Unable to generate non-ekf replay logs

[asimopunov]

To Reproduce use a real flight test log

cd Firmware export replay=[path_to_real_flight_test_log] make px4_sitl_default

create orb_publisher.rules file in build/px4_sitl_default_replay/tmp/rootfs

For example:

restrict_topics: battery_status
module: replay
ignore_others: true

make px4_sitl none

Example log: https://logs.px4.io/plot_app?log=a7586dcb-6a71-4829-b797-793475b8887c

_replayed log should be generated in Firmware/build/px4_sitl_default_replay/logs/

V.1.11.0 Log is generated if in ekf2 replay mode

[mengchaoheng]

now, in master branch, this problem still, here is my outout in terminaltor: mch@mch-virtual-machine:~/DF/PX4-Autopilot$ make px4_sitl none [1/2] cd /home/mch/DF/PX4-Autopilot/build/px4_sitl_default_replay/tmp && /home/mch/DF/PX4-Autopilot/Too...none none none none /home/mch/DF/PX4-Autopilot /home/mch/DF/PX4-Autopilot/build/px4_sitl_default_replay SITL ARGS sitl_bin: /home/mch/DF/PX4-Autopilot/build/px4_sitl_default_replay/bin/px4 debugger: none program: none model: none world: none src_path: /home/mch/DF/PX4-Autopilot build_path: /home/mch/DF/PX4-Autopilot/build/px4_sitl_default_replay empty model, setting iris as default SITL COMMAND: "/home/mch/DF/PX4-Autopilot/build/px4_sitl_default_replay/bin/px4" "/home/mch/DF/PX4-Autopilot/build/px4_sitl_default_replay"/etc -s etc/init.d-posix/rcS -t "/home/mch/DF/PX4-Autopilot"/test_data INFO [px4] Creating symlink /home/mch/DF/PX4-Autopilot/build/px4_sitl_default_replay/etc -> /home/mch/DF/PX4-Autopilot/build/px4_sitl_default_replay/tmp/rootfs/etc INFO [uORB] Using orb rules from ./orb_publisher.rules

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px4 starting.

INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0 Info: found model autostart file as SYS_AUTOSTART=10016 INFO [param] selected parameter default file eeprom/parameters_10016 [param] parameter file not found, creating eeprom/parameters_10016 SYS_AUTOCONFIG: curr: 0 -> new: 1 SYS_AUTOSTART: curr: 0 -> new: 10016 CAL_ACC0_ID: curr: 0 -> new: 1310988 CAL_GYRO0_ID: curr: 0 -> new: 1310988 CAL_ACC1_ID: curr: 0 -> new: 1310996 CAL_GYRO1_ID: curr: 0 -> new: 1310996 CAL_ACC2_ID: curr: 0 -> new: 1311004 CAL_GYRO2_ID: curr: 0 -> new: 1311004 CAL_MAG0_ID: curr: 0 -> new: 197388 CAL_MAG1_ID: curr: 0 -> new: 197644 SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000 SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010 parameter default: BAT_N_CELLS 0 -> 4 parameter default: CBRK_SUPPLY_CHK 0 -> 894281 parameter default: COM_CPU_MAX 90.00 -> -1.00 parameter default: COM_RC_IN_MODE 0 -> 1 parameter default: EKF2_REQ_GPS_H 10.00 -> 0.50 parameter default: EKF2_MULTI_IMU 0 -> 3 parameter default: SENS_IMU_MODE 1 -> 0 parameter default: EKF2_MULTI_MAG 0 -> 2 parameter default: SENS_MAG_MODE 1 -> 0 parameter default: SDLOG_MODE 0 -> 1 parameter default: SDLOG_PROFILE 1 -> 131 parameter default: SDLOG_DIRS_MAX 0 -> 7 parameter default: TRIG_INTERFACE 4 -> 3 parameter default: IMU_GYRO_RATEMAX 400 -> 800 parameter default: NAV_ACC_RAD 10.00 -> 2.00 parameter default: RTL_RETURN_ALT 60.00 -> 30.00 parameter default: RTL_DESCEND_ALT 30.00 -> 10.00 parameter default: PWM_MAIN_MAX 2000 -> 1950 parameter default: PWM_MAIN_MIN 1000 -> 1075 parameter default: GPS_UBX_DYNMODEL 7 -> 6

• SYS_AUTOCONFIG: curr: 1 -> new: 0 IMU_INTEG_RATE: curr: 200 -> new: 250 INFO [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes INFO [replay] using replay log file: /home/mch/Documents/a7586dcb-6a71-4829-b797-793475b8887c.ulg INFO [replay] Applying params from ULog file... INFO [commander] LED: open /dev/led0 failed (22) INFO [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0 INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550 INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540 INFO [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030 INFO [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280 INFO [logger] logger started (mode=all) INFO [replay] Applying params from ULog file... INFO [px4] Startup script returned successfully pxh> INFO [replay] Replay in progress... ERROR [replay] Formats for estimator_innovation_test_ratios don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;uint64_t timestamp_sample;float[2] gps_hvel;float gps_vvel;float[2] gps_hpos;float gps_vpos;float[2] ev_hvel;float ev_vvel;float[2] ev_hpos;float ev_vpos;float rng_vpos;float baro_vpos;float[2] aux_hvel;float aux_vvel;float[2] flow;float heading;float[3] mag_field;float[2] drag;float airspeed;float beta;float hagl; WARN [replay] File format : uint64_t timestamp;float[2] gps_hvel;float gps_vvel;float[2] gps_hpos;float gps_vpos;float[2] ev_hvel;float ev_vvel;float[2] ev_hpos;float ev_vpos;float[2] fake_hvel;float fake_vvel;float[2] fake_hpos;float fake_vpos;float rng_vpos;float baro_vpos;float[2] aux_hvel;float aux_vvel;float[2] flow;float heading;float[3] mag_field;float[2] drag;float airspeed;float beta;float hagl; ERROR [replay] Formats for estimator_innovation_variances don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;uint64_t timestamp_sample;float[2] gps_hvel;float gps_vvel;float[2] gps_hpos;float gps_vpos;float[2] ev_hvel;float ev_vvel;float[2] ev_hpos;float ev_vpos;float rng_vpos;float baro_vpos;float[2] aux_hvel;float aux_vvel;float[2] flow;float heading;float[3] mag_field;float[2] drag;float airspeed;float beta;float hagl; WARN [replay] File format : uint64_t timestamp;float[2] gps_hvel;float gps_vvel;float[2] gps_hpos;float gps_vpos;float[2] ev_hvel;float ev_vvel;float[2] ev_hpos;float ev_vpos;float[2] fake_hvel;float fake_vvel;float[2] fake_hpos;float fake_vpos;float rng_vpos;float baro_vpos;float[2] aux_hvel;float aux_vvel;float[2] flow;float heading;float[3] mag_field;float[2] drag;float airspeed;float beta;float hagl; ERROR [replay] Formats for estimator_innovations don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;uint64_t timestamp_sample;float[2] gps_hvel;float gps_vvel;float[2] gps_hpos;float gps_vpos;float[2] ev_hvel;float ev_vvel;float[2] ev_hpos;float ev_vpos;float rng_vpos;float baro_vpos;float[2] aux_hvel;float aux_vvel;float[2] flow;float heading;float[3] mag_field;float[2] drag;float airspeed;float beta;float hagl; WARN [replay] File format : uint64_t timestamp;float[2] gps_hvel;float gps_vvel;float[2] gps_hpos;float gps_vpos;float[2] ev_hvel;float ev_vvel;float[2] ev_hpos;float ev_vpos;float[2] fake_hvel;float fake_vvel;float[2] fake_hpos;float fake_vpos;float rng_vpos;float baro_vpos;float[2] aux_hvel;float aux_vvel;float[2] flow;float heading;float[3] mag_field;float[2] drag;float airspeed;float beta;float hagl; ERROR [replay] Formats for estimator_sensor_bias don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;uint64_t timestamp_sample;uint32_t gyro_device_id;float[3] gyro_bias;float gyro_bias_limit;float[3] gyro_bias_variance;uint32_t accel_device_id;float[3] accel_bias;float accel_bias_limit;float[3] accel_bias_variance;uint32_t mag_device_id;float[3] mag_bias;float mag_bias_limit;float[3] mag_bias_variance;bool gyro_bias_valid;bool accel_bias_valid;bool mag_bias_valid;uint8_t[5] _padding0; WARN [replay] File format : uint64_t timestamp;uint32_t gyro_device_id;float[3] gyro_bias;uint32_t accel_device_id;float[3] accel_bias;uint32_t mag_device_id;float[3] mag_bias; ERROR [replay] Formats for estimator_status don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;uint64_t timestamp_sample;float[3] vibe;float[3] output_tracking_error;uint32_t control_mode_flags;uint32_t filter_fault_flags;float pos_horiz_accuracy;float pos_vert_accuracy;float mag_test_ratio;float vel_test_ratio;float pos_test_ratio;float hgt_test_ratio;float tas_test_ratio;float hagl_test_ratio;float beta_test_ratio;float time_slip;uint32_t accel_device_id;uint32_t gyro_device_id;uint32_t baro_device_id;uint32_t mag_device_id;uint16_t gps_check_fail_flags;uint16_t innovation_check_flags;uint16_t solution_status_flags;uint8_t reset_count_vel_ne;uint8_t reset_count_vel_d;uint8_t reset_count_pos_ne;uint8_t reset_count_pod_d;uint8_t reset_count_quat;bool pre_flt_fail_innov_heading;bool pre_flt_fail_innov_vel_horiz;bool pre_flt_fail_innov_vel_vert;bool pre_flt_fail_innov_height;bool pre_flt_fail_mag_field_disturbed;uint8_t health_flags;uint8_t timeout_flags;uint8_t[6] _padding0; WARN [replay] File format : uint64_t timestamp;float[24] states;float[3] vibe;float[24] covariances;float[3] output_tracking_error;uint32_t control_mode_flags;float pos_horiz_accuracy;float pos_vert_accuracy;float mag_test_ratio;float vel_test_ratio;float pos_test_ratio;float hgt_test_ratio;float tas_test_ratio;float hagl_test_ratio;float beta_test_ratio;float time_slip;uint16_t gps_check_fail_flags;uint16_t filter_fault_flags;uint16_t innovation_check_flags;uint16_t solution_status_flags;uint8_t n_states;bool pre_flt_fail_innov_heading;bool pre_flt_fail_innov_vel_horiz;bool pre_flt_fail_innov_vel_vert;bool pre_flt_fail_innov_height;bool pre_flt_fail_mag_field_disturbed;uint8_t health_flags;uint8_t timeout_flags;uint8_t[4] _padding0; ERROR [replay] Formats for home_position don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;double lat;double lon;float alt;float x;float y;float z;float yaw;bool valid_alt;bool valid_hpos;bool valid_lpos;bool manual_home; WARN [replay] File format : uint64_t timestamp;double lat;double lon;float alt;float x;float y;float z;float yaw;bool valid_alt;bool valid_hpos;bool manual_home;uint8_t[1] _padding0; ERROR [replay] Formats for hover_thrust_estimate don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;uint64_t timestamp_sample;float hover_thrust;float hover_thrust_var;float accel_innov;float accel_innov_var;float accel_innov_test_ratio;float accel_noise_var;bool valid;uint8_t[7] _padding0; WARN [replay] File format : uint64_t timestamp;float hover_thrust;float hover_thrust_var;float accel_innov;float accel_innov_var;float accel_innov_test_ratio;float accel_noise_var; ERROR [replay] Formats for input_rc don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;uint64_t timestamp_last_signal;int32_t rssi;uint16_t rc_lost_frame_count;uint16_t rc_total_frame_count;uint16_t rc_ppm_frame_length;uint16_t[18] values;uint8_t channel_count;bool rc_failsafe;bool rc_lost;uint8_t input_source;uint8_t[6] _padding0; WARN [replay] File format : uint64_t timestamp;uint64_t timestamp_last_signal;uint32_t channel_count;int32_t rssi;uint16_t rc_lost_frame_count;uint16_t rc_total_frame_count;uint16_t rc_ppm_frame_length;uint16_t[18] values;bool rc_failsafe;bool rc_lost;uint8_t input_source;uint8_t[3] _padding0; WARN [replay] Topic log_message_incoming not found internally. Will ignore it ERROR [replay] Formats for manual_control_setpoint don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;uint64_t timestamp_sample;float x;float y;float z;float r;float flaps;float aux1;float aux2;float aux3;float aux4;float aux5;float aux6;uint8_t data_source;uint8_t[3] _padding0; WARN [replay] File format : uint64_t timestamp;float x;float y;float z;float r;float flaps;float aux1;float aux2;float aux3;float aux4;float aux5;float aux6;uint8_t mode_switch;uint8_t return_switch;uint8_t rattitude_switch;uint8_t posctl_switch;uint8_t loiter_switch;uint8_t acro_switch;uint8_t offboard_switch;uint8_t kill_switch;uint8_t arm_switch;uint8_t transition_switch;uint8_t gear_switch;uint8_t mode_slot;uint8_t data_source;uint8_t stab_switch;uint8_t man_switch;uint8_t[5] _padding0; WARN [replay] Topic sensor_preflight not found internally. Will ignore it ERROR [replay] Formats for sensor_selection don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;uint32_t accel_device_id;uint32_t gyro_device_id; WARN [replay] File format : uint64_t timestamp;uint32_t accel_device_id;uint32_t gyro_device_id;uint32_t mag_device_id;uint8_t[4] _padding0; ERROR [replay] Formats for system_power don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;float voltage5v_v;float[4] sensors3v3;uint8_t sensors3v3_valid;uint8_t usb_connected;uint8_t brick_valid;uint8_t usb_valid;uint8_t servo_valid;uint8_t periph_5v_oc;uint8_t hipower_5v_oc;uint8_t comp_5v_valid;uint8_t can1_gps1_5v_valid;uint8_t[3] _padding0; WARN [replay] File format : uint64_t timestamp;float voltage5v_v;float voltage3v3_v;uint8_t v3v3_valid;uint8_t usb_connected;uint8_t brick_valid;uint8_t usb_valid;uint8_t servo_valid;uint8_t periph_5v_oc;uint8_t hipower_5v_oc;uint8_t[1] _padding0; ERROR [replay] Formats for vehicle_attitude don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;uint64_t timestamp_sample;float[4] q;float[4] delta_q_reset;uint8_t quat_reset_counter;uint8_t[7] _padding0; WARN [replay] File format : uint64_t timestamp;float[4] q;float[4] delta_q_reset;uint8_t quat_reset_counter;uint8_t[7] _padding0; ERROR [replay] Formats for vehicle_global_position don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;uint64_t timestamp_sample;double lat;double lon;float alt;float alt_ellipsoid;float delta_alt;float eph;float epv;float terrain_alt;uint8_t lat_lon_reset_counter;uint8_t alt_reset_counter;bool terrain_alt_valid;bool dead_reckoning;uint8_t[4] _padding0; WARN [replay] File format : uint64_t timestamp;double lat;double lon;float alt;float alt_ellipsoid;float delta_alt;float eph;float epv;float terrain_alt;uint8_t lat_lon_reset_counter;uint8_t alt_reset_counter;bool terrain_alt_valid;bool dead_reckoning;uint8_t[4] _padding0; ERROR [replay] Formats for vehicle_local_position don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;uint64_t timestamp_sample;uint64_t ref_timestamp;double ref_lat;double ref_lon;float x;float y;float z;float[2] delta_xy;float delta_z;float vx;float vy;float vz;float z_deriv;float[2] delta_vxy;float delta_vz;float ax;float ay;float az;float heading;float delta_heading;float ref_alt;float dist_bottom;float eph;float epv;float evh;float evv;float vxy_max;float vz_max;float hagl_min;float hagl_max;bool xy_valid;bool z_valid;bool v_xy_valid;bool v_z_valid;uint8_t xy_reset_counter;uint8_t z_reset_counter;uint8_t vxy_reset_counter;uint8_t vz_reset_counter;uint8_t heading_reset_counter;bool xy_global;bool z_global;bool dist_bottom_valid;uint8_t dist_bottom_sensor_bitfield;uint8_t[3] _padding0; WARN [replay] File format : uint64_t timestamp;uint64_t ref_timestamp;double ref_lat;double ref_lon;float x;float y;float z;float[2] delta_xy;float delta_z;float vx;float vy;float vz;float z_deriv;float[2] delta_vxy;float delta_vz;float ax;float ay;float az;float heading;float delta_heading;float ref_alt;float dist_bottom;float eph;float epv;float evh;float evv;float vxy_max;float vz_max;float hagl_min;float hagl_max;bool xy_valid;bool z_valid;bool v_xy_valid;bool v_z_valid;uint8_t xy_reset_counter;uint8_t z_reset_counter;uint8_t vxy_reset_counter;uint8_t vz_reset_counter;uint8_t heading_reset_counter;bool xy_global;bool z_global;bool dist_bottom_valid;uint8_t dist_bottom_sensor_bitfield;uint8_t[3] _padding0; ERROR [replay] Formats for vehicle_magnetometer don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float[3] magnetometer_ga;uint8_t calibration_count;uint8_t[7] _padding0; WARN [replay] File format : uint64_t timestamp;float[3] magnetometer_ga;uint8_t[4] _padding0; ERROR [replay] Formats for vehicle_status don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;uint64_t nav_state_timestamp;uint64_t failsafe_timestamp;uint64_t armed_time;uint64_t takeoff_time;uint32_t onboard_control_sensors_present;uint32_t onboard_control_sensors_enabled;uint32_t onboard_control_sensors_health;uint8_t nav_state;uint8_t arming_state;uint8_t hil_state;bool failsafe;uint8_t system_type;uint8_t system_id;uint8_t component_id;uint8_t vehicle_type;bool is_vtol;bool is_vtol_tailsitter;bool vtol_fw_permanent_stab;bool in_transition_mode;bool in_transition_to_fw;bool rc_signal_lost;uint8_t rc_input_mode;bool data_link_lost;uint8_t data_link_lost_counter;bool high_latency_data_link_lost;bool engine_failure;bool mission_failure;uint8_t failure_detector_status;uint8_t latest_arming_reason;uint8_t latest_disarming_reason;uint8_t[5] _padding0; WARN [replay] File format : uint64_t timestamp;uint64_t nav_state_timestamp;uint64_t failsafe_timestamp;uint32_t onboard_control_sensors_present;uint32_t onboard_control_sensors_enabled;uint32_t onboard_control_sensors_health;uint8_t nav_state;uint8_t arming_state;uint8_t hil_state;bool failsafe;uint8_t system_type;uint8_t system_id;uint8_t component_id;uint8_t vehicle_type;bool is_vtol;bool is_vtol_tailsitter;bool vtol_fw_permanent_stab;bool in_transition_mode;bool in_transition_to_fw;bool rc_signal_lost;uint8_t rc_input_mode;bool data_link_lost;uint8_t data_link_lost_counter;bool high_latency_data_link_lost;bool engine_failure;bool mission_failure;uint8_t failure_detector_status;uint8_t latest_arming_reason;uint8_t latest_disarming_reason;uint8_t[5] _padding0; ERROR [replay] Formats for vehicle_status_flags don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;bool condition_calibration_enabled;bool condition_system_sensors_initialized;bool condition_system_hotplug_timeout;bool condition_system_returned_to_home;bool condition_auto_mission_available;bool condition_angular_velocity_valid;bool condition_attitude_valid;bool condition_local_altitude_valid;bool condition_local_position_valid;bool condition_local_velocity_valid;bool condition_global_position_valid;bool condition_home_position_valid;bool condition_power_input_valid;bool condition_battery_healthy;bool condition_escs_error;bool circuit_breaker_engaged_power_check;bool circuit_breaker_engaged_airspd_check;bool circuit_breaker_engaged_enginefailure_check;bool circuit_breaker_flight_termination_disabled;bool circuit_breaker_engaged_usb_check;bool circuit_breaker_engaged_posfailure_check;bool circuit_breaker_vtol_fw_arming_check;bool offboard_control_signal_found_once;bool offboard_control_signal_lost;bool offboard_control_set_by_command;bool rc_signal_found_once;bool rc_input_blocked;bool rc_calibration_valid;bool vtol_transition_failure;bool usb_connected;bool avoidance_system_required;bool avoidance_system_valid; WARN [replay] File format : uint64_t timestamp;bool condition_calibration_enabled;bool condition_system_sensors_initialized;bool condition_system_hotplug_timeout;bool condition_system_returned_to_home;bool condition_auto_mission_available;bool condition_global_position_valid;bool condition_home_position_valid;bool condition_local_position_valid;bool condition_local_velocity_valid;bool condition_local_altitude_valid;bool condition_power_input_valid;bool condition_battery_healthy;bool condition_escs_error;bool condition_escs_failure;bool circuit_breaker_engaged_power_check;bool circuit_breaker_engaged_airspd_check;bool circuit_breaker_engaged_enginefailure_check;bool circuit_breaker_flight_termination_disabled;bool circuit_breaker_engaged_usb_check;bool circuit_breaker_engaged_posfailure_check;bool circuit_breaker_vtol_fw_arming_check;bool offboard_control_signal_found_once;bool offboard_control_signal_lost;bool offboard_control_set_by_command;bool rc_signal_found_once;bool rc_input_blocked;bool rc_calibration_valid;bool vtol_transition_failure;bool usb_connected;bool avoidance_system_required;bool avoidance_system_valid;bool onboard_logging_system_required;bool onboard_logging_system_valid;uint8_t[7] _padding0; ERROR [replay] Formats for yaw_estimator_status don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;uint64_t timestamp_sample;float yaw_composite;float yaw_variance;float[5] yaw;float[5] innov_vn;float[5] innov_ve;float[5] weight; WARN [replay] File format : uint64_t timestamp;float yaw_composite;float yaw_variance;float[5] yaw;float[5] innov_vn;float[5] innov_ve;float[5] weight; ERROR [replay] Formats for logger_status don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;float total_written_kb;float write_rate_kb_s;uint32_t dropouts;uint32_t message_gaps;uint32_t buffer_used_bytes;uint32_t buffer_size_bytes;uint8_t type;uint8_t backend;uint8_t num_messages;uint8_t[5] _padding0; WARN [replay] File format : uint64_t timestamp;float total_written_kb;float write_rate_kb_s;uint32_t dropouts;uint32_t buffer_used_bytes;uint32_t buffer_size_bytes;uint8_t type;uint8_t backend;uint8_t num_messages;uint8_t[1] _padding0; ERROR [replay] Formats for telemetry_status don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;float data_rate;float rate_multiplier;float tx_rate_avg;float tx_error_rate_avg;uint32_t tx_message_count;uint32_t tx_buffer_overruns;float rx_rate_avg;uint32_t rx_message_count;uint32_t rx_message_count_supported;uint32_t rx_message_lost_count;uint32_t rx_buffer_overruns;uint32_t rx_parse_errors;uint32_t rx_packet_drop_count;float rx_message_lost_rate;uint8_t type;uint8_t mode;bool flow_control;bool forwarding;bool mavlink_v2;bool ftp;uint8_t streams;bool heartbeat_type_antenna_tracker;bool heartbeat_type_gcs;bool heartbeat_type_onboard_controller;bool heartbeat_type_gimbal;bool heartbeat_type_adsb;bool heartbeat_type_camera;bool heartbeat_component_telemetry_radio;bool heartbeat_component_log;bool heartbeat_component_osd;bool heartbeat_component_obstacle_avoidance;bool heartbeat_component_vio;bool heartbeat_component_pairing_manager;bool heartbeat_component_udp_bridge;bool heartbeat_component_uart_bridge;bool avoidance_system_healthy;uint8_t[2] _padding0; WARN [replay] File format : uint64_t timestamp;uint64_t heartbeat_time;float data_rate;float rate_multiplier;float rate_rx;float rate_tx;float rate_txerr;uint8_t remote_system_id;uint8_t remote_component_id;uint8_t remote_type;uint8_t remote_system_status;uint8_t type;uint8_t mode;bool flow_control;bool forwarding;bool mavlink_v2;bool ftp;uint8_t streams;uint8_t[1] _padding0; WARN [replay] Topic wind_estimate not found internally. Will ignore it ERROR [replay] Formats for battery_status don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;float voltage_v;float voltage_filtered_v;float current_a;float current_filtered_a;float average_current_a;float discharged_mah;float remaining;float scale;float temperature;int32_t cell_count;float[10] voltage_cell_v;float max_cell_voltage_delta;uint16_t capacity;uint16_t cycle_count;uint16_t run_time_to_empty;uint16_t average_time_to_empty;uint16_t serial_number;uint16_t manufacture_date;uint16_t state_of_health;uint16_t max_error;uint16_t interface_error;bool connected;uint8_t source;uint8_t priority;uint8_t id;bool is_powering_off;uint8_t warning;uint8_t[4] _padding0; WARN [replay] File format : uint64_t timestamp;float voltage_v;float voltage_filtered_v;float current_a;float current_filtered_a;float average_current_a;float discharged_mah;float remaining;float scale;float temperature;int32_t cell_count;float[10] voltage_cell_v;float max_cell_voltage_delta;uint16_t capacity;uint16_t cycle_count;uint16_t run_time_to_empty;uint16_t average_time_to_empty;uint16_t serial_number;uint16_t state_of_health;uint16_t max_error;bool connected;uint8_t source;uint8_t priority;uint8_t id;bool is_powering_off;uint8_t warning; ERROR [replay] Formats for battery_status don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;float voltage_v;float voltage_filtered_v;float current_a;float current_filtered_a;float average_current_a;float discharged_mah;float remaining;float scale;float temperature;int32_t cell_count;float[10] voltage_cell_v;float max_cell_voltage_delta;uint16_t capacity;uint16_t cycle_count;uint16_t run_time_to_empty;uint16_t average_time_to_empty;uint16_t serial_number;uint16_t manufacture_date;uint16_t state_of_health;uint16_t max_error;uint16_t interface_error;bool connected;uint8_t source;uint8_t priority;uint8_t id;bool is_powering_off;uint8_t warning;uint8_t[4] _padding0; WARN [replay] File format : uint64_t timestamp;float voltage_v;float voltage_filtered_v;float current_a;float current_filtered_a;float average_current_a;float discharged_mah;float remaining;float scale;float temperature;int32_t cell_count;float[10] voltage_cell_v;float max_cell_voltage_delta;uint16_t capacity;uint16_t cycle_count;uint16_t run_time_to_empty;uint16_t average_time_to_empty;uint16_t serial_number;uint16_t state_of_health;uint16_t max_error;bool connected;uint8_t source;uint8_t priority;uint8_t id;bool is_powering_off;uint8_t warning; ERROR [replay] Formats for distance_sensor don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;uint32_t device_id;float min_distance;float max_distance;float current_distance;float variance;float h_fov;float v_fov;float[4] q;int8_t signal_quality;uint8_t type;uint8_t orientation;uint8_t[1] _padding0; WARN [replay] File format : uint64_t timestamp;float min_distance;float max_distance;float current_distance;float variance;float h_fov;float v_fov;float[4] q;int8_t signal_quality;uint8_t type;uint8_t id;uint8_t orientation;uint8_t[4] _padding0; ERROR [replay] Formats for sensor_accel don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float x;float y;float z;float temperature;uint32_t error_count;uint8_t[3] clip_counter;uint8_t samples;uint8_t[4] _padding0; WARN [replay] File format : uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float x;float y;float z;float temperature;uint32_t error_count;uint8_t[3] clip_counter;uint8_t[5] _padding0; ERROR [replay] Formats for sensor_accel don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float x;float y;float z;float temperature;uint32_t error_count;uint8_t[3] clip_counter;uint8_t samples;uint8_t[4] _padding0; WARN [replay] File format : uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float x;float y;float z;float temperature;uint32_t error_count;uint8_t[3] clip_counter;uint8_t[5] _padding0; ERROR [replay] Formats for sensor_accel don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float x;float y;float z;float temperature;uint32_t error_count;uint8_t[3] clip_counter;uint8_t samples;uint8_t[4] _padding0; WARN [replay] File format : uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float x;float y;float z;float temperature;uint32_t error_count;uint8_t[3] clip_counter;uint8_t[5] _padding0; ERROR [replay] Formats for sensor_baro don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;uint32_t error_count;float pressure;float temperature; WARN [replay] File format : uint64_t timestamp;uint64_t error_count;uint32_t device_id;float pressure;float temperature;uint8_t[4] _padding0; ERROR [replay] Formats for sensor_baro don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;uint32_t error_count;float pressure;float temperature; WARN [replay] File format : uint64_t timestamp;uint64_t error_count;uint32_t device_id;float pressure;float temperature;uint8_t[4] _padding0; ERROR [replay] Formats for sensor_gyro don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float x;float y;float z;float temperature;uint32_t error_count;uint8_t samples;uint8_t[7] _padding0; WARN [replay] File format : uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float x;float y;float z;float temperature;uint32_t error_count; ERROR [replay] Formats for sensor_gyro don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float x;float y;float z;float temperature;uint32_t error_count;uint8_t samples;uint8_t[7] _padding0; WARN [replay] File format : uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float x;float y;float z;float temperature;uint32_t error_count; ERROR [replay] Formats for sensor_gyro don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float x;float y;float z;float temperature;uint32_t error_count;uint8_t samples;uint8_t[7] _padding0; WARN [replay] File format : uint64_t timestamp;uint64_t timestamp_sample;uint32_t device_id;float x;float y;float z;float temperature;uint32_t error_count; ERROR [replay] Formats for vehicle_gps_position don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;uint64_t time_utc_usec;int32_t lat;int32_t lon;int32_t alt;int32_t alt_ellipsoid;float s_variance_m_s;float c_variance_rad;float eph;float epv;float hdop;float vdop;int32_t noise_per_ms;int32_t jamming_indicator;float vel_m_s;float vel_n_m_s;float vel_e_m_s;float vel_d_m_s;float cog_rad;int32_t timestamp_time_relative;float heading;float heading_offset;uint8_t fix_type;uint8_t jamming_state;bool vel_ned_valid;uint8_t satellites_used;uint8_t selected;uint8_t[3] _padding0; WARN [replay] File format : uint64_t timestamp;uint64_t time_utc_usec;int32_t lat;int32_t lon;int32_t alt;int32_t alt_ellipsoid;float s_variance_m_s;float c_variance_rad;float eph;float epv;float hdop;float vdop;int32_t noise_per_ms;int32_t jamming_indicator;float vel_m_s;float vel_n_m_s;float vel_e_m_s;float vel_d_m_s;float cog_rad;int32_t timestamp_time_relative;float heading;float heading_offset;uint8_t fix_type;bool vel_ned_valid;uint8_t satellites_used;uint8_t[5] _padding0; ERROR [replay] Formats for vehicle_imu don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;uint64_t timestamp_sample;uint32_t accel_device_id;uint32_t gyro_device_id;float[3] delta_angle;float[3] delta_velocity;uint16_t delta_angle_dt;uint16_t delta_velocity_dt;uint8_t delta_velocity_clipping;uint8_t calibration_count;uint8_t[2] _padding0; WARN [replay] File format : uint64_t timestamp;uint64_t timestamp_sample;uint32_t accel_device_id;uint32_t gyro_device_id;float[3] delta_angle;float[3] delta_velocity;uint16_t delta_angle_dt;uint16_t delta_velocity_dt;uint8_t delta_velocity_clipping;uint8_t[3] _padding0; ERROR [replay] Formats for vehicle_imu don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;uint64_t timestamp_sample;uint32_t accel_device_id;uint32_t gyro_device_id;float[3] delta_angle;float[3] delta_velocity;uint16_t delta_angle_dt;uint16_t delta_velocity_dt;uint8_t delta_velocity_clipping;uint8_t calibration_count;uint8_t[2] _padding0; WARN [replay] File format : uint64_t timestamp;uint64_t timestamp_sample;uint32_t accel_device_id;uint32_t gyro_device_id;float[3] delta_angle;float[3] delta_velocity;uint16_t delta_angle_dt;uint16_t delta_velocity_dt;uint8_t delta_velocity_clipping;uint8_t[3] _padding0; ERROR [replay] Formats for vehicle_imu don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;uint64_t timestamp_sample;uint32_t accel_device_id;uint32_t gyro_device_id;float[3] delta_angle;float[3] delta_velocity;uint16_t delta_angle_dt;uint16_t delta_velocity_dt;uint8_t delta_velocity_clipping;uint8_t calibration_count;uint8_t[2] _padding0; WARN [replay] File format : uint64_t timestamp;uint64_t timestamp_sample;uint32_t accel_device_id;uint32_t gyro_device_id;float[3] delta_angle;float[3] delta_velocity;uint16_t delta_angle_dt;uint16_t delta_velocity_dt;uint8_t delta_velocity_clipping;uint8_t[3] _padding0; ERROR [replay] Formats for vehicle_imu_status don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;uint32_t accel_device_id;uint32_t gyro_device_id;uint32_t[3] accel_clipping;uint32_t accel_error_count;uint32_t gyro_error_count;float accel_rate_hz;float gyro_rate_hz;float accel_raw_rate_hz;float gyro_raw_rate_hz;float accel_vibration_metric;float gyro_vibration_metric;float gyro_coning_vibration;float[3] mean_accel;float[3] mean_gyro;float temperature_accel;float temperature_gyro; WARN [replay] File format : uint64_t timestamp;uint32_t accel_device_id;uint32_t gyro_device_id;uint32_t[3] accel_clipping;uint32_t accel_error_count;uint32_t gyro_error_count;float accel_vibration_metric;float gyro_vibration_metric;float gyro_coning_vibration;uint16_t accel_rate_hz;uint16_t gyro_rate_hz;uint8_t[4] _padding0; ERROR [replay] Formats for vehicle_imu_status don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;uint32_t accel_device_id;uint32_t gyro_device_id;uint32_t[3] accel_clipping;uint32_t accel_error_count;uint32_t gyro_error_count;float accel_rate_hz;float gyro_rate_hz;float accel_raw_rate_hz;float gyro_raw_rate_hz;float accel_vibration_metric;float gyro_vibration_metric;float gyro_coning_vibration;float[3] mean_accel;float[3] mean_gyro;float temperature_accel;float temperature_gyro; WARN [replay] File format : uint64_t timestamp;uint32_t accel_device_id;uint32_t gyro_device_id;uint32_t[3] accel_clipping;uint32_t accel_error_count;uint32_t gyro_error_count;float accel_vibration_metric;float gyro_vibration_metric;float gyro_coning_vibration;uint16_t accel_rate_hz;uint16_t gyro_rate_hz;uint8_t[4] _padding0; ERROR [replay] Formats for vehicle_imu_status don't match. Will ignore it. WARN [replay] Internal format: uint64_t timestamp;uint32_t accel_device_id;uint32_t gyro_device_id;uint32_t[3] accel_clipping;uint32_t accel_error_count;uint32_t gyro_error_count;float accel_rate_hz;float gyro_rate_hz;float accel_raw_rate_hz;float gyro_raw_rate_hz;float accel_vibration_metric;float gyro_vibration_metric;float gyro_coning_vibration;float[3] mean_accel;float[3] mean_gyro;float temperature_accel;float temperature_gyro; WARN [replay] File format : uint64_t timestamp;uint32_t accel_device_id;uint32_t gyro_device_id;uint32_t[3] accel_clipping;uint32_t accel_error_count;uint32_t gyro_error_count;float accel_vibration_metric;float gyro_vibration_metric;float gyro_coning_vibration;uint16_t accel_rate_hz;uint16_t gyro_rate_hz;uint8_t[4] _padding0; INFO [mavlink] partner IP: 127.0.0.1 INFO [mavlink] using network interface ens33, IP: 192.168.128.137 INFO [mavlink] with netmask: 255.255.255.0 INFO [mavlink] and broadcast IP: 192.168.128.255 ERROR [replay] data message position_setpoint_triplet has wrong size 346 (expected 322). Skipping ERROR [replay] data message position_setpoint_triplet has wrong size 346 (expected 322). Skipping