TX Overflow on Raspberry Pi 5 with PX4 v1.16.0 and minimal MAVROS setup

Open Onikore opened this issue 3 months ago • 2 comments

Summary

I am experiencing persistent TX buffer overflow errors when running mavros on a Raspberry Pi 5 connected to a Pixhawk 6C. The error occurs even with a minimal MAVROS setup (only mavros_node running) and no other topics being published. This suggests the issue is not related to application-level data overload but rather a deeper incompatibility or bug.

System Configuration

Companion Computer: Raspberry Pi 5
Operating System: Ubuntu 24.04
ROS Distro: ROS 2 Jazzy
Flight Controller: Holybro Pixhawk 6C
FCU Firmware: PX4 v1.16.0 (Stable)
Connection: Raspberry Pi 5 hardware UART (/dev/ttyAMA0) connected to the Pixhawk's TELEM2 port.

Steps to Reproduce

Connect the RPi 5 and Pixhawk 6C via their hardware serial ports.
On the PX4 side, configure the corresponding serial port (TELEM2) for MAVLink 2, set the baud rate to 115200, and ensure Flow Control is disabled.
On the RPi 5, launch a minimal mavros node using a simple configuration, for example: ros2 launch mavros apm.launch fcu_url:="serial:///dev/ttyAMA0:115200"
Observe the mavros logs.

Expected Behavior

mavros connects to the flight controller and runs stably without errors.

Actual Behavior

After a short period of running correctly, mavros begins reporting [ERROR] [mavros.serial_com]: TX buffer overflow and the connection becomes unstable.

Diagnostics Performed

I have already performed an extensive set of diagnostic steps to rule out common configuration errors:

[x] Verified Physical Connectivity: Running cat /dev/ttyAMA0 shows a continuous stream of binary data from the FCU, confirming the hardware connection is working.
[x] Tested Multiple Baud Rates: The issue persists at both high (921600) and standard (115200) baud rates.
[x] Ruled out Serial Console Conflict: Checked /proc/cmdline; ttyAMA0 is not used as a system console.
[x] Confirmed Minimal Data Load: The issue occurs with a "bare" mavros node. No high-frequency topics (e.g., from a camera) are being published.
[x] Forced MAVLink v2.0 Protocol: Set fcu_protocol: "v2.0" in the mavros configuration.
[x] Explicitly Disabled Flow Control: Confirmed that the "Flow Control" setting for the serial port on the PX4 side is set to "Disabled".

Additional Context

Given that all standard configuration issues have been ruled out, this problem appears to be a more subtle bug or incompatibility. It may be related to the new hardware/drivers in the Raspberry Pi 5 and Ubuntu 24.04, and how they interact with the PX4 v1.16.0 firmware. Any guidance on further debugging steps would be greatly appreciated.

Oct 15 '25 09:10 Onikore

ros2 launch mavros px4.launch
[INFO] [launch]: All log files can be found below /home/lb/.ros/log/2025-10-15-14-11-57-872149-lb-desktop-14144
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [mavros_node-1]: process started with pid [14147]
[mavros_node-1] [INFO] [1760519518.171763385] [mavros.mavros_node]: Starting mavros_node container
[mavros_node-1] [INFO] [1760519518.171981460] [mavros.mavros_node]: FCU URL: serial:///dev/ttyAMA0:921600
[mavros_node-1] [INFO] [1760519518.172014515] [mavros.mavros_node]: GCS URL: udp-b://@:14550
[mavros_node-1] [INFO] [1760519518.172029960] [mavros.mavros_node]: UAS Prefix: /uas1
[mavros_node-1] [INFO] [1760519518.172045108] [mavros.mavros_node]: Starting mavros router node
[mavros_node-1] [INFO] [1760519518.201197091] [mavros.mavros_router]: Built-in SIMD instructions: ARM NEON
[mavros_node-1] [INFO] [1760519518.201263702] [mavros.mavros_router]: Built-in MAVLink package version: 2025.9.9
[mavros_node-1] [INFO] [1760519518.201295572] [mavros.mavros_router]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all csAirLink cubepilot development icarous loweheiser marsh matrixpilot paparazzi standard storm32 uAvionix ualberta
[mavros_node-1] [INFO] [1760519518.201323517] [mavros.mavros_router]: MAVROS Router started
[mavros_node-1] [INFO] [1760519518.201995740] [mavros.mavros_node]: Starting mavros uas node
[mavros_node-1] [INFO] [1760519518.298581892] [mavros.mavros_router]: Requested to add endpoint: type: 0, url: serial:///dev/ttyAMA0:921600
[mavros_node-1] [INFO] [1760519518.298685670] [mavros.mavros_router]: Endpoint link[1000] created
[mavros_node-1] [INFO] [1760519518.299445042] [mavros.mavros_router]: link[1000] opened successfully
[mavros_node-1] [INFO] [1760519518.299503783] [mavros.mavros_router]: Requested to add endpoint: type: 1, url: udp-b://@:14550
[mavros_node-1] [INFO] [1760519518.299541616] [mavros.mavros_router]: Endpoint link[1001] created
[mavros_node-1] [INFO] [1760519518.300080580] [mavros.mavros_router]: link[1001] opened successfully
[mavros_node-1] [INFO] [1760519518.300268877] [mavros.mavros_router]: Requested to add endpoint: type: 2, url: /uas1
[mavros_node-1] [INFO] [1760519518.300678581] [mavros.mavros_router]: Endpoint link[1002] created
[mavros_node-1] [INFO] [1760519518.307665243] [mavros.mavros_router]: link[1000] detected remote address 1.1
[mavros_node-1] [INFO] [1760519518.309637617] [mavros.mavros]: UAS Executor started, threads: 4
[mavros_node-1] [INFO] [1760519518.331234641] [mavros.mavros_router]: link[1002] opened successfully
[mavros_node-1] [INFO] [1760519518.358634435] [mavros.mavros]: Plugin actuator_control created
[mavros_node-1] [INFO] [1760519518.358886343] [mavros.mavros]: Plugin actuator_control initialized
[mavros_node-1] [INFO] [1760519518.358935251] [mavros.mavros]: Plugin adsb ignored
[mavros_node-1] [INFO] [1760519518.389674792] [mavros.mavros]: Plugin altitude created
[mavros_node-1] [INFO] [1760519518.389760218] [mavros.mavros]: Plugin altitude initialized
[mavros_node-1] [INFO] [1760519518.389779126] [mavros.mavros]: Plugin cam_imu_sync ignored
[mavros_node-1] [INFO] [1760519518.389791348] [mavros.mavros]: Plugin camera ignored
[mavros_node-1] [INFO] [1760519518.389807885] [mavros.mavros]: Plugin cellular_status ignored
[mavros_node-1] [INFO] [1760519518.484062421] [mavros.mavros]: Plugin command created
[mavros_node-1] [INFO] [1760519518.484936256] [mavros.mavros]: Plugin command initialized
[mavros_node-1] [INFO] [1760519518.541282311] [mavros.mavros]: Plugin companion_process_status created
[mavros_node-1] [INFO] [1760519518.541389607] [mavros.mavros]: Plugin companion_process_status initialized
[mavros_node-1] [INFO] [1760519518.642524786] [mavros.mavros]: Plugin debug_value created
[mavros_node-1] [INFO] [1760519518.642675101] [mavros.mavros]: Plugin debug_value initialized
[mavros_node-1] [INFO] [1760519518.642710453] [mavros.mavros]: Plugin distance_sensor ignored
[mavros_node-1] [INFO] [1760519518.642731213] [mavros.mavros]: Plugin esc_status ignored
[mavros_node-1] [INFO] [1760519518.684595665] [mavros.mavros]: Plugin esc_telemetry created
[mavros_node-1] [INFO] [1760519518.684713332] [mavros.mavros]: Plugin esc_telemetry initialized
[mavros_node-1] [INFO] [1760519518.684733313] [mavros.mavros]: Plugin fake_gps ignored
[mavros_node-1] [INFO] [1760519518.684744332] [mavros.mavros]: Plugin ftp ignored
[mavros_node-1] [INFO] [1760519518.684758128] [mavros.mavros]: Plugin geofence ignored
[mavros_node-1] [INFO] [1760519518.684776165] [mavros.mavros]: Plugin gimbal_control ignored
[mavros_node-1] [INFO] [1760519518.684794721] [mavros.mavros]: Plugin global_position ignored
[mavros_node-1] [INFO] [1760519518.684811536] [mavros.mavros]: Plugin gps_input ignored
[mavros_node-1] [INFO] [1760519518.684831924] [mavros.mavros]: Plugin gps_rtk ignored
[mavros_node-1] [INFO] [1760519518.684857665] [mavros.mavros]: Plugin gps_status ignored
[mavros_node-1] [INFO] [1760519518.768149106] [mavros.mavros]: Plugin guided_target created
[mavros_node-1] [INFO] [1760519518.768263328] [mavros.mavros]: Plugin guided_target initialized
[mavros_node-1] [INFO] [1760519518.768300976] [mavros.mavros]: Plugin hil ignored
[mavros_node-1] [INFO] [1760519518.816543052] [mavros.mavros]: Plugin home_position created
[mavros_node-1] [INFO] [1760519518.816690830] [mavros.mavros]: Plugin home_position initialized
[mavros_node-1] [INFO] [1760519518.936510175] [mavros.mavros]: Plugin imu created
[mavros_node-1] [INFO] [1760519518.937743233] [mavros.mavros]: Plugin imu initialized
[mavros_node-1] [INFO] [1760519519.048984117] [mavros.mavros]: Plugin landing_target created
[mavros_node-1] [INFO] [1760519519.049250655] [mavros.mavros]: Plugin landing_target initialized
[mavros_node-1] [INFO] [1760519519.224117922] [mavros.mavros]: Plugin local_position created
[mavros_node-1] [INFO] [1760519519.224222904] [mavros.mavros]: Plugin local_position initialized
[mavros_node-1] [INFO] [1760519519.226466334] [mavros.mavros_router]: link[1000] detected remote address 28.0
[mavros_node-1] [INFO] [1760519519.342084505] [mavros.mavros]: Plugin log_transfer created
[mavros_node-1] [INFO] [1760519519.342208153] [mavros.mavros]: Plugin log_transfer initialized
[mavros_node-1] [INFO] [1760519519.418357265] [mavros.mavros_router]: link[1002] detected remote address 1.191
[mavros_node-1] [INFO] [1760519519.430619900] [mavros.mavros]: Plugin mag_calibration_status created
[mavros_node-1] [INFO] [1760519519.430772474] [mavros.mavros]: Plugin mag_calibration_status initialized
[mavros_node-1] [INFO] [1760519519.516999143] [mavros.mavros]: Plugin manual_control created
[mavros_node-1] [INFO] [1760519519.517300458] [mavros.mavros]: Plugin manual_control initialized
[mavros_node-1] [INFO] [1760519519.571833639] [mavros.mavros]: Plugin mocap_pose_estimate created
[mavros_node-1] [INFO] [1760519519.571982009] [mavros.mavros]: Plugin mocap_pose_estimate initialized
[mavros_node-1] [INFO] [1760519519.644037354] [mavros.mavros_router]: link[1000] detected remote address 57.242
[mavros_node-1] [INFO] [1760519519.651801702] [mavros.mavros]: Plugin mount_control created
[mavros_node-1] [INFO] [1760519519.651945832] [mavros.mavros]: Plugin mount_control initialized
[mavros_node-1] [INFO] [1760519519.721793080] [mavros.mavros]: Plugin nav_controller_output created
[mavros_node-1] [INFO] [1760519519.721933321] [mavros.mavros]: Plugin nav_controller_output initialized
[mavros_node-1] [INFO] [1760519519.782353143] [mavros.mavros]: Plugin obstacle_distance created
[mavros_node-1] [INFO] [1760519519.782458106] [mavros.mavros]: Plugin obstacle_distance initialized
[mavros_node-1] [INFO] [1760519519.849897126] [mavros.mavros]: Plugin odometry created
[mavros_node-1] [INFO] [1760519519.851026480] [mavros.mavros]: Plugin odometry initialized
[mavros_node-1] [INFO] [1760519519.922546287] [mavros.mavros]: Plugin onboard_computer_status created
[mavros_node-1] [INFO] [1760519519.922622417] [mavros.mavros]: Plugin onboard_computer_status initialized
[mavros_node-1] [INFO] [1760519519.922640991] [mavros.mavros]: Plugin open_drone_id ignored
[mavros_node-1] [INFO] [1760519519.989116176] [mavros.mavros]: Plugin optical_flow created
[mavros_node-1] [INFO] [1760519519.989960807] [mavros.mavros]: Plugin optical_flow initialized
[mavros_node-1] [INFO] [1760519520.063684377] [mavros.mavros]: Plugin param created
[mavros_node-1] [INFO] [1760519520.063895544] [mavros.mavros]: Plugin param initialized
[mavros_node-1] [INFO] [1760519520.063924489] [mavros.mavros]: Plugin play_tune ignored
[mavros_node-1] [INFO] [1760519520.129310635] [mavros.mavros]: Plugin px4flow created
[mavros_node-1] [INFO] [1760519520.129519247] [mavros.mavros]: Plugin px4flow initialized
[mavros_node-1] [INFO] [1760519520.129578599] [mavros.mavros]: Plugin rallypoint ignored
[mavros_node-1] [INFO] [1760519520.129603117] [mavros.mavros]: Plugin rangefinder ignored
[mavros_node-1] [INFO] [1760519520.199936162] [mavros.mavros]: Plugin rc_io created
[mavros_node-1] [INFO] [1760519520.200057829] [mavros.mavros]: Plugin rc_io initialized
[mavros_node-1] [INFO] [1760519520.268742204] [mavros.mavros]: Plugin setpoint_accel created
[mavros_node-1] [INFO] [1760519520.268835500] [mavros.mavros]: Plugin setpoint_accel initialized
[mavros_node-1] [INFO] [1760519520.354619520] [mavros.mavros]: Plugin setpoint_attitude created
[mavros_node-1] [INFO] [1760519520.354699575] [mavros.mavros]: Plugin setpoint_attitude initialized
[mavros_node-1] [INFO] [1760519520.444008194] [mavros.mavros]: Plugin setpoint_position created
[mavros_node-1] [INFO] [1760519520.444088046] [mavros.mavros]: Plugin setpoint_position initialized
[mavros_node-1] [INFO] [1760519520.540681013] [mavros.mavros]: Plugin setpoint_raw created
[mavros_node-1] [INFO] [1760519520.540764865] [mavros.mavros]: Plugin setpoint_raw initialized
[mavros_node-1] [INFO] [1760519520.622646117] [mavros.mavros]: Plugin setpoint_trajectory created
[mavros_node-1] [INFO] [1760519520.622741525] [mavros.mavros]: Plugin setpoint_trajectory initialized
[mavros_node-1] [INFO] [1760519520.715545632] [mavros.mavros]: Plugin setpoint_velocity created
[mavros_node-1] [INFO] [1760519520.715636706] [mavros.mavros]: Plugin setpoint_velocity initialized
[mavros_node-1] [INFO] [1760519520.835808089] [mavros.mavros]: Plugin sys_status created
[mavros_node-1] [INFO] [1760519520.836067367] [mavros.mavros]: Plugin sys_status initialized
[mavros_node-1] [INFO] [1760519520.919792698] [mavros.time]: TM: Timesync mode: MAVLINK
[mavros_node-1] [INFO] [1760519520.938941494] [mavros.mavros]: Plugin sys_time created
[mavros_node-1] [INFO] [1760519520.939111106] [mavros.mavros]: Plugin sys_time initialized
[mavros_node-1] [INFO] [1760519520.939148013] [mavros.mavros]: Plugin tdr_radio ignored
[mavros_node-1] [INFO] [1760519521.024448032] [mavros.mavros]: Plugin terrain created
[mavros_node-1] [INFO] [1760519521.024663199] [mavros.mavros]: Plugin terrain initialized
[mavros_node-1] [INFO] [1760519521.120481849] [mavros.mavros]: Plugin trajectory created
[mavros_node-1] [INFO] [1760519521.120583367] [mavros.mavros]: Plugin trajectory initialized
[mavros_node-1] [INFO] [1760519521.216408295] [mavros.mavros]: Plugin tunnel created
[mavros_node-1] [INFO] [1760519521.216486740] [mavros.mavros]: Plugin tunnel initialized
[mavros_node-1] [INFO] [1760519521.301803592] [mavros.mavros]: Plugin vfr_hud created
[mavros_node-1] [INFO] [1760519521.302001425] [mavros.mavros]: Plugin vfr_hud initialized
[mavros_node-1] [INFO] [1760519521.302052037] [mavros.mavros]: Plugin vibration ignored
[mavros_node-1] [INFO] [1760519521.396362517] [mavros.mavros]: Plugin vision_pose created
[mavros_node-1] [INFO] [1760519521.396463777] [mavros.mavros]: Plugin vision_pose initialized
[mavros_node-1] [INFO] [1760519521.503628190] [mavros.mavros]: Plugin vision_speed created
[mavros_node-1] [INFO] [1760519521.503711042] [mavros.mavros]: Plugin vision_speed initialized
[mavros_node-1] [INFO] [1760519521.639241103] [mavros.mavros]: Plugin waypoint created
[mavros_node-1] [INFO] [1760519521.639393547] [mavros.mavros]: Plugin waypoint initialized
[mavros_node-1] [INFO] [1760519521.639430159] [mavros.mavros]: Plugin wheel_odometry ignored
[mavros_node-1] [INFO] [1760519521.639449788] [mavros.mavros]: Plugin wind_estimation ignored
[mavros_node-1] [INFO] [1760519521.649276030] [mavros.mavros]: Built-in SIMD instructions: ARM NEON
[mavros_node-1] [INFO] [1760519521.649361474] [mavros.mavros]: Built-in MAVLink package version: 2025.9.9
[mavros_node-1] [INFO] [1760519521.649385308] [mavros.mavros]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all csAirLink cubepilot development icarous loweheiser marsh matrixpilot paparazzi standard storm32 uAvionix ualberta
[mavros_node-1] [INFO] [1760519521.649409659] [mavros.mavros]: MAVROS UAS via /uas1 started. MY ID 1.191, TARGET ID 1.1
[mavros_node-1] [INFO] [1760519521.666185655] [mavros.imu]: IMU: High resolution IMU detected!
[mavros_node-1] [INFO] [1760519521.666549637] [mavros.imu]: IMU: Attitude quaternion IMU detected!
[mavros_node-1] [INFO] [1760519521.717834497] [mavros.mavros]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[mavros_node-1] [INFO] [1760519521.717989275] [mavros.mission]: WP: detected enable_partial_push: 0
[mavros_node-1] [INFO] [1760519521.727254812] [mavros.imu]: IMU: Attitude quaternion IMU detected!
[mavros_node-1] [INFO] [1760519521.728268684] [mavros.rc]: RC_CHANNELS message detected!
[mavros_node-1] [INFO] [1760519521.766135313] [mavros.imu]: IMU: High resolution IMU detected!
[mavros_node-1] [INFO] [1760519522.724218314] [mavros.mavros_router]: link[1000] detected remote address 183.225
[mavros_node-1] [WARN] [1760519523.745485864] [mavros.sys]: VER: broadcast request timeout, retries left 4
[mavros_node-1] [WARN] [1760519523.778825947] [mavros.sys]: FCU: UNK(8): EVENT 11047904 with args -0-0-0-18-1-128-0-0-0-128-58-1-128-128-58-1-128-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-
[mavros_node-1] [ERROR] [1760519523.779114800] [mavros.sys]: FCU: EVENT 13835193 with args -124-0-126-0-17-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-
[mavros_node-1] [ERROR] [1760519523.779220818] [mavros.sys]: FCU: EVENT 10011251 with args -56-0-0-0-24-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-
[mavros_node-1] [INFO] [1760519523.779382670] [mavros.sys]: FCU: EVENT 377561 with args -8-0-0-0-20-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-
[mavros_node-1] [ERROR] [1760519523.779450467] [mavros.sys]: FCU: EVENT 3087815 with args -0-64-0-0-20-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-
[mavros_node-1] [INFO] [1760519523.779604578] [mavros.sys]: FCU: EVENT 79408 with args -32-0-0-0-20-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-
[mavros_node-1] [WARN] [1760519523.779646615] [mavros.sys]: FCU: EVENT 453929 with args -255-255-255-255-7-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-
[mavros_node-1] [INFO] [1760519523.779761764] [mavros.sys]: FCU: EVENT 6801787 with args -255-255-255-255-12-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-0-
[mavros_node-1] [INFO] [1760519523.785016385] [mavros.mavros_router]: link[1000] detected remote address 62.0
[mavros_node-1] [WARN] [1760519524.743622275] [mavros.sys]: VER: broadcast request timeout, retries left 3
[mavros_node-1] [INFO] [1760519525.724129911] [mavros.mavros_router]: link[1000] detected remote address 1.253
[mavros_node-1] [ERROR] [1760519526.727507074] [mavros.sys]: VER: autopilot version service timeout
[mavros_node-1] [ERROR] [1760519526.727658111] [mavros.sys]: VER: command plugin service call failed!
[mavros_node-1] [WARN] [1760519526.727683889] [mavros.sys]: VER: unicast request timeout, retries left 2
[mavros_node-1] [INFO] [1760519527.157515950] [mavros.mavros_router]: link[1000] detected remote address 0.195
[mavros_node-1] [INFO] [1760519527.252814821] [mavros.mavros_router]: link[1000] detected remote address 192.212
[mavros_node-1] [ERROR] [1760519527.748364677] [mavros.sys]: VER: autopilot version service timeout
[mavros_node-1] [ERROR] [1760519527.748455881] [mavros.sys]: VER: command plugin service call failed!
[mavros_node-1] [WARN] [1760519527.748481103] [mavros.sys]: VER: unicast request timeout, retries left 1
[mavros_node-1] [INFO] [1760519528.456907023] [mavros.mavros_router]: link[1000] detected remote address 63.225
[mavros_node-1] [INFO] [1760519528.707164030] [mavros.mavros_router]: link[1000] detected remote address 63.174
[mavros_node-1] [INFO] [1760519528.727224810] [mavros.mavros_router]: link[1000] detected remote address 63.71
[mavros_node-1] [ERROR] [1760519528.768648279] [mavros.sys]: VER: autopilot version service timeout
[mavros_node-1] [ERROR] [1760519528.768763020] [mavros.sys]: VER: command plugin service call failed!
[mavros_node-1] [WARN] [1760519528.768784928] [mavros.sys]: VER: unicast request timeout, retries left 0
[mavros_node-1] [ERROR] [1760519529.790138050] [mavros.sys]: VER: autopilot version service timeout
[mavros_node-1] [ERROR] [1760519529.790253995] [mavros.sys]: VER: command plugin service call failed!
[mavros_node-1] [WARN] [1760519529.790284791] [mavros.sys]: VER: your FCU don't support AUTOPILOT_VERSION, switched to default capabilities
[mavros_node-1] [INFO] [1760519530.357092527] [mavros.mavros_router]: link[1000] detected remote address 186.135
[mavros_node-1] [WARN] [1760519530.729448735] [mavros.cmd]: CMD: Command 520 -- ack timeout
[mavros_node-1] [INFO] [1760519530.745143321] [mavros.mavros_router]: link[1000] detected remote address 133.6
[mavros_node-1] [INFO] [1760519530.944397228] [mavros.mavros_router]: link[1000] detected remote address 163.158
[mavros_node-1] [INFO] [1760519530.986320680] [mavros.mavros_router]: link[1000] detected remote address 248.163
[mavros_node-1] [INFO] [1760519531.719540407] [mavros.home_position]: HP: requesting home position
[mavros_node-1] [WARN] [1760519532.723308309] [mavros.param]: PR: request list timeout, retries left 2
[mavros_node-1] [INFO] [1760519532.958730565] [mavros.mavros_router]: link[1000] detected remote address 134.122
[mavros_node-1] [INFO] [1760519533.565425396] [mavros.mavros_router]: link[1000] detected remote address 59.128
[mavros_node-1] [WARN] [1760519533.723495927] [mavros.param]: PR: request list timeout, retries left 1
[mavros_node-1] [INFO] [1760519534.226724056] [mavros.mavros_router]: link[1000] detected remote address 177.253
[mavros_node-1] [WARN] [1760519534.723766174] [mavros.param]: PR: request list timeout, retries left 0
[mavros_node-1] [INFO] [1760519534.745317993] [mavros.mavros_router]: link[1000] detected remote address 59.120
[mavros_node-1] [WARN] [1760519535.732188584] [mavros.cmd]: CMD: Command 520 -- ack timeout
[mavros_node-1] [WARN] [1760519535.832392058] [mavros.cmd.rclcpp]: failed to send response to /mavros/cmd/command (timeout): client will not receive response, at ./src/rmw_response.cpp:153, at ./src/rcl/service.c:400
[mavros_node-1] [INFO] [1760519536.766389434] [mavros.mavros_router]: link[1000] detected remote address 59.74
[mavros_node-1] [INFO] [1760519536.964500543] [mavros.mavros_router]: link[1000] detected remote address 59.49
[mavros_node-1] [INFO] [1760519537.557232624] [mavros.mavros_router]: link[1000] detected remote address 187.164
[mavros_node-1] [WARN] [1760519537.722229649] [mavros.mission]: WP: timeout, retries left 2
[mavros_node-1] [INFO] [1760519538.359588355] [mavros.mavros_router]: link[1000] detected remote address 86.197
[mavros_node-1] [WARN] [1760519538.723454360] [mavros.mission]: WP: timeout, retries left 1
[mavros_node-1] [INFO] [1760519539.706687073] [mavros.mavros_router]: link[1000] detected remote address 143.6
[mavros_node-1] [WARN] [1760519539.724322515] [mavros.mission]: WP: timeout, retries left 0
[mavros_node-1] [INFO] [1760519540.266662294] [mavros.mavros_router]: link[1000] detected remote address 226.252
[mavros_node-1] [ERROR] [1760519540.726476579] [mavros.mission]: WP: timed out.
[mavros_node-1] [INFO] [1760519540.826029625] [mavros.mavros_router]: link[1000] detected remote address 76.28
[mavros_node-1] [WARN] [1760519540.834929327] [mavros.cmd]: CMD: Command 520 -- ack timeout
[mavros_node-1] [WARN] [1760519540.935092430] [mavros.cmd.rclcpp]: failed to send response to /mavros/cmd/command (timeout): client will not receive response, at ./src/rmw_response.cpp:153, at ./src/rcl/service.c:400
[mavros_node-1] [INFO] [1760519542.986784520] [mavros.mavros_router]: link[1000] detected remote address 190.8
[mavros_node-1] [INFO] [1760519543.857418698] [mavros.mavros_router]: link[1000] detected remote address 187.120
[mavros_node-1] [INFO] [1760519544.964809170] [mavros.mavros_router]: link[1000] detected remote address 0.114
[mavros_node-1] [WARN] [1760519545.937630064] [mavros.cmd]: CMD: Command 520 -- ack timeout
[mavros_node-1] [WARN] [1760519546.037815185] [mavros.cmd.rclcpp]: failed to send response to /mavros/cmd/command (timeout): client will not receive response, at ./src/rmw_response.cpp:153, at ./src/rcl/service.c:400
[mavros_node-1] [INFO] [1760519546.485220409] [mavros.mavros_router]: link[1000] detected remote address 193.153
[mavros_node-1] [INFO] [1760519547.965911922] [mavros.mavros_router]: link[1000] detected remote address 57.82
[mavros_node-1] [INFO] [1760519549.725256254] [mavros.mavros_router]: link[1000] detected remote address 6.48
[mavros_node-1] [INFO] [1760519550.056843067] [mavros.mavros_router]: link[1000] detected remote address 15.51
[mavros_node-1] [INFO] [1760519550.244902581] [mavros.mavros_router]: link[1000] detected remote address 220.165
[mavros_node-1] [WARN] [1760519551.040497815] [mavros.cmd]: CMD: Command 520 -- ack timeout
[mavros_node-1] [WARN] [1760519551.140684473] [mavros.cmd.rclcpp]: failed to send response to /mavros/cmd/command (timeout): client will not receive response, at ./src/rmw_response.cpp:153, at ./src/rcl/service.c:400
[mavros_node-1] [INFO] [1760519551.758352934] [mavros.mavros_router]: link[1000] detected remote address 58.140
[mavros_node-1] [INFO] [1760519554.357894401] [mavros.mavros_router]: link[1000] detected remote address 142.60
[mavros_node-1] [INFO] [1760519554.764919452] [mavros.mavros_router]: link[1000] detected remote address 63.194
[mavros_node-1] [WARN] [1760519556.143327245] [mavros.cmd]: CMD: Command 520 -- ack timeout
[mavros_node-1] [WARN] [1760519556.243494180] [mavros.cmd.rclcpp]: failed to send response to /mavros/cmd/command (timeout): client will not receive response, at ./src/rmw_response.cpp:153, at ./src/rcl/service.c:400
[mavros_node-1] [INFO] [1760519556.487182710] [mavros.mavros_router]: link[1000] detected remote address 58.118
[mavros_node-1] [INFO] [1760519556.685046984] [mavros.mavros_router]: link[1000] detected remote address 59.25
[mavros_node-1] [INFO] [1760519556.866162725] [mavros.mavros_router]: link[1000] detected remote address 0.4
[mavros_node-1] [INFO] [1760519558.666233282] [mavros.mavros_router]: link[1000] detected remote address 19.15
[mavros_node-1] Error:   mavconn: 0: DROPPED Message-Id 0 [9 bytes] IDs: 1.191 Seq: 90: MAVConnSerial::send_message: TX queue overflow
[mavros_node-1]          at line 165 in ./src/interface.cpp
[mavros_node-1] Error:   mavconn: 0: DROPPED Message-Id 0 [9 bytes] IDs: 1.191 Seq: 184: MAVConnSerial::send_message: TX queue overflow
[mavros_node-1]          at line 165 in ./src/interface.cpp
[mavros_node-1] Error:   mavconn: 0: DROPPED Message-Id 111 [16 bytes] IDs: 1.191 Seq: 185: MAVConnSerial::send_message: TX queue overflow
[mavros_node-1]          at line 165 in ./src/interface.cpp
[mavros_node-1] Error:   mavconn: 0: DROPPED Message-Id 111 [16 bytes] IDs: 1.191 Seq: 186: MAVConnSerial::send_message: TX queue overflow
[mavros_node-1]          at line 165 in ./src/interface.cpp
[mavros_node-1] Error:   mavconn: 0: DROPPED Message-Id 2 [7 bytes] IDs: 1.191 Seq: 187: MAVConnSerial::send_message: TX queue overflow
[mavros_node-1]          at line 165 in ./src/interface.cpp
[mavros_node-1] Error:   mavconn: 0: DROPPED Message-Id 111 [16 bytes] IDs: 1.191 Seq: 188: MAVConnSerial::send_message: TX queue overflow
[mavros_node-1]          at line 165 in ./src/interface.cpp
[mavros_node-1] Error:   mavconn: 0: DROPPED Message-Id 111 [13 bytes] IDs: 1.191 Seq: 189: MAVConnSerial::send_message: TX queue overflow
[mavros_node-1]          at line 165 in ./src/interface.cpp
[mavros_node-1] Error:   mavconn: 0: DROPPED Message-Id 111 [13 bytes] IDs: 1.191 Seq: 91: MAVConnSerial::send_message: TX queue overflow
[mavros_node-1]          at line 165 in ./src/interface.cpp
[mavros_node-1] Error:   mavconn: 0: DROPPED Message-Id 111 [16 bytes] IDs: 1.191 Seq: 190: MAVConnSerial::send_message: TX queue overflow
[mavros_node-1]          at line 165 in ./src/interface.cpp
[mavros_node-1] Error:   mavconn: 0: DROPPED Message-Id 111 [16 bytes] IDs: 1.191 Seq: 191: MAVConnSerial::send_message: TX queue overflow
[mavros_node-1]          at line 165 in ./src/interface.cpp
[mavros_node-1] Error:   mavconn: 0: DROPPED Message-Id 111 [16 bytes] IDs: 1.191 Seq: 192: MAVConnSerial::send_message: TX queue overflow
[mavros_node-1]          at line 165 in ./src/interface.cpp
[mavros_node-1] Error:   mavconn: 0: DROPPED Message-Id 111 [13 bytes] IDs: 1.191 Seq: 193: MAVConnSerial::send_message: TX queue overflow
[mavros_node-1]          at line 165 in ./src/interface.cpp
[mavros_node-1] Error:   mavconn: 0: DROPPED Message-Id 111 [13 bytes] IDs: 1.191 Seq: 92: MAVConnSerial::send_message: TX queue overflow
[mavros_node-1]          at line 165 in ./src/interface.cpp
[mavros_node-1] Error:   mavconn: 0: DROPPED Message-Id 111 [16 bytes] IDs: 1.191 Seq: 194: MAVConnSerial::send_message: TX queue overflow
[mavros_node-1]          at line 165 in ./src/interface.cpp
[mavros_node-1] Error:   mavconn: 0: DROPPED Message-Id 111 [16 bytes] IDs: 1.191 Seq: 195: MAVConnSerial::send_message: TX queue overflow
[mavros_node-1]          at line 165 in ./src/interface.cpp
[mavros_node-1] Error:   mavconn: 0: DROPPED Message-Id 111 [16 bytes] IDs: 1.191 Seq: 196: MAVConnSerial::send_message: TX queue overflow
[mavros_node-1]          at line 165 in ./src/interface.cpp

cat /opt/ros/jazzy/share/mavros/launch/px4.launch
<launch>
	<arg name="fcu_url" default="serial:///dev/ttyAMA0:921600" />
	<arg name="gcs_url" default="udp-b://@:14550" />
	<arg name="tgt_system" default="1" />
	<arg name="tgt_component" default="1" />
	<arg name="log_output" default="screen" />
	<arg name="fcu_protocol" default="v2.0" />
	<arg name="respawn_mavros" default="True" />
	<arg name="namespace" default="mavros"/>

	<include file="$(find-pkg-share mavros)/launch/node.launch">
		<arg name="pluginlists_yaml" value="$(find-pkg-share mavros)/launch/px4_pluginlists.yaml" />
		<arg name="config_yaml" value="$(find-pkg-share mavros)/launch/px4_config.yaml" />
		<arg name="fcu_url" value="$(var fcu_url)" />
		<arg name="gcs_url" value="$(var gcs_url)" />
		<arg name="tgt_system" value="$(var tgt_system)" />
		<arg name="tgt_component" value="$(var tgt_component)" />
		<arg name="log_output" value="$(var log_output)" />
		<arg name="fcu_protocol" value="$(var fcu_protocol)" />
		<arg name="respawn_mavros" value="$(var respawn_mavros)" />
		<arg name="namespace" value="$(var namespace)"/>
	</include>
</launch>

cat /opt/ros/jazzy/share/mavros/launch/px4_config.yaml 
# Common configuration for PX4 autopilot
#
/**:
  ros__parameters:
    startup_px4_usb_quirk: false
# --- system plugins ---

# sys_status
/**/sys:
  ros__parameters:
    min_voltage: [10.0]   # diagnostics min voltage, use a vector i.e. [16.2, 16.0] for multiple batteries, up-to 10 are supported
                          # to achieve the same on a ROS launch file do: <rosparam param="sys/min_voltage">[16.2, 16.0]</rosparam>
    disable_diag: false   # disable all sys_status diagnostics, except heartbeat
    heartbeat_rate: 1.0   # send heartbeat rate in Hertz
    conn_timeout: 10.0    # heartbeat timeout in seconds

# sys_time
/**/time:
  ros__parameters:
    time_ref_source: "fcu"    # time_reference source
    timesync_mode: MAVLINK
    timesync_avg_alpha: 0.6   # timesync averaging factor
    timesync_rate: 10.0       # TIMESYNC rate in Hertz (feature disabled if 0.0)
    system_time_rate: 1.0     # send system time to FCU rate in Hertz (disabled if 0.0)

# --- mavros plugins (alphabetical order) ---

# 3dr_radio
/**/tdr_radio:
  ros__parameters:
    low_rssi: 40  # raw rssi lower level for diagnostics

# actuator_control
# None

# command
/**/cmd:
  ros__parameters:
    use_comp_id_system_control: false   # quirk for some old FCUs

# dummy
# None

# ftp
# None

# global_position
/**/global_position:
  ros__parameters:
    frame_id: "map"               # origin frame
    child_frame_id: "base_link"   # body-fixed frame
    rot_covariance: 99999.0       # covariance for attitude?
    gps_uere: 1.0                 # User Equivalent Range Error (UERE) of GPS sensor (m)
    use_relative_alt: true        # use relative altitude for local coordinates
    tf.send: true                # send TF?
    tf.frame_id: "map"            # TF frame_id
    tf.global_frame_id: "earth"   # TF earth frame_id
    tf.child_frame_id: "base_link"  # TF child_frame_id

# imu_pub
/**/imu:
  ros__parameters:
    frame_id: "base_link"
    # need find actual values
    linear_acceleration_stdev: 0.0003
    angular_velocity_stdev: 0.0003490659  # 0.02 degrees
    orientation_stdev: 1.0
    magnetic_stdev: 0.0

# local_position
/**/local_position:
  ros__parameters:
    frame_id: "base_link"
    tf.send: true
    tf.frame_id: "map"
    tf.child_frame_id: "base_link"
    tf.send_fcu: false

# param
# None, used for FCU params

# rc_io
# None

# setpoint_accel
/**/setpoint_accel:
  ros__parameters:
    send_force: false

# setpoint_attitude
/**/setpoint_attitude:
  ros__parameters:
    reverse_thrust: false       # allow reversed thrust
    use_quaternion: false       # enable PoseStamped topic subscriber
    tf.listen: true            # enable tf listener (disable topic subscribers)
    tf.frame_id: "map"
    tf.child_frame_id: "target_attitude"
    tf.rate_limit: 50.0

# setpoint_raw
/**/setpoint_raw:
  ros__parameters:
    thrust_scaling: 1.0       # used in setpoint_raw attitude callback.
    # Note: PX4 expects normalized thrust values between 0 and 1, which means that
    # the scaling needs to be unitary and the inputs should be 0..1 as well.

# setpoint_position
/**/setpoint_position:
  ros__parameters:
    tf.listen: false            # enable tf listener (disable topic subscribers)
    tf.frame_id: "map"
    tf.child_frame_id: "target_position"
    tf.rate_limit: 50.0
    mav_frame: LOCAL_NED

# guided_target
/**/guided_target:
  ros__parameters:
    tf.listen: false           # enable tf listener (disable topic subscribers)
    tf.frame_id: "map"
    tf.child_frame_id: "target_position"
    tf.rate_limit: 50.0

# setpoint_velocity
/**/setpoint_velocity:
  ros__parameters:
    mav_frame: LOCAL_NED

# vfr_hud
# None

# waypoint
/**/mission:
  ros__parameters:
    pull_after_gcs: true        # update mission if gcs updates
    use_mission_item_int: true  # use the MISSION_ITEM_INT message instead of MISSION_ITEM
                                # for uploading waypoints to FCU

# --- mavros extras plugins (same order) ---

# adsb
# None

# debug_value
# None

# distance_sensor
## Currently available orientations:
#    Check http://wiki.ros.org/mavros/Enumerations
##
/**/distance_sensor:
  ros__parameters:
    config: |
      hrlv_ez4_pub:
        id: 0
        frame_id: "hrlv_ez4_sonar"
        orientation: PITCH_270 # RPY:{0.0, 270.0, 0.0} - downward-facing
        field_of_view: 0.0  # XXX TODO
        send_tf: true
        sensor_position: {x:  0.0, y:  0.0, z:  -0.1}
      lidarlite_pub:
        id: 1
        frame_id: "lidarlite_laser"
        orientation: PITCH_270
        field_of_view: 0.0  # XXX TODO
        send_tf: true
        sensor_position: {x:  0.0, y:  0.0, z:  -0.1}
      sonar_1_sub:
        subscriber: true
        id: 2
        orientation: PITCH_270
        horizontal_fov_ratio: 1.0   # horizontal_fov = horizontal_fov_ratio * msg.field_of_view
        vertical_fov_ratio: 1.0     # vertical_fov = vertical_fov_ratio * msg.field_of_view
        # custom_orientation:       # Used for orientation == CUSTOM
        #   roll: 0
        #   pitch: 270
        #   yaw: 0
      laser_1_sub:
        subscriber: true
        id: 3
        orientation: PITCH_270

# image_pub
/**/image:
  ros__parameters:
    frame_id: "px4flow"

# fake_gps
/**/fake_gps:
  ros__parameters:
    # select data source
    use_mocap: true         # ~mocap/pose
    mocap_transform: true   # ~mocap/tf instead of pose
    use_vision: false       # ~vision (pose)
    # origin (default: Zürich)
    geo_origin.lat: 47.3667       # latitude [degrees]
    geo_origin.lon: 8.5500        # longitude [degrees]
    geo_origin.alt: 408.0         # altitude (height over the WGS-84 ellipsoid) [meters]
    eph: 2.0
    epv: 2.0
    satellites_visible: 5   # virtual number of visible satellites
    fix_type: 3             # type of GPS fix (default: 3D)
    tf.listen: false
    tf.send: false           # send TF?
    tf.frame_id: "map"       # TF frame_id
    tf.child_frame_id: "fix" # TF child_frame_id
    tf.rate_limit: 10.0      # TF rate
    gps_rate: 5.0           # GPS data publishing rate

# landing_target
/**/landing_target:
  ros__parameters:
    listen_lt: false
    mav_frame: "LOCAL_NED"
    land_target_type: "VISION_FIDUCIAL"
    image.width: 640              # [pixels]
    image.height: 480
    camera.fov_x: 2.0071286398    # default: 115 [degrees]
    camera.fov_y: 2.0071286398
    tf.send: true
    tf.listen: false
    tf.frame_id: "landing_target"
    tf.child_frame_id: "camera_center"
    tf.rate_limit: 10.0
    target_size: {x: 0.3, y: 0.3}

# mocap_pose_estimate
/**/mocap:
  ros__parameters:
    # select mocap source
    use_tf: false   # ~mocap/tf
    use_pose: true  # ~mocap/pose

# mount_control
/**/mount:
  ros__parameters:
    debounce_s: 4.0
    err_threshold_deg: 10.0
    negate_measured_roll: false
    negate_measured_pitch: false
    negate_measured_yaw: false

# odom
/**/odometry:
  ros__parameters:
    fcu.odom_parent_id_des: "odom"        # desired parent frame rotation of the FCU's odometry
    fcu.odom_child_id_des: "base_link"    # desired child frame rotation of the FCU's odometry
    fcu.map_id_des: "map"

# px4flow
/**/px4flow:
  ros__parameters:
    frame_id: "px4flow"
    ranger_fov: 0.118682      # 6.8 degrees at 5 meters, 31 degrees at 1 meter
    ranger_min_range: 0.3     # meters
    ranger_max_range: 5.0     # meters

# vision_pose_estimate
/**/vision_pose:
  ros__parameters:
    tf.listen: false           # enable tf listener (disable topic subscribers)
    tf.frame_id: "odom"
    tf.child_frame_id: "vision_estimate"
    tf.rate_limit: 10.0

# vision_speed_estimate
/**/vision_speed:
  ros__parameters:
    listen_twist: true    # enable listen to twist topic, else listen to vec3d topic
    twist_cov: true       # enable listen to twist with covariance topic

# vibration
/**/vibration:
  ros__parameters:
    frame_id: "base_link"

# wheel_odometry
/**/wheel_odometry:
  ros__parameters:
    count: 2                      # number of wheels to compute odometry
    use_rpm: false                # use wheel's RPM instead of cumulative distance to compute odometry
    wheel0: {x: 0.0, y: -0.15, radius: 0.05}  # x-, y-offset (m,NED) and radius (m)
    wheel1: {x: 0.0, y:  0.15, radius: 0.05}  # x-, y-offset (m,NED) and radius (m)
    send_raw: true                # send wheel's RPM and cumulative distance (~/wheel_odometry/rpm, ~/wheel_odometry/distance)
    send_twist: false             # send geometry_msgs/TwistWithCovarianceStamped instead of nav_msgs/Odometry
    frame_id: "odom"              # origin frame
    child_frame_id: "base_link"   # body-fixed frame
    vel_error: 0.1                # wheel velocity measurement error 1-std (m/s)
    tf.send: false
    tf.frame_id: "odom"
    tf.child_frame_id: "base_link"

# camera
/**/camera:
  ros__parameters:
    frame_id: "base_link"

cat /opt/ros/jazzy/share/mavros/launch/px4_pluginlists.yaml 
/**:
  ros__parameters:
    plugin_denylist:
    # common
     - adsb
     - cam_imu_sync
     - fake_gps
     - esc_status
     - wind_estimation
     - play_tune
     - open_drone_id
     - camera
     - cellular_status
     - ftp
     - geofence
     - gimbal_control
     - global_position
     - gps_input
     - gps_rtk
     - gps_status
     - hil
    #  - mocap_pose_estimate
     - rallypoint
     - tdr_radio




    # extras
     - image_pub
     - vibration
     - distance_sensor
     - rangefinder
     - wheel_odometry

    plugin_allowlist:
      - 'sys_*'

Oct 15 '25 09:10 Onikore

The error message means that you're trying to push more messages than ttyAMA consumes. MAVConn has queue for 1000 messages, which normally near empty.

Check /diagnostics topic for Rx/Tx details.

Oct 15 '25 14:10 vooon