mavros offboard mode can arm but can't take off #1475

haocou · 2020-08-29T10:25:27Z

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to report bugs or request features.

Issue details

Hello, I am using mavros offboard mode(official code: https://dev.px4.io/v1.10/en/ros/mavros_offboard.html) to control the UAV. But, the UAV can’t work as expected. The arm first actuated and then disarmed. This happened repeatedly. I have already switched to the offboard mode, It can’t take off. I have checked the hardware. And the mocap message is remapping from /rigidbody_1/pose to /mavros/vision_pose/pose. The frame between mocap and UAV are checked. I don’t know what happened.

Hardware: raspberry pi, and telem2 port to raspberry pi(the connection has been checked).

The uploaded logs are below(corresponding to px4.launch logs, five logs)
1)
https://logs.px4.io/plot_app?log=cccb4439-41d3-4a2f-99d1-82c6b5ffec6c
2)
https://logs.px4.io/plot_app?log=c9708e5f-1972-47f3-9ab2-aaef9f83ecd1
3)
https://logs.px4.io/plot_app?log=cac1201f-808c-4af7-9053-e826a2522db3\
4)
https://logs.px4.io/plot_app?log=720049f9-93e1-4fa6-81a3-76b2961a3822
5)
https://logs.px4.io/plot_app?log=61c320be-ec6f-4098-bdea-c67ba68369b6

I would appreciated if you can help me.

MAVROS version and platform

Mavros: 0.18.4
ROS: Kinetic
Ubuntu: 16.04

Autopilot type and version

PX4
Version: 1.10.1

Node logs

copy output of mavros_node. Usually console where you run roslaunch

... logging to /home/bitcq/.ros/log/416eb4bc-ea17-11ea-bcc1-30b49ea1a4df/roslaunch-bitcq-desktop-1731.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.2.77:42097/

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/ttyUSB0:921600
/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: kinetic
/rosversion: 1.12.14

NODES
/
mavros (mavros/mavros_node)

ROS_MASTER_URI=http://bitcq:11311

process[mavros-1]: started with pid [1742]
[ INFO] [1598583500.769887340]: FCU URL: /dev/ttyUSB0:921600
[ INFO] [1598583500.783105465]: serial0: device: /dev/ttyUSB0 @ 921600 bps
[ INFO] [1598583500.786642184]: GCS bridge disabled
[ INFO] [1598583500.993774371]: Plugin 3dr_radio loaded
[ INFO] [1598583501.016497496]: Plugin 3dr_radio initialized
[ INFO] [1598583501.016925413]: Plugin actuator_control loaded
[ INFO] [1598583501.071480882]: Plugin actuator_control initialized
[ INFO] [1598583501.133767392]: Plugin adsb loaded
[ INFO] [1598583501.193821194]: Plugin adsb initialized
[ INFO] [1598583501.194461402]: Plugin altitude loaded
[ INFO] [1598583501.211794840]: Plugin altitude initialized
[ INFO] [1598583501.212326663]: Plugin cam_imu_sync loaded
[ INFO] [1598583501.221801454]: Plugin cam_imu_sync initialized
[ INFO] [1598583501.222442340]: Plugin command loaded
[ INFO] [1598583501.318846767]: Plugin command initialized
[ INFO] [1598583501.319414944]: Plugin companion_process_status loaded
[ INFO] [1598583501.370511871]: Plugin companion_process_status initialized
[ INFO] [1598583501.371063069]: Plugin debug_value loaded
[ INFO] [1598583501.455116819]: Plugin debug_value initialized
[ INFO] [1598583501.455359736]: Plugin distance_sensor blacklisted
[ INFO] [1598583501.456457496]: Plugin fake_gps loaded
[ INFO] [1598583501.745391298]: Plugin fake_gps initialized
[ INFO] [1598583501.746683485]: Plugin ftp loaded
[ INFO] [1598583501.861097027]: Plugin ftp initialized
[ INFO] [1598583501.862365412]: Plugin global_position loaded
[ INFO] [1598583502.177337444]: Plugin global_position initialized
[ INFO] [1598583502.178329423]: Plugin gps_rtk loaded
[ INFO] [1598583502.233502131]: Plugin gps_rtk initialized
[ INFO] [1598583502.234713642]: Plugin hil loaded
[ INFO] [1598583502.501218693]: Plugin hil initialized
[ INFO] [1598583502.502427496]: Plugin home_position loaded
[ INFO] [1598583502.573185777]: Plugin home_position initialized
[ INFO] [1598583502.574457391]: Plugin imu loaded
[ INFO] [1598583502.734546975]: Plugin imu initialized
[ INFO] [1598583502.735606245]: Plugin landing_target loaded
[ INFO] [1598583503.072162027]: Plugin landing_target initialized
[ INFO] [1598583503.073597131]: Plugin local_position loaded
[ INFO] [1598583503.209911662]: Plugin local_position initialized
[ INFO] [1598583503.210948433]: Plugin log_transfer loaded
[ INFO] [1598583503.256011141]: Plugin log_transfer initialized
[ INFO] [1598583503.257268641]: Plugin manual_control loaded
[ INFO] [1598583503.316597131]: Plugin manual_control initialized
[ INFO] [1598583503.317705047]: Plugin mocap_pose_estimate loaded
[ INFO] [1598583503.400688901]: Plugin mocap_pose_estimate initialized
[ INFO] [1598583503.401737704]: Plugin mount_control loaded
[ INFO] [1598583503.476970568]: Plugin mount_control initialized
[ INFO] [1598583503.478037912]: Plugin obstacle_distance loaded
[ INFO] [1598583503.539326037]: Plugin obstacle_distance initialized
[ INFO] [1598583503.540351037]: Plugin odom loaded
[ INFO] [1598583503.638408537]: Plugin odom initialized
[ INFO] [1598583503.639446506]: Plugin onboard_computer_status loaded
[ INFO] [1598583503.693932912]: Plugin onboard_computer_status initialized
[ INFO] [1598583503.695278172]: Plugin param loaded
[ INFO] [1598583503.738986245]: Plugin param initialized
[ INFO] [1598583503.740132339]: Plugin px4flow loaded
[ INFO] [1598583503.880379474]: Plugin px4flow initialized
[ INFO] [1598583503.880644683]: Plugin rangefinder blacklisted
[ INFO] [1598583503.881872860]: Plugin rc_io loaded
[ INFO] [1598583503.949891714]: Plugin rc_io initialized
[ INFO] [1598583503.950291349]: Plugin safety_area blacklisted
[ INFO] [1598583503.951512026]: Plugin setpoint_accel loaded
[ INFO] [1598583504.021753745]: Plugin setpoint_accel initialized
[ INFO] [1598583504.023320672]: Plugin setpoint_attitude loaded
[ INFO] [1598583504.234120047]: Plugin setpoint_attitude initialized
[ INFO] [1598583504.235859630]: Plugin setpoint_position loaded
[ INFO] [1598583504.561517911]: Plugin setpoint_position initialized
[ INFO] [1598583504.563114734]: Plugin setpoint_raw loaded
[ INFO] [1598583504.740576453]: Plugin setpoint_raw initialized
[ INFO] [1598583504.742466453]: Plugin setpoint_trajectory loaded
[ INFO] [1598583504.839823484]: Plugin setpoint_trajectory initialized
[ INFO] [1598583504.841559474]: Plugin setpoint_velocity loaded
[ INFO] [1598583504.954861765]: Plugin setpoint_velocity initialized
[ INFO] [1598583504.956603068]: Plugin sys_status loaded
[ INFO] [1598583505.154297338]: Plugin sys_status initialized
[ INFO] [1598583505.155554005]: Plugin sys_time loaded
[ INFO] [1598583505.275272286]: TM: Timesync mode: MAVLINK
[ INFO] [1598583505.297748797]: Plugin sys_time initialized
[ INFO] [1598583505.298785203]: Plugin trajectory loaded
[ INFO] [1598583505.408386922]: Plugin trajectory initialized
[ INFO] [1598583505.409886713]: Plugin vfr_hud loaded
[ INFO] [1598583505.425025828]: Plugin vfr_hud initialized
[ INFO] [1598583505.425313692]: Plugin vibration blacklisted
[ INFO] [1598583505.426652911]: Plugin vision_pose_estimate loaded
[ INFO] [1598583505.593574526]: Plugin vision_pose_estimate initialized
[ INFO] [1598583505.594702494]: Plugin vision_speed_estimate loaded
[ INFO] [1598583505.676607807]: Plugin vision_speed_estimate initialized
[ INFO] [1598583505.677977390]: Plugin waypoint loaded
[ INFO] [1598583505.770082703]: Plugin waypoint initialized
[ INFO] [1598583505.770368067]: Plugin wheel_odometry blacklisted
[ INFO] [1598583505.771569994]: Plugin wind_estimation loaded
[ INFO] [1598583505.783592911]: Plugin wind_estimation initialized
[ INFO] [1598583505.783923588]: Autostarting mavlink via USB on PX4
[ INFO] [1598583505.784241713]: Built-in SIMD instructions: None
[ INFO] [1598583505.784461973]: Built-in MAVLink package version: 2020.7.7
[ INFO] [1598583505.784698692]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1598583505.784905411]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1598583505.799402130]: IMU: Attitude quaternion IMU detected!
[ INFO] [1598583505.802759526]: IMU: High resolution IMU detected!
[ INFO] [1598583506.077351348]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1598583506.088726244]: IMU: High resolution IMU detected!
[ INFO] [1598583506.101946817]: IMU: Attitude quaternion IMU detected!
[ INFO] [1598583507.099835879]: WP: Using MISSION_ITEM_INT
[ INFO] [1598583507.100820879]: VER: 1.1: Capabilities 0x000000000000e4ef
[ INFO] [1598583507.101606192]: VER: 1.1: Flight software: 010a01ff (e0f016c2b3000000)
[ INFO] [1598583507.102301504]: VER: 1.1: Middleware software: 010a01ff (e0f016c2b3000000)
[ INFO] [1598583507.103058483]: VER: 1.1: OS software: 071d00ff (427238133be2b0ec)
[ INFO] [1598583507.103471921]: VER: 1.1: Board hardware: 00000032
[ INFO] [1598583507.104434160]: VER: 1.1: VID/PID: 26ac:0032
[ INFO] [1598583507.105098483]: VER: 1.1: UID: 3138511730383233
[ WARN] [1598583507.105878171]: CMD: Unexpected command 520, result 0
[ INFO] [1598583516.078300511]: HP: requesting home position
[ INFO] [1598583521.085706863]: WP: mission received
[ INFO] [1598583526.078477955]: HP: requesting home position
[ INFO] [1598583536.078669618]: HP: requesting home position
[ INFO] [1598583546.078218104]: HP: requesting home position
[ INFO] [1598583556.078032215]: HP: requesting home position
[ WARN] [1598583565.576027992]: CMD: Unexpected command 176, result 0
[ INFO] [1598583566.078372940]: HP: requesting home position
[ INFO] [1598583570.946026011]: FCU: ARMED by Arm/Disarm component command
[ INFO] [1598583570.996522522]: FCU: [logger] file: /fs/microsd/log/2020-08-09/01_10_0
[ INFO] [1598583576.078427259]: HP: requesting home position
[ INFO] [1598583580.708336320]: FCU: DISARMED by Auto disarm initiated
[ INFO] [1598583581.183970903]: FCU: ARMED by Arm/Disarm component command
[ INFO] [1598583581.226419132]: FCU: [logger] file: /fs/microsd/log/2020-08-09/01_10_1
[ INFO] [1598583586.079029026]: HP: requesting home position
[ INFO] [1598583591.191085014]: FCU: DISARMED by Auto disarm initiated
[ INFO] [1598583592.193094232]: FCU: ARMED by Arm/Disarm component command
[ INFO] [1598583592.287489961]: FCU: [logger] file: /fs/microsd/log/2020-08-09/01_10_2
[ INFO] [1598583596.078806991]: HP: requesting home position
[ INFO] [1598583602.209767405]: FCU: DISARMED by Auto disarm initiated
[ INFO] [1598583603.177621988]: FCU: ARMED by Arm/Disarm component command
[ INFO] [1598583603.229232770]: FCU: [logger] file: /fs/microsd/log/2020-08-09/01_10_3
[ INFO] [1598583606.079031727]: HP: requesting home position
[ INFO] [1598583613.195389849]: FCU: DISARMED by Auto disarm initiated
[ INFO] [1598583614.214331047]: FCU: ARMED by Arm/Disarm component command
[ INFO] [1598583614.289396463]: FCU: [logger] file: /fs/microsd/log/2020-08-09/01_10_5
[ INFO] [1598583616.078665161]: HP: requesting home position

Diagnostics

place here result of:
rostopic echo -n1 /diagnostics

header:
seq: 33
stamp:
secs: 1598583541
nsecs: 286288210
frame_id: ''
status:

level: 0
name: "mavros: FCU connection"
message: "connected"
hardware_id: "/dev/ttyUSB0:921600"
values: 
  - 
    key: "Received packets:"
    value: "14712"
  - 
    key: "Dropped packets:"
    value: "0"
  - 
    key: "Buffer overruns:"
    value: "0"
  - 
    key: "Parse errors:"
    value: "0"
  - 
    key: "Rx sequence number:"
    value: "37"
  - 
    key: "Tx sequence number:"
    value: "0"
  - 
    key: "Rx total bytes:"
    value: "856900"
  - 
    key: "Tx total bytes:"
    value: "169309"
  - 
    key: "Rx speed:"
    value: "32431.000000"
  - 
    key: "Tx speed:"
    value: "10156.000000"

level: 2
name: "mavros: GPS"
message: "No satellites"
hardware_id: "/dev/ttyUSB0:921600"
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/ttyUSB0:921600"
values:
```
key: "Heartbeats since startup"
value: "36"
```
- key: "Frequency (Hz)"
  value: "1.000050"
- 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/ttyUSB0:921600"
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: "66.0"
- key: "Drop rate (%)"
  value: "0.0"
- key: "Errors comm"
  value: "0"
- key: "Errors count mavconn library. #1"
  value: "0"
- key: "Errors count Pub/sub for Mavlink.msg #2"
  value: "0"
- key: "Errors count Plugin loading functionality. #3"
  value: "0"
- key: "Errors count Diagnostic mesages. #4"
  value: "0"
level: 0
name: "mavros: Battery"
message: "Normal"
hardware_id: "/dev/ttyUSB0:921600"
values:
```
key: "Voltage"
value: "16.60"
```
- key: "Current"
  value: "0.5"
- key: "Remaining"
  value: "94.0"
level: 0
name: "mavros: Time Sync"
message: "Normal"
hardware_id: "/dev/ttyUSB0:921600"
values:
```
key: "Timesyncs since startup"
value: "356"
```
- key: "Frequency (Hz)"
  value: "10.000511"
- key: "Last RTT (ms)"
  value: "3.448906"
- key: "Mean RTT (ms)"
  value: "4.845694"
- key: "Last remote time (s)"
  value: "85.278020000"
- key: "Estimated time offset (s)"
  value: "1598583455.910658360"

Check ID

rosrun mavros checkid

OK. I got messages from 1:1.

Received 5222 messages, from 1 addresses
sys:comp list of messages
1:1 0, 1, 2, 4, 140, 141, 147, 30, 31, 32, 36, 74, 331, 76, 77, 83, 340, 230, 105, 111, 241, 245

The text was updated successfully, but these errors were encountered:

DogukanAltay · 2021-01-21T08:52:43Z

Can you check couple of things?

Have you set EKF2_AID_MASK to 24 (vision pose, vision yaw checkboxes)
Have you set EKF2_HGT_MODE to vision?
Are you sure that your positioning data has the proper header time?

I have had the same issue as you. After I have did the 3rd my issue resolved.

AllenHuangDongyue · 2021-01-22T05:35:49Z

Can you check couple of things?

Have you set EKF2_AID_MASK to 24 (vision pose, vision yaw checkboxes)

Have you set EKF2_HGT_MODE to vision?

Are you sure that your positioning data has the proper header time?

I have had the same issue as you. After I have did the 3rd my issue resolved.

How can I check whether my positioning data has the proper header time? I used the official code.

DogukanAltay · 2021-01-26T07:36:35Z

If you are using rospy, below code snipped will yield a correct positioning data with proper header time:

message = PoseStamped()
message.header.stamp = rospy.Time.now()
message.pose.position.x = x  # any dummy value or your own positioning data
message.pose.position.y = y  # any dummy value or your own positioning data
message.pose.position.z = z  # any dummy value or your own positioning data

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mavros offboard mode can arm but can't take off #1475

mavros offboard mode can arm but can't take off #1475

haocou commented Aug 29, 2020

level: 2
name: "mavros: GPS"
message: "No satellites"
hardware_id: "/dev/ttyUSB0:921600"
values:

level: 0
name: "mavros: Heartbeat"
message: "Normal"
hardware_id: "/dev/ttyUSB0:921600"
values:

level: 2
name: "mavros: System"
message: "Sensor health"
hardware_id: "/dev/ttyUSB0:921600"
values:

level: 0
name: "mavros: Battery"
message: "Normal"
hardware_id: "/dev/ttyUSB0:921600"
values:

level: 0
name: "mavros: Time Sync"
message: "Normal"
hardware_id: "/dev/ttyUSB0:921600"
values:

DogukanAltay commented Jan 21, 2021

AllenHuangDongyue commented Jan 22, 2021

DogukanAltay commented Jan 26, 2021

mavros offboard mode can arm but can't take off #1475

mavros offboard mode can arm but can't take off #1475

Comments

haocou commented Aug 29, 2020

Issue details

MAVROS version and platform

Autopilot type and version

Node logs

SUMMARY

Diagnostics

header: seq: 33 stamp: secs: 1598583541 nsecs: 286288210 frame_id: '' status:

level: 2 name: "mavros: GPS" message: "No satellites" hardware_id: "/dev/ttyUSB0:921600" values:

level: 0 name: "mavros: Heartbeat" message: "Normal" hardware_id: "/dev/ttyUSB0:921600" values:

level: 2 name: "mavros: System" message: "Sensor health" hardware_id: "/dev/ttyUSB0:921600" values:

level: 0 name: "mavros: Battery" message: "Normal" hardware_id: "/dev/ttyUSB0:921600" values:

level: 0 name: "mavros: Time Sync" message: "Normal" hardware_id: "/dev/ttyUSB0:921600" values:

Check ID

DogukanAltay commented Jan 21, 2021

AllenHuangDongyue commented Jan 22, 2021

DogukanAltay commented Jan 26, 2021

header:
seq: 33
stamp:
secs: 1598583541
nsecs: 286288210
frame_id: ''
status:

level: 2
name: "mavros: GPS"
message: "No satellites"
hardware_id: "/dev/ttyUSB0:921600"
values:

level: 0
name: "mavros: Heartbeat"
message: "Normal"
hardware_id: "/dev/ttyUSB0:921600"
values:

level: 2
name: "mavros: System"
message: "Sensor health"
hardware_id: "/dev/ttyUSB0:921600"
values:

level: 0
name: "mavros: Battery"
message: "Normal"
hardware_id: "/dev/ttyUSB0:921600"
values:

level: 0
name: "mavros: Time Sync"
message: "Normal"
hardware_id: "/dev/ttyUSB0:921600"
values: