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PX4 / PX4-Autopilot

PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
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Offboard mode without gps #17887

Open Carlosmct opened 3 years ago

Carlosmct commented 3 years ago

I´m working with PX4 with a Multicopter using offboard mode with ROS. I fly my drone with a fuse of gps and vision pose estimate with EKF2 as estimatior. Now I want fly without gps, using only the vision pose estimate. I configurate the EKF2_AID_MASK to use only the vision pose estimation, allow arming without gps in COM_ARM_WO_GPS and configure the EKF2_HGT_MODE to use the vision pose estimation. But now, when I try to switch to offboard mode, it doesn´t switch. 

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
process[gazebo-3]: started with pid [60120]
Info: found model autostart file as SYS_AUTOSTART=10016
INFO  [param] selected parameter default file eeprom/parameters_10016
INFO  [parameters] BSON document size 523 bytes, decoded 523 bytes
[param] Loaded: eeprom/parameters_10016
process[gazebo_gui-4]: started with pid [60133]
process[vehicle_spawn_Dronomy_PC_60083_7998590985282972538-5]: started with pid [60144]
process[mavros-6]: started with pid [60151]
process[pose_estimate-7]: started with pid [60158]
process[offb-8]: started with pid [60165]
INFO  [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
PX4 SIM HOST: localhost
INFO  [simulator] Waiting for simulator to accept connection on TCP port 4560
[ INFO] [1626101665.578305523]: FCU URL: udp://:14540@localhost:14557
[ INFO] [1626101665.579937992]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1626101665.580027811]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1626101665.580110737]: GCS bridge disabled
[ INFO] [1626101665.589024011]: Plugin 3dr_radio loaded
[ INFO] [1626101665.590458749]: Plugin 3dr_radio initialized
[ INFO] [1626101665.590510950]: Plugin actuator_control loaded
[ INFO] [1626101665.592924554]: Plugin actuator_control initialized
[ INFO] [1626101665.592975067]: Plugin altitude loaded
[ INFO] [1626101665.593798676]: Plugin altitude initialized
[ INFO] [1626101665.593844187]: Plugin command loaded
[ INFO] [1626101665.598709125]: Plugin command initialized
[ INFO] [1626101665.598785362]: Plugin ftp loaded
[ INFO] [1626101665.604134822]: Plugin ftp initialized
[ INFO] [1626101665.604442351]: Plugin geofence loaded
[ INFO] [1626101665.610846008]: Plugin geofence initialized
[ INFO] [1626101665.610967034]: Plugin global_position loaded
[ INFO] [1626101665.623914183]: Plugin global_position initialized
[ INFO] [1626101665.624043032]: Plugin hil loaded
[ INFO] [1626101665.632934519]: Plugin hil initialized
[ INFO] [1626101665.633066357]: Plugin home_position loaded
[ INFO] [1626101665.640933084]: Plugin home_position initialized
[ INFO] [1626101665.641086151]: Plugin imu loaded
[ INFO] [1626101665.646103227]: Plugin imu initialized
[ INFO] [1626101665.646232729]: Plugin local_position loaded
[ INFO] [1626101665.649970643]: Plugin local_position initialized
[ INFO] [1626101665.650041789]: Plugin manual_control loaded
[ INFO] [1626101665.651541917]: Plugin manual_control initialized
[ INFO] [1626101665.651597197]: Plugin param loaded
[ INFO] [1626101665.652940102]: Plugin param initialized
[ INFO] [1626101665.652991774]: Plugin rallypoint loaded
[ INFO] [1626101665.654529748]: Plugin rallypoint initialized
[ INFO] [1626101665.654596783]: Plugin rc_io loaded
[ INFO] [1626101665.656365297]: Plugin rc_io initialized
[ INFO] [1626101665.656395079]: Plugin safety_area blacklisted
[ INFO] [1626101665.656447718]: Plugin setpoint_accel loaded
[ INFO] [1626101665.658235321]: Plugin setpoint_accel initialized
[ INFO] [1626101665.658326539]: Plugin setpoint_attitude loaded
[ INFO] [1626101665.663613173]: Plugin setpoint_attitude initialized
[ INFO] [1626101665.663679698]: Plugin setpoint_position loaded
[ INFO] [1626101665.677099199]: Plugin setpoint_position initialized
[ INFO] [1626101665.677171773]: Plugin setpoint_raw loaded
[ INFO] [1626101665.682676201]: Plugin setpoint_raw initialized
[ INFO] [1626101665.682771560]: Plugin setpoint_trajectory loaded
[ INFO] [1626101665.685395672]: Plugin setpoint_trajectory initialized
[ INFO] [1626101665.685475784]: Plugin setpoint_velocity loaded
[ INFO] [1626101665.688614208]: Plugin setpoint_velocity initialized
[ INFO] [1626101665.688716093]: Plugin sys_status loaded
[ INFO] [1626101665.694582156]: Plugin sys_status initialized
[ INFO] [1626101665.694696571]: Plugin sys_time loaded
[ INFO] [1626101665.697810681]: TM: Timesync mode: MAVLINK
[ INFO] [1626101665.698686266]: Plugin sys_time initialized
[ INFO] [1626101665.698925105]: Plugin vfr_hud loaded
[ INFO] [1626101665.700070630]: Plugin vfr_hud initialized
[ INFO] [1626101665.700173313]: Plugin waypoint loaded
[ INFO] [1626101665.702747030]: Plugin waypoint initialized
[ INFO] [1626101665.702814907]: Plugin wind_estimation loaded
[ INFO] [1626101665.703126318]: Plugin wind_estimation initialized
[ INFO] [1626101665.703154491]: Autostarting mavlink via USB on PX4
[ INFO] [1626101665.703192706]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1626101665.703213336]: Built-in MAVLink package version: 2021.5.5
[ INFO] [1626101665.703240258]: Known MAVLink dialects: common ardupilotmega ASLUAV all development icarous matrixpilot paparazzi standard uAvionix ualberta
[ INFO] [1626101665.703265950]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[INFO] [1626101665.899887, 0.000000]: Loading model XML from file /home/dronomy/Firmware/Tools/sitl_gazebo/models/iris_r200/iris_r200.sdf
[INFO] [1626101665.901153, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1626101666.065973195]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1626101666.067069771]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1626101666.175380299]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1626101666.176292615]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1626101666.376018302]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1626101666.391013971, 109.391000000]: Physics dynamic reconfigure ready.
[INFO] [1626101666.504981, 109.500000]: Calling service /gazebo/spawn_sdf_model
[ INFO] [1626101667.016377192, 109.550000000]: Camera Plugin: The 'robotNamespace' param did not exit
[ INFO] [1626101667.019032612, 109.550000000]: Camera Plugin (ns = )  <tf_prefix_>, set to ""
[INFO] [1626101667.021903, 109.550000]: Spawn status: SpawnModel: Successfully spawned entity
INFO  [simulator] Simulator connected on TCP port 4560.
INFO  [commander] LED: open /dev/led0 failed (22)
INFO  [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO  [ekf2] starting instance 0, IMU:0 (1310988), MAG:0 (197388)
INFO  [ekf2] starting instance 1, IMU:1 (1310996), MAG:0 (197388)
INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
INFO  [ekf2] starting instance 2, IMU:2 (1311004), MAG:0 (197388)
INFO  [ekf2] starting instance 3, IMU:0 (1310988), MAG:1 (197644)
INFO  [ekf2] starting instance 4, IMU:1 (1310996), MAG:1 (197644)
INFO  [ekf2] starting instance 5, IMU:2 (1311004), MAG:1 (197644)
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  [logger] Start file log (type: full)
INFO  [logger] [logger] ./log/2021-07-12/14_54_27.ulg
INFO  [logger] Opened full log file: ./log/2021-07-12/14_54_27.ulg
INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO  [px4] Startup script returned successfully
pxh> [ INFO] [1626101667.452064981, 109.792000000]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1626101667.452234906, 109.792000000]: IMU: High resolution IMU detected!
INFO  [mavlink] partner IP: 127.0.0.1
[vehicle_spawn_Dronomy_PC_60083_7998590985282972538-5] process has finished cleanly
log file: /home/dronomy/.ros/log/0c5eea0e-e321-11eb-85bc-755a65359b99/vehicle_spawn_Dronomy_PC_60083_7998590985282972538-5*.log
INFO  [ecl/EKF] reset position to last known position
INFO  [ecl/EKF] reset velocity to zero
INFO  [ecl/EKF] reset position to last known position
INFO  [ecl/EKF] reset velocity to zero
INFO  [ecl/EKF] reset position to last known position
INFO  [ecl/EKF] reset velocity to zero
INFO  [ecl/EKF] reset position to last known position
INFO  [ecl/EKF] reset velocity to zero
INFO  [ecl/EKF] reset position to last known position
INFO  [ecl/EKF] reset velocity to zero
INFO  [ecl/EKF] reset position to last known position
INFO  [ecl/EKF] reset velocity to zero
[ INFO] [1626101669.118167245, 110.740000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1626101669.135273468, 110.752000000]: IMU: High resolution IMU detected!
[ INFO] [1626101670.872465177, 111.755000000]: GF: Using MISSION_ITEM_INT
[ INFO] [1626101670.872644620, 111.755000000]: RP: Using MISSION_ITEM_INT
[ INFO] [1626101670.872769853, 111.756000000]: WP: Using MISSION_ITEM_INT
[ INFO] [1626101670.872885433, 111.756000000]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1626101670.873007038, 111.756000000]: VER: 1.1: Flight software:     010c0000 (8327335fa4000000)
[ INFO] [1626101670.873118101, 111.756000000]: VER: 1.1: Middleware software: 010c0000 (8327335fa4000000)
[ INFO] [1626101670.873228900, 111.756000000]: VER: 1.1: OS software:         050800ff (20376b65d1a8cb2c)
[ INFO] [1626101670.873307693, 111.756000000]: VER: 1.1: Board hardware:      00000001
[ INFO] [1626101670.873429855, 111.756000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1626101670.873532965, 111.757000000]: VER: 1.1: UID:                 4954414c44494e4f
[ WARN] [1626101670.876501181, 111.759000000]: CMD: Unexpected command 520, result 0
INFO  [ecl/EKF] 4284000: EKF aligned, (baro hgt, IMU buf: 19, OBS buf: 14)
INFO  [ecl/EKF] 4292000: EKF aligned, (baro hgt, IMU buf: 19, OBS buf: 14)
[ INFO] [1626101673.574936343, 114.032000000]: IMU: Attitude quaternion IMU detected!
INFO  [ecl/EKF] 7004000: EKF aligned, (baro hgt, IMU buf: 19, OBS buf: 14)
INFO  [ecl/EKF] 7008000: EKF aligned, (baro hgt, IMU buf: 19, OBS buf: 14)
INFO  [ecl/EKF] 7016000: EKF aligned, (baro hgt, IMU buf: 19, OBS buf: 14)
INFO  [ecl/EKF] 7076000: EKF aligned, (baro hgt, IMU buf: 19, OBS buf: 14)
[ INFO] [1626101681.943661656, 120.742000000]: HP: requesting home position
[ INFO] [1626101682.056189057, 120.854000000]: Offboard enabled
INFO  [tone_alarm] notify negative
[ INFO] [1626101689.151621750, 125.741000000]: GF: mission received
[ INFO] [1626101689.153919696, 125.743000000]: RP: mission received
[ INFO] [1626101689.155157219, 125.744000000]: WP: mission received
[ INFO] [1626101689.521656510, 125.903000000]: Offboard enabled
INFO  [tone_alarm] notify negative
[ WARN] [1626101689.537558183, 125.920000000]: CMD: Unexpected command 176, result 1
[ INFO] [1626101698.211382830, 130.742000000]: HP: requesting home position
[ INFO] [1626101698.422691116, 130.953000000]: Offboard enabled
INFO  [tone_alarm] notify negative
[ INFO] [1626101703.795127783, 136.004000000]: Offboard enabled
INFO  [tone_alarm] notify negative
[ WARN] [1626101703.803160692, 136.011000000]: CMD: Unexpected command 176, result 1
[ INFO] [1626101711.852766594, 140.742000000]: HP: requesting home position
[ INFO] [1626101712.163782636, 141.052000000]: Offboard enabled
INFO  [tone_alarm] notify negative

Thanks!

ecmnet commented 3 years ago

Might be fixed with https://github.com/PX4/PX4-ECL/pull/1001

DavidePatria commented 2 years ago

@Carlosmct do you have any news regarding this issue?