trajectory loaded
[ INFO] [1679387541.770884215]: Plugin trajectory initialized
[ INFO] [1679387541.771352597]: Plugin vfr_hud loaded
[ INFO] [1679387541.773770653]: Plugin vfr_hud initialized
[ INFO] [1679387541.774565230]: Plugin vibration blacklisted
[ INFO] [1679387541.775394130]: Plugin vision_pose_estimate loaded
[ INFO] [1679387541.803571842]: Plugin vision_pose_estimate initialized
[ INFO] [1679387541.813741976]: Plugin vision_speed_estimate loaded
[ INFO] [1679387541.829156760]: Plugin vision_speed_estimate initialized
[ INFO] [1679387541.829673267]: Plugin waypoint loaded
[ INFO] [1679387541.848158080]: Plugin waypoint initialized
[ INFO] [1679387541.848319954]: Plugin wheel_odometry blacklisted
[ INFO] [1679387541.848988699]: Plugin wind_estimation loaded
[ INFO] [1679387541.851998937]: Plugin wind_estimation initialized
[ INFO] [1679387541.852232842]: Autostarting mavlink via USB on PX4
[ INFO] [1679387541.852677682]: Built-in SIMD instructions: ARM NEON
[ INFO] [1679387541.852938410]: Built-in MAVLink package version: 2020.12.12
[ INFO] [1679387541.853111846]: Known MAVLink dialects: common ardupilotmega ASLUAV all autoquad icarous matrixpilot paparazzi standard uAvionix ualberta
[ INFO] [1679387541.859931275]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1679387541.860530646]: IMU: High resolution IMU detected!
[ INFO] [1679387541.863125471]: IMU: Attitude quaternion IMU detected!
[ INFO] [1679387541.940310690]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1679387541.949602914]: IMU: High resolution IMU detected!
[ INFO] [1679387541.950487179]: IMU: Attitude quaternion IMU detected!
[ WARN] [1679387541.953091639]: TM: Wrong FCU time.
[ WARN] [1679387543.946399095]: VER: broadcast request timeout, retries left 4
[ WARN] [1679387544.945923962]: VER: broadcast request timeout, retries left 3
[ WARN] [1679387550.943626523]: CMD: Command 520 -- wait ack timeout
[ WARN] [1679387550.944481848]: VER: unicast request timeout, retries left 2
[ INFO] [1679387551.940765572]: HP: requesting home position
[ WARN] [1679387555.947911692]: CMD: Command 520 -- wait ack timeout
[ WARN] [1679387555.948887640]: VER: unicast request timeout, retries left 1
[ WARN] [1679387555.949215393]: PR: request param #0 timeout, retries left 2, and 883 params still missing
[ WARN] [1679387556.944481152]: CMD: Command 410 -- wait ack timeout
[ WARN] [1679387556.949438623]: PR: request param #0 timeout, retries left 1, and 883 params still missing
[ WARN] [1679387557.945154924]: WP: timeout, retries left 2
[ WARN] [1679387557.949696933]: PR: request param #0 timeout, retries left 0, and 883 params still missing
[ WARN] [1679387558.945467537]: WP: timeout, retries left 1
[ERROR] [1679387558.953120281]: PR: request param #0 completely missing.
[ WARN] [1679387558.953350337]: PR: 882 params still missing, trying to request next: #1
[ WARN] [1679387559.945812361]: WP: timeout, retries left 0
[ WARN] [1679387559.953457732]: PR: request param #1 timeout, retries left 2, and 882 params still missing
[ERROR] [1679387560.946369662]: WP: timed out.
[ WARN] [1679387560.953880895]: PR: request param #1 timeout, retries left 1, and 882 params still missing
[ WARN] [1679387560.959008179]: CMD: Command 520 -- wait ack timeout
[ WARN] [1679387560.960933532]: VER: unicast request timeout, retries left 0
[ INFO] [1679387561.940946977]: HP: requesting home position
[ WARN] [1679387565.966896197]: CMD: Command 520 -- wait ack timeout
[ WARN] [1679387565.974952427]: VER: your FCU don't support AUTOPILOT_VERSION, switched to default capabilities
[ WARN] [1679387565.976785297]: PR: request param #1 timeout, retries left 0, and 882 params still missing
[ INFO] [1679387566.911095920]: PR: got an unsolicited param value idx=74, not resetting retries count 0
[ INFO] [1679387566.911770591]: PR: got an unsolicited param value idx=75, not resetting retries count 0
[ INFO] [1679387566.912021024]: PR: got an unsolicited param value idx=76, not resetting retries count 0
[ INFO] [1679387566.912196655]: PR: got an unsolicited param value idx=77, not resetting retries count 0
[ INFO] [1679387566.912364880]: PR: got an unsolicited param value idx=78, not resetting retries count 0
[ INFO] [1679387566.912959898]: PR: got an unsolicited param value idx=79, not resetting retries count 0
[ INFO] [1679387566.913591483]: PR: got an unsolicited param value idx=86, not resetting retries count 0
[ INFO] [1679387566.913755691]: PR: got an unsolicited param value idx=87, not resetting retries count 0
[ INFO] [1679387566.913887088]: PR: got an unsolicited param value idx=88, not resetting retries count 0
[ INFO] [1679387566.914002472]: PR: got an unsolicited param value idx=89, not resetting retries count 0
[ INFO] [1679387566.914128549]: PR: got an unsolicited param value idx=90, not resetting retries count 0
[ INFO] [1679387566.936085298]: PR: got an unsolicited param value idx=91, not resetting retries count 0
[ WARN] [1679387566.944583472]: CMD: Command 410 -- wait ack timeout
[ERROR] [1679387567.936697797]: PR: request param #1 completely missing.
[ WARN] [1679387567.936853492]: PR: 881 params still missing, trying to request next: #2
[ WARN] [1679387568.937198037]: PR: request param #2 timeout, retries left 2, and 881 params still missing
[ WARN] [1679387569.937993669]: PR: request param #2 timeout, retries left 1, and 881 params still missing
[ WARN] [1679387570.938442425]: PR: request param #2 timeout, retries left 0, and 881 params still missing
[ERROR] [1679387571.938861331]: PR: request param #2 completely missing.
[ WARN] [1679387571.939114867]: PR: 880 params still missing, trying to request next: #3
[ INFO] [1679387571.940689637]: HP: requesting home position
[ WARN] [1679387572.939319348]: PR: request param #3 timeout, retries left 2, and 880 params still missing
[ WARN] [1679387573.941065330]: PR: request param #3 timeout, retries left 1, and 880 params still missing
[ WARN] [1679387574.941634712]: PR: request param #3 timeout, retries left 0, and 880 params still missing
[ERROR] [1679387575.942471842]: PR: request param #3 completely missing.
[ WARN] [1679387575.942697751]: PR: 879 params still missing, trying to request next: #4
[ WARN] [1679387576.942889150]: PR: request param #4 timeout, retries left 2, and 879 params still missing
[ WARN] [1679387576.944234329]: CMD: Command 410 -- wait ack timeout
[ WARN] [1679387577.943374418]: PR: request param #4 timeout, retries left 1, and 879 params still missing
[ WARN] [1679387578.943774449]: PR: request param #4 timeout, retries left 0, and 879 params still missing
[ INFO] [1679387579.405570634]: PR: got an unsolicited param value idx=74, not resetting retries count 3
[ INFO] [1679387579.407981197]: PR: got an unsolicited param value idx=75, not resetting retries count 3
[ INFO] [1679387579.408493523]: PR: got an unsolicited param value idx=76, not resetting retries count 3
[ INFO] [1679387579.409316592]: PR: got an unsolicited param value idx=77, not resetting retries count 3
[ INFO] [1679387579.410016532]: PR: got an unsolicited param value idx=78, not resetting retries count 3
[ INFO] [1679387579.411353179]: PR: got an unsolicited param value idx=79, not resetting retries count 3
[ INFO] [1679387579.412375017]: PR: got an unsolicited param value idx=86, not resetting retries count 3
[ INFO] [1679387579.430486085]: PR: got an unsolicited param value idx=87, not resetting retries count 3
[ INFO] [1679387579.431159491]: PR: got an unsolicited param value idx=88, not resetting retries count 3
[ INFO] [1679387579.431372178]: PR: got an unsolicited param value idx=89, not resetting retries count 3
[ INFO] [1679387579.431560052]: PR: got an unsolicited param value idx=90, not resetting retries count 3
[ INFO] [1679387579.431743808]: PR: got an unsolicited param value idx=91, not resetting retries count 3
[ WARN] [1679387580.432058933]: PR: request param #5 timeout, retries left 2, and 878 params still missing
[ WARN] [1679387581.432472728]: PR: request param #5 timeout, retries left 1, and 878 params still missing
[ INFO] [1679387581.940776155]: HP: requesting home position
^C[mavros-2] killing on exit
Debug:   mavconn: serial0: recv: v2.0 !CRC Message-Id: 30 [28 bytes] IDs: 1.1 Seq: 219
Debug:   mavconn: serial0: recv: v2.0 !CRC Message-Id: 331 [232 bytes] IDs: 1.1 Seq: 220
Debug:   mavconn: serial0: recv: v2.0 !CRC Message-Id: 31 [32 bytes] IDs: 1.1 Seq: 221
Debug:   mavconn: serial0: recv: v2.0 !CRC Message-Id: 74 [17 bytes] IDs: 1.1 Seq: 222
Debug:   mavconn: serial0: recv: v2.0 !CRC Message-Id: 30 [28 bytes] IDs: 1.1 Seq: 223
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Diagnostics

rostopic echo -n1 /diagnostics 
header: 
  seq: 10
  stamp: 
    secs: 1679387547
    nsecs: 860372607
  frame_id: ''
status: 
  - 
    level: 0
    name: "mavros: FCU connection"
    message: "connected"
    hardware_id: "/dev/ttyTHS1:921600"
    values: 
      - 
        key: "Received packets:"
        value: "2083"
      - 
        key: "Dropped packets:"
        value: "0"
      - 
        key: "Buffer overruns:"
        value: "0"
      - 
        key: "Parse errors:"
        value: "0"
      - 
        key: "Rx sequence number:"
        value: "174"
      - 
        key: "Tx sequence number:"
        value: "0"
      - 
        key: "Rx total bytes:"
        value: "107006"
      - 
        key: "Tx total bytes:"
        value: "3647"
      - 
        key: "Rx speed:"
        value: "29899.000000"
      - 
        key: "Tx speed:"
        value: "875.000000"
  - 
    level: 2
    name: "mavros: GPS"
    message: "No satellites"
    hardware_id: "/dev/ttyTHS1:921600"
    values: 
      - 
        key: "Satellites visible"
        value: "0"
      - 
        key: "Fix type"
        value: "0"
      - 
        key: "EPH (m)"
        value: "Unknown"
      - 
        key: "EPV (m)"
        value: "Unknown"
  - 
    level: 0
    name: "mavros: Heartbeat"
    message: "Normal"
    hardware_id: "/dev/ttyTHS1:921600"
    values: 
      - 
        key: "Heartbeats since startup"
        value: "6"
      - 
        key: "Frequency (Hz)"
        value: "0.971402"
      - 
        key: "Vehicle type"
        value: "Quadrotor"
      - 
        key: "Autopilot type"
        value: "PX4 Autopilot"
      - 
        key: "Mode"
        value: "MANUAL"
      - 
        key: "System status"
        value: "Standby"
  - 
    level: 2
    name: "mavros: System"
    message: "Sensor health"
    hardware_id: "/dev/ttyTHS1:921600"
    values: 
      - 
        key: "Sensor present"
        value: "0x9020802C"
      - 
        key: "Sensor enabled"
        value: "0x9021800C"
      - 
        key: "Sensor health"
        value: "0x8026800F"
      - 
        key: "3D magnetometer"
        value: "Ok"
      - 
        key: "absolute pressure"
        value: "Ok"
      - 
        key: "motor outputs / control"
        value: "Ok"
      - 
        key: "rc receiver"
        value: "Fail"
      - 
        key: "AHRS subsystem health"
        value: "Ok"
      - 
        key: "CPU Load (%)"
        value: "62.3"
      - 
        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: 0
    name: "mavros: Battery"
    message: "Normal"
    hardware_id: "/dev/ttyTHS1:921600"
    values: 
      - 
        key: "Voltage"
        value: "16.35"
      - 
        key: "Current"
        value: "0.1"
      - 
        key: "Remaining"
        value: "72.0"
  - 
    level: 2
    name: "mavros: Time Sync"
    message: "No events recorded."
    hardware_id: "/dev/ttyTHS1:921600"
    values: 
      - 
        key: "Timesyncs since startup"
        value: "0"
      - 
        key: "Frequency (Hz)"
        value: "0.000000"
      - 
        key: "Last RTT (ms)"
        value: "0.000000"
      - 
        key: "Mean RTT (ms)"
        value: "0.000000"
      - 
        key: "Last remote time (s)"
        value: "0.000000000"
      - 
        key: "Estimated time offset (s)"
        value: "0.000000000"
---

Check ID

rosrun mavros checkid
OK. I got messages from 1:1.

---
Received 4682 messages, from 1 addresses
sys:comp   list of messages
  1:1     0, 1, 2, 132, 8, 140, 141, 147, 22, 4, 411, 30, 31, 36, 74, 331, 83, 230, 105, 111, 241, 245

By the way, I also tried another cable for the telem2 port (FCU - Nano board) but that didn't help. What does this mavconn: serial0: recv: v2.0 !CRC Message-Id: 30 [28 bytes] IDs: 1.1 Seq: 219 debug info mean? Is it something wrong with the FCU hardware?

Mar 21 '23 10:03 YX-G1881

!CRC shows that message checksum doesn't match what we expect. That might be because of UART problems, or because message 30 definition differs from the one used by mavros.

Quite suspicious that FCU seems do not receive lots of messages, do you see all that VER and CMD warnings? They usually appears when COMMAND_LONG from OBC doesn't reach FCU. Usually it is a cabling problem.

How do you connect FCU? Could you try lower baud rate for tests?

OBC -- FCU
GND -- GND
Rx  -- Tx
Tx  -- Rx

Mar 22 '23 11:03 vooon

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QGC can't display full interface under UDP connection (”MAVConnUDP::send_message: TX queue overflow“) and can't read x & y position from FCU

Issue details

MAVROS version and platform

Autopilot type and version

Node logs

Diagnostics

Check ID

Node logs

Diagnostics

Check ID

Node logs

Diagnostics

Check ID

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