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PX4 / PX4-Autopilot

PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
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QGroundControl loses connection to the GPS on the Cloudship simulation through Gazebo Software-in-the-Loop through PX4. #19322

Open JamesAnawati opened 2 years ago

JamesAnawati commented 2 years ago

QGroundControl loses connection to the GPS on the Cloudship simulation through Gazebo Software-in-the-Loop through PX4.

To Reproduce:

  1. Boot Ubuntu 20.04
  2. Boot QGroundControl (v4.1.6)
  3. Open terminal and change directory to PX4 repository cd /path/to/PX4-Autopilot
  4. Boot Cloundship simulation make px4_sitl gazebo_cloudship
  5. Click through error message
  6. Attempt a mission

Expected behavior: Gazebo will open okay without issue, showing the cloudship wobbling. QGroundControl will connect to the simulation but return an error message saying that the firmware has a bug as it is missing the parameter: FW ASRP MODE. QGroundControl will then act mostly normal until GPS connection to the ship is lost and the clouship no longer responds to commands.

Screenshots Screenshot from 2022-03-13 17-50-51 Screenshot from 2022-03-13 17-59-29

When I attempt the same procedure with any other vehicle type, there is no issue. Something is wrong with the cloudship simulation.

Thank you for your help.

Jaeyoung-Lim commented 2 years ago

@JamesAnawati Although I find it quite hard to control the vehicle, I can't reproduce the gps loss issue you are reporting

JamesAnawati commented 2 years ago

One of the ways I triggered the issue was by laying some waypoints in the mission planner, arming the vehicle, and selecting the mission mode. A few seconds later the issue arises. It also occurs when I attempt to control the craft using a usb joystick controller.

I am new to PX4 and autonomous vehicles in general so I was not sure if the difficulty to control the vehicle was my own fault. The vehicle also does not seen to follow any mission profile I give it.

Another issue I notice is that the rear thruster on the bottom tail fin never seems to activate regardless of the controller inputs. Perhaps this is the cause of control difficulties?

Thank you for looking into this issue.

Jaeyoung-Lim commented 2 years ago

@JamesAnawati Could you check if this is the case when you use QGroundcontrol and not mission planner?

JamesAnawati commented 2 years ago

Screenshot from 2022-03-14 10-39-42 Screenshot from 2022-03-14 10-40-42

I meant the mission planing tab in QGroundcontrol.

Screenshot from 2022-03-14 10-42-45

I also get this issue.

JamesAnawati commented 2 years ago

Screenshot from 2022-03-14 10-39-42 Screenshot from 2022-03-14 10-40-42

I meant the mission planing tab in QGroundcontrol.

Screenshot from 2022-03-14 10-42-45

I also get this issue.

Screenshot from 2022-03-14 10-44-00 It is clearly not working correctly when given simple tasks.