guiaugustoga987
commented
1 year ago I'm not sure if this has something to do with the error I'm facing, but this is what is happening when I add the Typhoon H480 to gazebo :
Open guiaugustoga987 opened 1 year ago
guiaugustoga987
commented
1 year ago I'm not sure if this has something to do with the error I'm facing, but this is what is happening when I add the Typhoon H480 to gazebo :
Jaeyoung-Lim
commented
1 year ago @guiaugustoga987 Have you tried
make px4_sitl gazebo_typhoon_h480I just solved it. My .world file was getting the models from .gazebo folder. I changed to the sitl_gazebo/models folder and now It is working as intended.
Thank you for your inside!
ANTHONYBRIDGELI
commented
1 year ago Describe the bug
I'm trying to use the typhoon_h480 with SITL in gazebo. At first, I created a world with a 3DR Iris model and run
no_sim=1 make px4_sitl_default gazeboand thenroslaunch gazebo_ros empty_world.launch world_name:=$(pwd)/Tools/sitl_gazebo/worlds/typhoon.world. Everything works fine, I can control the UAV correctly. Now I made the same steps, but I changed the drone to typhoon_h480. When I launch the world I receive several warnings regarding 'primary EKF changed' and ' baro hgt timeout - reset to baro'.To Reproduce
Steps to reproduce the behavior:
1. ``` Create a simple world in gazebo with typhoon_h480. ``` 2. ``` Run `no_sim=1 make px4_sitl_default gazebo` and `roslaunch gazebo_ros empty_world.launch world_name:=$(pwd)/Tools/sitl_gazebo/worlds/typhoon.world` ```Expected behavior
Should be able to takeoff and control the UAV.
Log Files and Screenshots
sim=1 make px4_sitl_default gazebo [0/4] Performing build step for 'sitl_gazebo' ninja: no work to do. [3/4] cd /home/guilherme/src/Firmware/...me/src/Firmware/build/px4_sitl_default SITL ARGS sitl_bin: /home/guilherme/src/Firmware/build/px4_sitl_default/bin/px4 debugger: none program: gazebo model: none world: none src_path: /home/guilherme/src/Firmware build_path: /home/guilherme/src/Firmware/build/px4_sitl_default empty model, setting iris as default SITL COMMAND: "/home/guilherme/src/Firmware/build/px4_sitl_default/bin/px4" "/home/guilherme/src/Firmware/build/px4_sitl_default"/etc -s etc/init.d-posix/rcS -t "/home/guilherme/src/Firmware"/test_data INFO [px4] Creating symlink /home/guilherme/src/Firmware/build/px4_sitl_default/etc -> /home/guilherme/src/Firmware/build/px4_sitl_default/tmp/rootfs/etc ______ __ __ ___ | ___ \ \ \ / / / | | |_/ / \ V / / /| | | __/ / \ / /_| | | | / /^\ \ \___ | \_| \/ \/ |_/ 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 INFO [parameters] BSON document size 486 bytes, decoded 486 bytes [param] Loaded: eeprom/parameters_10016 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 [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 [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550 INFO [ekf2] starting instance 1, IMU:1 (1310996), MAG:0 (197388) 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/2022-11-15/21_47_19.ulg INFO [logger] Opened full log file: ./log/2022-11-15/21_47_19.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 [mavlink] partner IP: 127.0.0.1 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] INFO [ecl/EKF] reset position to last known position INFO [ecl/EKF] reset velocity to zero INFO [ecl/EKF] reset velocity to zero 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 INFO [ecl/EKF] GPS checks passed [ecl/EKF] GPS checks passed INFO [ecl/EKF] GPS checks passed INFO [ecl/EKF] GPS checks passed INFO [ecl/EKF] GPS checks passed INFO [ecl/EKF] GPS checks passed INFO [ecl/EKF] 7016000: EKF aligned, (baro hgt, IMU buf: 12, OBS buf: 9) INFO [ecl/EKF] 7024000: EKF aligned, (baro hgt, IMU buf: 12, OBS buf: 9) INFO [ecl/EKF] 7096000: EKF aligned, (baro hgt, IMU buf: 12, OBS buf: 9) INFO [ecl/EKF] reset position to GPS INFO [ecl/EKF] reset velocity to GPS INFO [ecl/EKF] starting GPS fusion INFO [ecl/EKF] reset position to GPS INFO [ecl/EKF] 7100000: EKF aligned, (baro hgt, IMU buf: 12, OBS buf: 9) INFO [ecl/EKF] reset velocity to GPS INFO [ecl/EKF] starting GPS fusion INFO [ecl/EKF] 7104000: EKF aligned, (baro hgt, IMU buf: 12, OBS buf: 9) INFO [ecl/EKF] 7100000: EKF aligned, (baro hgt, IMU buf: 12, OBS buf: 9) INFO [ecl/EKF] reset position to GPS INFO INFO [ecl/EKF] reset position to GPS [ecl/EKF] INFO reset velocity to GPS[ecl/EKF] reset velocity to GPS INFO [ecl/EKF] starting GPS fusion INFO [ecl/EKF] starting GPS fusion INFO [ecl/EKF] reset position to GPS INFO [ecl/EKF] reset position to GPS INFO INFO [ecl/EKF] [ecl/EKF] reset velocity to GPS INFO [ecl/EKF] reset velocity to GPS INFO starting GPS fusion[ecl/EKF] starting GPS fusion INFO [tone_alarm] home set INFO [tone_alarm] notify negative WARN [ekf2] primary EKF changed 0 (filter fault) -> 1 WARN [ekf2] primary EKF changed 1 (filter fault) -> 2 WARN [ekf2] primary EKF changed 2 (filter fault) -> 1 WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] WARN [ecl/EKF] baro hgt timeout - reset to baro baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] WARN [ecl/EKF] baro hgt timeout - reset to baro baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ekf2] primary EKF changed 1 (filter fault) -> 2 WARN [ekf2] primary EKF changed 2 (filter fault) -> 1 WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ekf2] primary EKF changed 1 (filter fault) -> 4 WARN [ekf2] primary EKF changed 4 (filter fault) -> 0 WARN [ekf2] primary EKF changed 0 (filter fault) -> 1 WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] baro hgt timeout - reset to baro WARN [ecl/EKF] WARN [ecl/EKF] baro hgt timeout - reset to baro baro hgt timeout - reset to baroI'm not sure what is causing this behavior. Any help is appreciated.
There is the same problem within my project,but I seem to find a way to solve it probably.Just try to load the initial position higher than the normal,when I set the initial z axis 0.2,the error disappeared.
Describe the bug
I'm trying to use the typhoon_h480 with SITL in gazebo. At first, I created a world with a 3DR Iris model and run
no_sim=1 make px4_sitl_default gazeboand thenroslaunch gazebo_ros empty_world.launch world_name:=$(pwd)/Tools/sitl_gazebo/worlds/typhoon.world. Everything works fine, I can control the UAV correctly. Now I made the same steps, but I changed the drone to typhoon_h480. When I launch the world I receive several warnings regarding 'primary EKF changed' and ' baro hgt timeout - reset to baro'.To Reproduce
Steps to reproduce the behavior:
no_sim=1 make px4_sitl_default gazeboandroslaunch gazebo_ros empty_world.launch world_name:=$(pwd)/Tools/sitl_gazebo/worlds/typhoon.worldExpected behavior
Should be able to takeoff and control the UAV.
Log Files and Screenshots
I'm not sure what is causing this behavior. Any help is appreciated.