Question about topic mavros/imu/atm_pressure

[JM-SNU]

Hello, all.

I have some problems with obtaining pressure information from pixhawk.

I use qgroundcontrol software to set "pixhawk", and receive sensor data (e.g. gyro, acc, baro, ... ) using "mavros" package in ROS.

When I use 2.7.1 version, I can receive air pressure value from pixhawk (ROS topic is mavros/imu/atm_pressure).

However, after updating firmware and setting pixhawk using 3.0.1 version, the air pressure value is always zero.

That means, I can subscribe topic about air pressure but cannot receive correct pressure data.

I'm not sure, but I think it is problem with version of qgroundcontrol. (or parameter setting in updated version) or mavros package (other topics like mavros/imu/data, mavros/imu/mag are obtained correctly)

And, I tried to install updated mavros package, but I cannot install correctly, so now I use old version of mavros package (maybe I installed it on April, 2016)

If you think it is problem with mavros package (like version,..) , let me know how I can handle this problem.
( And if it is problem with qgroundcontrol, maybe I should ask them it)

Thank you.

[vooon]

a. What firmware (flight stack) are used? PX4 / APM? APM copter (which)?
b. rostipic echo -n1 /disgnostics in ``` code block
c. How you launch node? Log output may be useful too
d. Did you try to change message streams rate? mavsys rate --help
e. What the problem with update? Did you try to follow instructions? What ROS version used? OS version?

[JM-SNU]

a. I use PX4 Flight stack

b. I tried, and results is like this.

header: 
  seq: 144
  stamp: 
    secs: 1475141287
    nsecs: 629067252
  frame_id: ''
status: 
  - 
    level: 0
    name: mavros: FCU connection
    message: connected
    hardware_id: /dev/ttyUSB0:921600
    values: 
      - 
        key: Received packets:
        value: 56946
      - 
        key: Dropped packets:
        value: 0
      - 
        key: Buffer overruns:
        value: 0
      - 
        key: Parse errors:
        value: 0
      - 
        key: Rx sequence number:
        value: 39
      - 
        key: Tx sequence number:
        value: 1
      - 
        key: Rx total bytes:
        value: 2331720
      - 
        key: Tx total bytes:
        value: 43008
      - 
        key: Rx speed:
        value: 19142.000000
      - 
        key: Tx speed:
        value: 360.000000
  - 
    level: 0
    name: mavros: GCS bridge
    message: connected
    hardware_id: /dev/ttyUSB0:921600
    values: 
      - 
        key: Received packets:
        value: 0
      - 
        key: Dropped packets:
        value: 0
      - 
        key: Buffer overruns:
        value: 0
      - 
        key: Parse errors:
        value: 0
      - 
        key: Rx sequence number:
        value: 0
      - 
        key: Tx sequence number:
        value: 0
      - 
        key: Rx total bytes:
        value: 0
      - 
        key: Tx total bytes:
        value: 0
      - 
        key: Rx speed:
        value: 0.000000
      - 
        key: Tx speed:
        value: 0.000000
  - 
    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: 99.99
      - 
        key: EPV (m)
        value: 99.99
  - 
    level: 0
    name: mavros: Heartbeat
    message: Normal
    hardware_id: /dev/ttyUSB0:921600
    values: 
      - 
        key: Heartbeats since startup
        value: 182
      - 
        key: Frequency (Hz)
        value: 0.999933
      - 
        key: Vehicle type
        value: Quadrotor
      - 
        key: Autopilot type
        value: PX4
      - 
        key: Mode
        value: MANUAL
      - 
        key: System status
        value: Standby
  - 
    level: 0
    name: mavros: System
    message: Normal
    hardware_id: /dev/ttyUSB0:921600
    values: 
      - 
        key: Sensor present
        value: 0x00000000
      - 
        key: Sensor enabled
        value: 0x00000000
      - 
        key: Sensor helth
        value: 0x00000000
      - 
        key: CPU Load (%)
        value: 47.4
      - 
        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/ttyUSB0:921600
    values: 
      - 
        key: Voltage
        value: 65.54
      - 
        key: Current
        value: -0.0
      - 
        key: Remaining
        value: -1.0
---

c. Now, for checking pressure information, I just run mavros node. That is,
: enter "rosrun mavros mavros_node _fcu_url:=/dev/ttyUSB0:921600" in terminal
And output is like this

[ INFO] [1475141105.354117869]: FCU URL: /dev/ttyUSB0:921600
[ INFO] [1475141105.354557448]: serial0: device: /dev/ttyUSB0 @ 921600 bps
[ INFO] [1475141105.356091423]: GCS URL: udp://@
[ INFO] [1475141105.356421997]: udp1: Bind address: 0.0.0.0:14555
[ INFO] [1475141105.402012033]: Plugin 3dr_radio loaded and initialized
[ INFO] [1475141105.405309260]: Plugin actuator_control loaded and initialized
[ INFO] [1475141105.406515604]: Plugin altitude loaded and initialized
[ INFO] [1475141105.464364400]: Plugin cam_imu_sync loaded and initialized
[ INFO] [1475141105.470699071]: Plugin command loaded and initialized
[ WARN] [1475141105.471546855]: DS: plugin not configured!
[ INFO] [1475141105.471588999]: Plugin distance_sensor loaded and initialized
[ INFO] [1475141105.482967052]: Plugin ftp loaded and initialized
[ INFO] [1475141105.488838573]: Plugin global_position loaded and initialized
[ INFO] [1475141105.526470625]: Plugin image_pub loaded and initialized
[ INFO] [1475141105.532537462]: Plugin imu_pub loaded and initialized
[ INFO] [1475141105.535840148]: Plugin local_position loaded and initialized
[ INFO] [1475141105.537014213]: Plugin manual_control loaded and initialized
[ INFO] [1475141105.543202702]: Plugin mocap_pose_estimate loaded and initialized
[ INFO] [1475141105.546952980]: Plugin param loaded and initialized
[ INFO] [1475141105.550553225]: IMU: High resolution IMU detected!
[ INFO] [1475141105.551337278]: Plugin px4flow loaded and initialized
[ INFO] [1475141105.557104506]: Plugin rc_io loaded and initialized
[ INFO] [1475141105.562270413]: Plugin safety_area loaded and initialized
[ INFO] [1475141105.565796074]: Plugin setpoint_accel loaded and initialized
[ INFO] [1475141105.576459191]: Plugin setpoint_attitude loaded and initialized
[ INFO] [1475141105.580801829]: Plugin setpoint_position loaded and initialized
[ INFO] [1475141105.593958916]: Plugin setpoint_raw loaded and initialized
[ INFO] [1475141105.596844944]: Plugin setpoint_velocity loaded and initialized
[ INFO] [1475141105.599290419]: RC_CHANNELS message detected!
[ INFO] [1475141105.603144600]: Plugin sys_status loaded and initialized
[ INFO] [1475141105.606544665]: Plugin sys_time loaded and initialized
[ INFO] [1475141105.608024904]: Plugin vfr_hud loaded and initialized
[ INFO] [1475141105.609417190]: Plugin vibration loaded and initialized
[ INFO] [1475141105.617150974]: Plugin vision_pose_estimate loaded and initialized
[ INFO] [1475141105.621955895]: Plugin vision_speed_estimate loaded and initialized
[ INFO] [1475141105.627430012]: Plugin waypoint loaded and initialized
[ INFO] [1475141105.627572355]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1475141105.627591971]: Built-in MAVLink dialect: ardupilotmega
[ INFO] [1475141105.627603467]: MAVROS started. MY ID [1, 240], TARGET ID [1, 1]
[ WARN] [1475141105.711080657]: GP: No GPS fix
[ INFO] [1475141106.306266415]: CON: Got HEARTBEAT, connected.
[ INFO] [1475141106.313138258]: IMU: High resolution IMU detected!
[ INFO] [1475141106.321958757]: RC_CHANNELS message detected!
[ INFO] [1475141107.316368499]: VER: 1.1: Capabilities 0x00000000000004eb
[ INFO] [1475141107.316683761]: VER: 1.1: Flight software:     01040100 (0c2aa165feee1cb4)
[ INFO] [1475141107.316857261]: VER: 1.1: Middleware software: 01040100 (0c2aa165feee1cb4)
[ INFO] [1475141107.317012909]: VER: 1.1: OS software:         ffffffff (0000000000000000)
[ INFO] [1475141107.317126564]: VER: 1.1: Board hardware:      00000011
[ INFO] [1475141107.317236919]: VER: 1.1: VID/PID: 26ac:0011
[ INFO] [1475141107.317403194]: VER: 1.1: UID: 3333471335313431
[ INFO] [1475141121.312279485]: WP: mission received

d. I enter like "rosrun mavros mavsys rate --all 10", but nothing's changed...

e. I don't know.. I usually download mavros package using git clone and catkin_make, but the instruction is not same. So I don't know how I can install mavros package using this method.
I tried source installation method, but doesn't work -- wstool update -t src doesn't work. Then, catkin build/make doesn't work, too

And ROS version is indigo / OS version is Ubuntu 14.04
And I tried "rosinstall_generator --rosdistro indigo --upstream mavlink | tee /tmp/mavros.rosinstall" (not kinetic, use indigo), but it does not work due to same reason (wstool update).

Thanks.

[vooon]

I do not see any problem in diag & log. To run better to use roslaunch mavros px4.launch fcu_url:=<url> since it will load some defaults.

d. Perhaps only work on APM.

Atmospheric pressure is a part of HIGHRES_IMU message, and i see log message about it's detection.
Check firmware side, and ensure that bit mask still valid.

e. Indigo too outdated, but current mavros still may work on it. Use --rosdistro kinetic on both calls.
Version in Indigo repo too outdated to compile. So you should use Kinetic.

What error give wstool?

[LorenzMeier]

@JM-SNU Can you connect to QGroundControl and look at the highres IMU message?

@vooon PX4 implements the altitude message:
http://mavlink.org/messages/common#ALTITUDE

[vooon]

@LorenzMeier and it is supported by altitude plugin :)

[JM-SNU]

@vooon I tried using "roslaunch mavros px4.launch fcu_url:=/dev/ttyUSB0:921600" but results are same.. air pressure value is still zero.

d. OK. And How can I check firmware side? I already tried to calibrate sensor, set parameter or upload firmware, etc.. but it doesn't work.. I'm curious that other IMU topics (mavros/imu/data, mavros/imu/mag,...) are obtained correctly, but the only mavros/imu/atm_pressure data is not available..

e. As I remember, error is about "2016.9.9 version check".

@LorenzMeier I tried analyzing data using qgroundcontrol. Then, other IMU values are obtained correctly. (e.g. x/y/z acc/gyro/mag) However, abs_pressure is still zero. I think it is problem with firmware from the qgroundcontrol...
But the strange thing is that pressure_alt value has non-zero value but abs_pressure is always zero. Do you know why? Thanks.

[vooon]

e. Try to remove mavros and mavlink folders, then edit ws/src/.rosinstall file to remove that entries.

Then try installation instructions again.

[vooon]

Anyway for what do you want pressure data?

[JM-SNU]

@vooon Thanks, I will try to install mavros following your advice.
And I want pressure data to obtain z-position measurement using raw-sensor data (not using pixhawk estimator) Thanks.

[hridaybavle]

Hi, I was having the same problem, that after updating the firmaware of pixhawk to 1.4.4, it stopped publishing atm pressure, for now I went back to 1.3 version to get the pressure data again.

Let me know if you find the solution.