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PX4 Autopilot Software
https://px4.io
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Position Drifts after 60 seconds when using the Mocap Pose #19862

Open HaoChen1016 opened 2 years ago

HaoChen1016 commented 2 years ago

Hi,

I am trying to fuse the Mocap pose into EKF2 instead of VIO pose or GPS data. The Mocap pose update at 60Hz and it doesn't includes the velocity. For some reason at around 60 seconds+ X and Y begin rapidly diverging and then the EKF stops outputting a horizontal estimate.

This link includes the details about how I implement it: https://forum.modalai.com/topic/919/using-motion-capture-systems-optitrack-for-position-estimation/2?_=1656707492656

This link includes the post which has a very similar issue with me: https://github.com/PX4/PX4-Autopilot/issues/15488

This link includes one of my logged datasets:(I put the quadcopter at the origin but didn't fly it) https://review.px4.io/plot_app?log=7f27f736-8ea9-4678-80cc-e97801608610

According to the flight review report, there is an error: [ecl/EKF] EV Data drop frame. it seems my external vision data start to drop when EKF2 start to run? Is there anyone know what's the reason for this? image

According to this Doc https://docs.px4.io/master/en/computer_vision/visual_inertial_odometry.html , I set the PX4 parameter MAV_ODOM_LP to 1. Then PX4 will stream back the received external pose as MAVLink ODOMETRY messages. As you can see in the below Figure, the left side is the Odometry which shows quadcopter's pose in NED frame, and the right side is the Mocap pose in the ENU frame, and they match pretty well. Therefore, it seems the EKF2 can receive the Mocap pose. image

Therefore, my guess is that px4 can receive the Mocap pose, but for some reason, the EKF2 cannot integrate it since it will drop? is there anyone who can give me some suggestion?

Thanks in advance!

gorghino commented 1 year ago

@HaoChen1016 Did you solve this?

mengchaoheng commented 1 year ago

How to use optitrack data in ekf of px4? I can see it on qgc by set MAV_ODOM_LP to 1. But ekf estimator didn't work correctly. @HaoChen1016 @

Ali-barari commented 1 year ago

Hi, I have a similar issue with my setup. When I switch to Position Hold mode, I get the local estimate error after a few seconds. I'm sending my LiDAR-SLAM measurements to the Pixhawk 6C (PX4 1.13.3) at 30 Hz.

  1. First of all, The ODOMETRY tab in the QGroundControl Mavlink inspector shows data at 20 Hz and I don't know why (it seems a limit in the pixhawk) and if that cause an issue or not. What I observed was that time_usec of ODOMETRY matches to the time_boot_ms of LOCAL_POSITION_NED from the beginning. But exactly after 55 s, the time_usec of ODOMETRY jumps to a bigger number. I think that's where the problem is coming from.
  2. When I start relaying data to Pixhawk(/mavros/vision_pose/pose), the Qgroundcontrol shows yaw angle at 90 degree (east). How can I fix that?

  3. Changes to the PX4_config.yaml file won't be applied when I launch the PX4.launch. I can see it is launched with the default values. What's the problem? I followed the instructions in the link below: https://docs.px4.io/main/en/ros/external_position_estimation.html My companion computer is the Intel NUC which is running a ROS Noetic. Here 's my parameters. SUMMARY

CLEAR PARAMETERS

PARAMETERS

NODES / mavros (mavros/mavros_node)

ROS_MASTER_URI=http://localhost:11311

process[mavros-1]: started with pid [73503] [ INFO] [1689629397.497498522]: FCU URL: /dev/ttyUSB0:921600 [ INFO] [1689629397.498655215]: serial0: device: /dev/ttyUSB0 @ 921600 bps [ INFO] [1689629397.499456715]: GCS bridge disabled [ INFO] [1689629397.504392290]: Plugin 3dr_radio loaded [ INFO] [1689629397.505128919]: Plugin 3dr_radio initialized [ INFO] [1689629397.505166444]: Plugin actuator_control loaded [ INFO] [1689629397.506043867]: Plugin actuator_control initialized [ INFO] [1689629397.508885648]: Plugin adsb loaded [ INFO] [1689629397.510280035]: Plugin adsb initialized [ INFO] [1689629397.510331515]: Plugin altitude loaded [ INFO] [1689629397.510616432]: Plugin altitude initialized [ INFO] [1689629397.510644357]: Plugin cam_imu_sync loaded [ INFO] [1689629397.510818477]: Plugin cam_imu_sync initialized [ INFO] [1689629397.510844261]: Plugin camera loaded [ INFO] [1689629397.511013792]: Plugin camera initialized [ INFO] [1689629397.511043240]: Plugin cellular_status loaded [ INFO] [1689629397.511696695]: Plugin cellular_status initialized [ INFO] [1689629397.511729760]: Plugin command loaded [ INFO] [1689629397.514273085]: Plugin command initialized [ INFO] [1689629397.514344000]: Plugin companion_process_status loaded [ INFO] [1689629397.516696034]: Plugin companion_process_status initialized [ INFO] [1689629397.516753210]: Plugin debug_value loaded [ INFO] [1689629397.518671962]: Plugin debug_value initialized [ INFO] [1689629397.518697734]: Plugin distance_sensor blacklisted [ INFO] [1689629397.518742060]: Plugin esc_status loaded [ INFO] [1689629397.519156090]: Plugin esc_status initialized [ INFO] [1689629397.519206007]: Plugin esc_telemetry loaded [ INFO] [1689629397.519401910]: Plugin esc_telemetry initialized [ INFO] [1689629397.519453482]: Plugin fake_gps loaded [ INFO] [1689629397.524559740]: Plugin fake_gps initialized [ INFO] [1689629397.524622961]: Plugin ftp loaded [ INFO] [1689629397.527207180]: Plugin ftp initialized [ INFO] [1689629397.527286199]: Plugin geofence loaded [ INFO] [1689629397.528972859]: Plugin geofence initialized [ INFO] [1689629397.529049808]: Plugin global_position loaded [ INFO] [1689629397.535416598]: Plugin global_position initialized [ INFO] [1689629397.535475722]: Plugin gps_input loaded [ INFO] [1689629397.536669856]: Plugin gps_input initialized [ INFO] [1689629397.536747274]: Plugin gps_rtk loaded [ INFO] [1689629397.537852594]: Plugin gps_rtk initialized [ INFO] [1689629397.537889095]: Plugin gps_status loaded [ INFO] [1689629397.538716492]: Plugin gps_status initialized [ INFO] [1689629397.538758021]: Plugin guided_target loaded [ INFO] [1689629397.542222295]: Plugin guided_target initialized [ INFO] [1689629397.542313229]: Plugin hil loaded [ INFO] [1689629397.548046172]: Plugin hil initialized [ INFO] [1689629397.548147429]: Plugin home_position loaded [ INFO] [1689629397.549264890]: Plugin home_position initialized [ INFO] [1689629397.549313143]: Plugin imu loaded [ INFO] [1689629397.551440331]: Plugin imu initialized [ INFO] [1689629397.551486452]: Plugin landing_target loaded [ INFO] [1689629397.555665893]: Plugin landing_target initialized [ INFO] [1689629397.555731241]: Plugin local_position loaded [ INFO] [1689629397.558338307]: Plugin local_position initialized [ INFO] [1689629397.558420016]: Plugin log_transfer loaded [ INFO] [1689629397.559506647]: Plugin log_transfer initialized [ INFO] [1689629397.559547687]: Plugin mag_calibration_status loaded [ INFO] [1689629397.559912071]: Plugin mag_calibration_status initialized [ INFO] [1689629397.559957048]: Plugin manual_control loaded [ INFO] [1689629397.560814236]: Plugin manual_control initialized [ INFO] [1689629397.560850526]: Plugin mocap_pose_estimate loaded [ INFO] [1689629397.561904975]: Plugin mocap_pose_estimate initialized [ INFO] [1689629397.561958962]: Plugin mount_control loaded [ WARN] [1689629397.563518165]: Could not retrive negate_measured_roll parameter value, using default (0) [ WARN] [1689629397.563733171]: Could not retrive negate_measured_pitch parameter value, using default (0) [ WARN] [1689629397.563903124]: Could not retrive negate_measured_yaw parameter value, using default (0) [ WARN] [1689629397.564399077]: Could not retrive debounce_s parameter value, using default (4.000000) [ WARN] [1689629397.564520274]: Could not retrive err_threshold_deg parameter value, using default (10.000000) [ INFO] [1689629397.564541725]: Plugin mount_control initialized [ INFO] [1689629397.564593260]: Plugin nav_controller_output loaded [ INFO] [1689629397.564823215]: Plugin nav_controller_output initialized [ INFO] [1689629397.564861023]: Plugin obstacle_distance loaded [ INFO] [1689629397.565782928]: Plugin obstacle_distance initialized [ INFO] [1689629397.565820503]: Plugin odom loaded [ INFO] [1689629397.567189133]: Plugin odom initialized [ INFO] [1689629397.567229917]: Plugin onboard_computer_status loaded [ INFO] [1689629397.567963806]: Plugin onboard_computer_status initialized [ INFO] [1689629397.568006087]: Plugin param loaded [ INFO] [1689629397.568845687]: Plugin param initialized [ INFO] [1689629397.568884111]: Plugin play_tune loaded [ INFO] [1689629397.569545625]: Plugin play_tune initialized [ INFO] [1689629397.569579210]: Plugin px4flow loaded [ INFO] [1689629397.571641258]: Plugin px4flow initialized [ INFO] [1689629397.571685220]: Plugin rallypoint loaded [ INFO] [1689629397.572683713]: Plugin rallypoint initialized [ INFO] [1689629397.572699423]: Plugin rangefinder blacklisted [ INFO] [1689629397.572738672]: Plugin rc_io loaded [ INFO] [1689629397.573804338]: Plugin rc_io initialized [ INFO] [1689629397.573818964]: Plugin safety_area blacklisted [ INFO] [1689629397.573855235]: Plugin setpoint_accel loaded [ INFO] [1689629397.574841430]: Plugin setpoint_accel initialized [ INFO] [1689629397.574888425]: Plugin setpoint_attitude loaded [ INFO] [1689629397.577823354]: Plugin setpoint_attitude initialized [ INFO] [1689629397.577881114]: Plugin setpoint_position loaded [ INFO] [1689629397.583917889]: Plugin setpoint_position initialized [ INFO] [1689629397.584001643]: Plugin setpoint_raw loaded [ INFO] [1689629397.586895824]: Plugin setpoint_raw initialized [ INFO] [1689629397.586952744]: Plugin setpoint_trajectory loaded [ INFO] [1689629397.588495112]: Plugin setpoint_trajectory initialized [ INFO] [1689629397.588545815]: Plugin setpoint_velocity loaded [ INFO] [1689629397.590678009]: Plugin setpoint_velocity initialized [ INFO] [1689629397.590761629]: Plugin sys_status loaded [ INFO] [1689629397.593919890]: Plugin sys_status initialized [ INFO] [1689629397.593988040]: Plugin sys_time loaded [ INFO] [1689629397.595578666]: TM: Timesync mode: MAVLINK [ INFO] [1689629397.595866421]: TM: Not publishing sim time [ INFO] [1689629397.596452447]: Plugin sys_time initialized [ INFO] [1689629397.596498720]: Plugin terrain loaded [ INFO] [1689629397.596700522]: Plugin terrain initialized [ INFO] [1689629397.596736895]: Plugin trajectory loaded [ INFO] [1689629397.598332843]: Plugin trajectory initialized [ INFO] [1689629397.598378932]: Plugin tunnel loaded [ INFO] [1689629397.599233053]: Plugin tunnel initialized [ INFO] [1689629397.599274315]: Plugin vfr_hud loaded [ INFO] [1689629397.599456117]: Plugin vfr_hud initialized [ INFO] [1689629397.599468129]: Plugin vibration blacklisted [ INFO] [1689629397.599505322]: Plugin vision_pose_estimate loaded [ INFO] [1689629397.601681750]: Plugin vision_pose_estimate initialized [ INFO] [1689629397.601723394]: Plugin vision_speed_estimate loaded [ INFO] [1689629397.602818410]: Plugin vision_speed_estimate initialized [ INFO] [1689629397.602861175]: Plugin waypoint loaded [ INFO] [1689629397.604256106]: Plugin waypoint initialized [ INFO] [1689629397.604270838]: Plugin wheel_odometry blacklisted [ INFO] [1689629397.604316993]: Plugin wind_estimation loaded [ INFO] [1689629397.604490969]: Plugin wind_estimation initialized [ INFO] [1689629397.604552276]: Built-in SIMD instructions: SSE, SSE2 [ INFO] [1689629397.604562817]: Built-in MAVLink package version: 2023.6.6 [ INFO] [1689629397.604585476]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all csAirLink cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta [ INFO] [1689629397.604605881]: MAVROS started. MY ID 1.240, TARGET ID 1.1 [ INFO] [1689629397.604637898]: GF: Using MISSION_ITEM_INT [ INFO] [1689629397.604660019]: RP: Using MISSION_ITEM_INT [ INFO] [1689629397.604671737]: WP: Using MISSION_ITEM_INT [ INFO] [1689629397.604692348]: VER: 1.1: Capabilities 0x000000000000e4ff [ INFO] [1689629397.604724520]: VER: 1.1: Flight software: 010d03ff (1c8ab2a0d7000000) [ INFO] [1689629397.604766224]: VER: 1.1: Middleware software: 010d03ff (1c8ab2a0d7000000) [ INFO] [1689629397.604775838]: VER: 1.1: OS software: 0b0000ff (4a1dd8680cd29f51) [ INFO] [1689629397.604789949]: VER: 1.1: Board hardware: 00000038 [ INFO] [1689629397.604803388]: VER: 1.1: VID/PID: 3185:0038 [ INFO] [1689629397.604813041]: VER: 1.1: UID: 3031510a34373938 [ INFO] [1689629397.604840511]: IMU: High resolution IMU detected! [ INFO] [1689629397.604887517]: IMU: Attitude quaternion IMU detected! [ WARN] [1689629397.604905506]: CMD: Unexpected command 512, result 0 [ INFO] [1689629397.604926807]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot [ INFO] [1689629397.605354503]: IMU: High resolution IMU detected! [ INFO] [1689629397.605384383]: IMU: Attitude quaternion IMU detected! [ INFO] [1689629397.605442925]: RC_CHANNELS message detected! [ INFO] [1689629398.614248338]: VER: 1.1: Capabilities 0x000000000000e4ff [ INFO] [1689629398.614352223]: VER: 1.1: Flight software: 010d03ff (1c8ab2a0d7000000) [ INFO] [1689629398.614379730]: VER: 1.1: Middleware software: 010d03ff (1c8ab2a0d7000000) [ INFO] [1689629398.614403637]: VER: 1.1: OS software: 0b0000ff (4a1dd8680cd29f51) [ INFO] [1689629398.614433779]: VER: 1.1: Board hardware: 00000038 [ INFO] [1689629398.614469072]: VER: 1.1: VID/PID: 3185:0038 [ INFO] [1689629398.614495362]: VER: 1.1: UID: 3031510a34373938 [ INFO] [1689629407.605248173]: HP: requesting home position [ INFO] [1689629412.608178624]: GF: mission received [ INFO] [1689629412.608271749]: RP: mission received [ INFO] [1689629412.609160944]: WP: mission received [ INFO] [1689629417.605190412]: HP: requesting home position [ INFO] [1689629427.605172423]: HP: requesting home position [ INFO] [1689629437.605209108]: HP: requesting home position [ INFO] [1689629447.605190030]: HP: requesting home position [ INFO] [1689629457.605288467]: HP: requesting home position

bresch commented 1 year ago

the yaw angle starts at 90 degree (east). How can I fix that?

What are your PX4 settings? Are you fusing EV yaw as well, or just the position (or velocity)?

Ali-barari commented 1 year ago

the yaw angle starts at 90 degree (east). How can I fix that?

What are your PX4 settings? Are you fusing EV yaw as well, or just the position (or velocity)?

Yes I am, the EKF2_AID_MASK=24. You can find the my PX4 parameters below: Onboard parameters for Vehicle 1 Stack: PX4 Pro Vehicle: Multi-Rotor Version: 1.13.3 Git Revision: 1c8ab2a0d7000000 Vehicle-Id Component-Id Name Value Type 1 1 ASPD_SCALE_1 1.000000000000000000 9 1 1 BAT1_A_PER_V 36.367515563964843750 9 1 1 BAT1_CAPACITY -1.000000000000000000 9 1 1 BAT1_I_CHANNEL -1 6 1 1 BAT1_N_CELLS 0 6 1 1 BAT1_R_INTERNAL -1.000000000000000000 9 1 1 BAT1_SOURCE 0 6 1 1 BAT1_V_CHANNEL -1 6 1 1 BAT1_V_CHARGED 4.050000190734863281 9 1 1 BAT1_V_DIV 18.100000381469726563 9 1 1 BAT1_V_EMPTY 3.500000000000000000 9 1 1 BAT1_V_LOAD_DROP 0.300000011920928955 9 1 1 BAT2_A_PER_V 36.367515563964843750 9 1 1 BAT2_CAPACITY -1.000000000000000000 9 1 1 BAT2_I_CHANNEL -1 6 1 1 BAT2_N_CELLS 0 6 1 1 BAT2_R_INTERNAL -1.000000000000000000 9 1 1 BAT2_SOURCE -1 6 1 1 BAT2_V_CHANNEL -1 6 1 1 BAT2_V_CHARGED 4.050000190734863281 9 1 1 BAT2_V_DIV 18.100000381469726563 9 1 1 BAT2_V_EMPTY 3.500000000000000000 9 1 1 BAT2_V_LOAD_DROP 0.300000011920928955 9 1 1 BAT_AVRG_CURRENT 15.000000000000000000 9 1 1 BAT_CRIT_THR 0.070000000298023224 9 1 1 BAT_EMERGEN_THR 0.050000000745058060 9 1 1 BAT_LOW_THR 0.150000005960464478 9 1 1 BAT_N_CELLS 3 6 1 1 BAT_V_CHARGED 4.050000190734863281 9 1 1 BAT_V_EMPTY 3.500000000000000000 9 1 1 BAT_V_LOAD_DROP 0.300000011920928955 9 1 1 BAT_V_OFFS_CURR 0.000000000000000000 9 1 1 CAL_ACC0_ID 4259850 6 1 1 CAL_ACC0_PRIO 50 6 1 1 CAL_ACC0_ROT -1 6 1 1 CAL_ACC0_XOFF 0.002874374389648438 9 1 1 CAL_ACC0_XSCALE 0.971861898899078369 9 1 1 CAL_ACC0_YOFF -0.023820400238037109 9 1 1 CAL_ACC0_YSCALE 0.982367873191833496 9 1 1 CAL_ACC0_ZOFF 0.061720371246337891 9 1 1 CAL_ACC0_ZSCALE 0.986637294292449951 9 1 1 CAL_ACC1_ID 2490378 6 1 1 CAL_ACC1_PRIO 50 6 1 1 CAL_ACC1_ROT -1 6 1 1 CAL_ACC1_XOFF -0.027806282043457031 9 1 1 CAL_ACC1_XSCALE 1.000000000000000000 9 1 1 CAL_ACC1_YOFF -0.003788471221923828 9 1 1 CAL_ACC1_YSCALE 1.000000000000000000 9 1 1 CAL_ACC1_ZOFF -0.056661128997802734 9 1 1 CAL_ACC1_ZSCALE 1.000000000000000000 9 1 1 CAL_ACC2_ID 0 6 1 1 CAL_ACC3_ID 0 6 1 1 CAL_AIR_CMODEL 0 6 1 1 CAL_AIR_TUBED_MM 1.500000000000000000 9 1 1 CAL_AIR_TUBELEN 0.200000002980232239 9 1 1 CAL_BARO0_ID 0 6 1 1 CAL_BARO1_ID 0 6 1 1 CAL_BARO2_ID 0 6 1 1 CAL_BARO3_ID 0 6 1 1 CAL_GYRO0_ID 4325386 6 1 1 CAL_GYRO0_PRIO 50 6 1 1 CAL_GYRO0_ROT -1 6 1 1 CAL_GYRO0_XOFF 0.000000000000000000 9 1 1 CAL_GYRO0_YOFF 0.000000000000000000 9 1 1 CAL_GYRO0_ZOFF 0.000000000000000000 9 1 1 CAL_GYRO1_ID 2490378 6 1 1 CAL_GYRO1_PRIO 50 6 1 1 CAL_GYRO1_ROT -1 6 1 1 CAL_GYRO1_XOFF -0.012400130741298199 9 1 1 CAL_GYRO1_YOFF -0.034980971366167068 9 1 1 CAL_GYRO1_ZOFF 0.000415869377320632 9 1 1 CAL_GYRO2_ID 0 6 1 1 CAL_GYRO3_ID 0 6 1 1 CAL_MAG0_ID 396321 6 1 1 CAL_MAG0_PRIO 50 6 1 1 CAL_MAG0_ROT -1 6 1 1 CAL_MAG0_XCOMP 0.000000000000000000 9 1 1 CAL_MAG0_XODIAG -0.026252282783389091 9 1 1 CAL_MAG0_XOFF 0.025759924203157425 9 1 1 CAL_MAG0_XSCALE 0.998457133769989014 9 1 1 CAL_MAG0_YCOMP 0.000000000000000000 9 1 1 CAL_MAG0_YODIAG 0.111873984336853027 9 1 1 CAL_MAG0_YOFF -0.070950642228126526 9 1 1 CAL_MAG0_YSCALE 1.067498087882995605 9 1 1 CAL_MAG0_ZCOMP 0.000000000000000000 9 1 1 CAL_MAG0_ZODIAG -0.119376011192798615 9 1 1 CAL_MAG0_ZOFF 0.119810804724693298 9 1 1 CAL_MAG0_ZSCALE 0.990894436836242676 9 1 1 CAL_MAG1_ID 396809 6 1 1 CAL_MAG1_PRIO 75 6 1 1 CAL_MAG1_ROT 0 6 1 1 CAL_MAG1_XCOMP 0.000000000000000000 9 1 1 CAL_MAG1_XODIAG -0.006847513373941183 9 1 1 CAL_MAG1_XOFF 0.035640854388475418 9 1 1 CAL_MAG1_XSCALE 1.037216901779174805 9 1 1 CAL_MAG1_YCOMP 0.000000000000000000 9 1 1 CAL_MAG1_YODIAG 0.049396961927413940 9 1 1 CAL_MAG1_YOFF -0.016608040779829025 9 1 1 CAL_MAG1_YSCALE 0.968800067901611328 9 1 1 CAL_MAG1_ZCOMP 0.000000000000000000 9 1 1 CAL_MAG1_ZODIAG -0.025967761874198914 9 1 1 CAL_MAG1_ZOFF -0.130671933293342590 9 1 1 CAL_MAG1_ZSCALE 0.999377787113189697 9 1 1 CAL_MAG2_ID 0 6 1 1 CAL_MAG2_ROT -1 6 1 1 CAL_MAG3_ID 0 6 1 1 CAL_MAG3_ROT -1 6 1 1 CAM_CAP_FBACK 0 6 1 1 CA_AIRFRAME 0 6 1 1 CA_METHOD 2 6 1 1 CA_R0_SLEW 0.000000000000000000 9 1 1 CA_R1_SLEW 0.000000000000000000 9 1 1 CA_R2_SLEW 0.000000000000000000 9 1 1 CA_R3_SLEW 0.000000000000000000 9 1 1 CA_R4_SLEW 0.000000000000000000 9 1 1 CA_R5_SLEW 0.000000000000000000 9 1 1 CA_R6_SLEW 0.000000000000000000 9 1 1 CA_R7_SLEW 0.000000000000000000 9 1 1 CA_ROTOR0_AX 0.000000000000000000 9 1 1 CA_ROTOR0_AY 0.000000000000000000 9 1 1 CA_ROTOR0_AZ -1.000000000000000000 9 1 1 CA_ROTOR0_CT 6.500000000000000000 9 1 1 CA_ROTOR0_KM 0.050000000745058060 9 1 1 CA_ROTOR0_PX 0.000000000000000000 9 1 1 CA_ROTOR0_PY 0.000000000000000000 9 1 1 CA_ROTOR0_PZ 0.000000000000000000 9 1 1 CA_ROTOR1_AX 0.000000000000000000 9 1 1 CA_ROTOR1_AY 0.000000000000000000 9 1 1 CA_ROTOR1_AZ -1.000000000000000000 9 1 1 CA_ROTOR1_CT 6.500000000000000000 9 1 1 CA_ROTOR1_KM 0.050000000745058060 9 1 1 CA_ROTOR1_PX 0.000000000000000000 9 1 1 CA_ROTOR1_PY 0.000000000000000000 9 1 1 CA_ROTOR1_PZ 0.000000000000000000 9 1 1 CA_ROTOR2_AX 0.000000000000000000 9 1 1 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Ali-barari commented 1 year ago

@bresch @mhkabir could you please take a look at the issues I am facing?