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PX4 / PX4-Autopilot

PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
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PX4 not sending TRAJECTORY_REPRESENTATION_WAYPOINTS #21098

Closed weagle08 closed 1 year ago

weagle08 commented 1 year ago

PX4 VERSION: 1.12.3

In simulation PX4 correctly follows the path planning flow stated in the PX4 documentation. However when I load the same version of PX4 to my CUBE 7 Orange I do not see the TRAJECTORY_REPRESENTATION_WAYPOINTS message when in mission and setting COM_OBS_AVOID to 1. Any reason why this would happen on hardware but not in SITL?

HARDWARE PX4 PARAMS:

Onboard parameters for Vehicle 1

#

Stack: PX4 Pro

Vehicle: Multi-Rotor

Version: 1.12.3

Git Revision: 2e8918da66000000

#

Vehicle-Id Component-Id Name Value Type

1 1 ASPD_SCALE 1.000000000000000000 9 1 1 BAT1_A_PER_V 15.391030311584472656 9 1 1 BAT1_CAPACITY -1.000000000000000000 9 1 1 BAT1_I_CHANNEL -1 6 1 1 BAT1_N_CELLS 5 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 4.199999809265136719 9 1 1 BAT1_V_DIV 15.451047897338867188 9 1 1 BAT1_V_EMPTY 3.500000000000000000 9 1 1 BAT1_V_LOAD_DROP 0.300000011920928955 9 1 1 BAT2_A_PER_V 17.000000000000000000 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 10.100000381469726563 9 1 1 BAT2_V_EMPTY 3.500000000000000000 9 1 1 BAT2_V_LOAD_DROP 0.300000011920928955 9 1 1 BATMON_DRIVER_EN 0 6 1 1 BAT_ADC_CHANNEL -1 6 1 1 BAT_A_PER_V 15.391030311584472656 9 1 1 BAT_CAPACITY -1.000000000000000000 9 1 1 BAT_CRIT_THR 0.119999997317790985 9 1 1 BAT_EMERGEN_THR 0.050000000745058060 9 1 1 BAT_LOW_THR 0.150000005960464478 9 1 1 BAT_N_CELLS 5 6 1 1 BAT_R_INTERNAL -1.000000000000000000 9 1 1 BAT_SOURCE 0 6 1 1 BAT_V_CHARGED 4.199999809265136719 9 1 1 BAT_V_DIV 15.451047897338867188 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 3670050 6 1 1 CAL_ACC0_PRIO 50 6 1 1 CAL_ACC0_ROT -1 6 1 1 CAL_ACC0_XOFF -0.044639110565185547 9 1 1 CAL_ACC0_XSCALE 1.000000000000000000 9 1 1 CAL_ACC0_YOFF 0.267715930938720703 9 1 1 CAL_ACC0_YSCALE 1.000000000000000000 9 1 1 CAL_ACC0_ZOFF 0.054973125457763672 9 1 1 CAL_ACC0_ZSCALE 1.000000000000000000 9 1 1 CAL_ACC1_ID 2621474 6 1 1 CAL_ACC1_PRIO 50 6 1 1 CAL_ACC1_ROT -1 6 1 1 CAL_ACC1_XOFF 0.264902114868164063 9 1 1 CAL_ACC1_XSCALE 0.997037708759307861 9 1 1 CAL_ACC1_YOFF -0.076059818267822266 9 1 1 CAL_ACC1_YSCALE 0.996131539344787598 9 1 1 CAL_ACC1_ZOFF -0.149962902069091797 9 1 1 CAL_ACC1_ZSCALE 0.983118534088134766 9 1 1 CAL_ACC2_ID 2424842 6 1 1 CAL_ACC2_PRIO 50 6 1 1 CAL_ACC2_ROT -1 6 1 1 CAL_ACC2_XOFF 0.014935493469238281 9 1 1 CAL_ACC2_XSCALE 0.998586297035217285 9 1 1 CAL_ACC2_YOFF 0.208507061004638672 9 1 1 CAL_ACC2_YSCALE 0.997014701366424561 9 1 1 CAL_ACC2_ZOFF 0.286868572235107422 9 1 1 CAL_ACC2_ZSCALE 0.984320759773254395 9 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_GYRO0_ID 3670050 6 1 1 CAL_GYRO0_PRIO 50 6 1 1 CAL_GYRO0_ROT -1 6 1 1 CAL_GYRO0_XOFF -0.013097982853651047 9 1 1 CAL_GYRO0_YOFF -0.010316221974790096 9 1 1 CAL_GYRO0_ZOFF 0.012754397466778755 9 1 1 CAL_GYRO1_ID 2621474 6 1 1 CAL_GYRO1_PRIO 50 6 1 1 CAL_GYRO1_ROT -1 6 1 1 CAL_GYRO1_XOFF -0.005555373616516590 9 1 1 CAL_GYRO1_YOFF 0.002493760082870722 9 1 1 CAL_GYRO1_ZOFF 0.009415629319846630 9 1 1 CAL_GYRO2_ID 2424842 6 1 1 CAL_GYRO2_PRIO 50 6 1 1 CAL_GYRO2_ROT -1 6 1 1 CAL_GYRO2_XOFF 0.009168751537799835 9 1 1 CAL_GYRO2_YOFF 0.015410902909934521 9 1 1 CAL_GYRO2_ZOFF -0.013327829539775848 9 1 1 CAL_GYRO3_ID 0 6 1 1 CAL_MAG0_ID 589858 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 -0.001497851102612913 9 1 1 CAL_MAG0_XOFF -0.192134499549865723 9 1 1 CAL_MAG0_XSCALE 1.005945324897766113 9 1 1 CAL_MAG0_YCOMP 0.000000000000000000 9 1 1 CAL_MAG0_YODIAG 0.004982548300176859 9 1 1 CAL_MAG0_YOFF 0.277170509099960327 9 1 1 CAL_MAG0_YSCALE 0.971246182918548584 9 1 1 CAL_MAG0_ZCOMP 0.000000000000000000 9 1 1 CAL_MAG0_ZODIAG 0.011233732104301453 9 1 1 CAL_MAG0_ZOFF -0.441138297319412231 9 1 1 CAL_MAG0_ZSCALE 1.016359210014343262 9 1 1 CAL_MAG1_ID 8944899 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 -0.012861265800893307 9 1 1 CAL_MAG1_XOFF 0.104837909340858459 9 1 1 CAL_MAG1_XSCALE 0.983485341072082520 9 1 1 CAL_MAG1_YCOMP 0.000000000000000000 9 1 1 CAL_MAG1_YODIAG 0.006656564772129059 9 1 1 CAL_MAG1_YOFF -0.194390609860420227 9 1 1 CAL_MAG1_YSCALE 1.022533893585205078 9 1 1 CAL_MAG1_ZCOMP 0.000000000000000000 9 1 1 CAL_MAG1_ZODIAG 0.003392570186406374 9 1 1 CAL_MAG1_ZOFF 0.070759318768978119 9 1 1 CAL_MAG1_ZSCALE 0.992823660373687744 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 CAL_MAG_COMP_TYP 0 6 1 1 CAL_MAG_ROT_AUTO 1 6 1 1 CAL_MAG_SIDES 63 6 1 1 CAM_CAP_FBACK 0 6 1 1 CBRK_AIRSPD_CHK 0 6 1 1 CBRK_BUZZER 0 6 1 1 CBRK_ENGINEFAIL 284953 6 1 1 CBRK_FLIGHTTERM 121212 6 1 1 CBRK_IO_SAFETY 22027 6 1 1 CBRK_RATE_CTRL 0 6 1 1 CBRK_SUPPLY_CHK 0 6 1 1 CBRK_USB_CHK 197848 6 1 1 CBRK_VELPOSERR 0 6 1 1 CBRK_VTOLARMING 0 6 1 1 COM_ARM_AUTH_ID 10 6 1 1 COM_ARM_AUTH_MET 0 6 1 1 COM_ARM_AUTH_REQ 0 6 1 1 COM_ARM_AUTH_TO 1.000000000000000000 9 1 1 COM_ARM_CHK_ESCS 0 6 1 1 COM_ARM_EKF_HGT 1.000000000000000000 9 1 1 COM_ARM_EKF_POS 0.500000000000000000 9 1 1 COM_ARM_EKF_VEL 0.500000000000000000 9 1 1 COM_ARM_EKF_YAW 0.500000000000000000 9 1 1 COM_ARM_IMU_ACC 0.699999988079071045 9 1 1 COM_ARM_IMU_GYR 0.250000000000000000 9 1 1 COM_ARM_MAG_ANG 45 6 1 1 COM_ARM_MAG_STR 1 6 1 1 COM_ARM_MIS_REQ 0 6 1 1 COM_ARM_SDCARD 1 6 1 1 COM_ARM_SWISBTN 0 6 1 1 COM_ARM_WO_GPS 1 6 1 1 COM_CPU_MAX 90.000000000000000000 9 1 1 COM_DISARM_LAND 2.000000000000000000 9 1 1 COM_DISARM_PRFLT 10.000000000000000000 9 1 1 COM_DL_LOSS_T 10 6 1 1 COM_EF_C2T 5.000000000000000000 9 1 1 COM_EF_THROT 0.500000000000000000 9 1 1 COM_EF_TIME 10.000000000000000000 9 1 1 COM_FLIGHT_UUID 114 6 1 1 COM_FLTMODE1 8 6 1 1 COM_FLTMODE2 2 6 1 1 COM_FLTMODE3 3 6 1 1 COM_FLTMODE4 -1 6 1 1 COM_FLTMODE5 5 6 1 1 COM_FLTMODE6 5 6 1 1 COM_FLT_PROFILE 0 6 1 1 COM_HLDL_LOSS_T 120 6 1 1 COM_HLDL_REG_T 0 6 1 1 COM_HOME_H_T 5.000000000000000000 9 1 1 COM_HOME_IN_AIR 0 6 1 1 COM_HOME_V_T 10.000000000000000000 9 1 1 COM_KILL_DISARM 5.000000000000000000 9 1 1 COM_LKDOWN_TKO 3.000000000000000000 9 1 1 COM_LOW_BAT_ACT 0 6 1 1 COM_MOT_TEST_EN 1 6 1 1 COM_OBC_LOSS_T 5.000000000000000000 9 1 1 COM_OBL_ACT 0 6 1 1 COM_OBL_RC_ACT 0 6 1 1 COM_OBS_AVOID 0 6 1 1 COM_OF_LOSS_T 1.000000000000000000 9 1 1 COM_POSCTL_NAVL 0 6 1 1 COM_POS_FS_DELAY 1 6 1 1 COM_POS_FS_EPH 5.000000000000000000 9 1 1 COM_POS_FS_EPV 10.000000000000000000 9 1 1 COM_POS_FS_GAIN 10 6 1 1 COM_POS_FS_PROB 30 6 1 1 COM_POWER_COUNT 1 6 1 1 COM_PREARM_MODE 0 6 1 1 COM_RCL_ACT_T -1.000000000000000000 9 1 1 COM_RCL_EXCEPT 0 6 1 1 COM_RC_ARM_HYST 1000 6 1 1 COM_RC_IN_MODE 0 6 1 1 COM_RC_LOSS_T 0.500000000000000000 9 1 1 COM_RC_OVERRIDE 1 6 1 1 COM_RC_STICK_OV 30.000000000000000000 9 1 1 COM_REARM_GRACE 1 6 1 1 COM_TAKEOFF_ACT 0 6 1 1 COM_VEL_FS_EVH 1.000000000000000000 9 1 1 CP_DELAY 0.400000005960464478 9 1 1 CP_DIST -1.000000000000000000 9 1 1 CP_GO_NO_DATA 0 6 1 1 CP_GUIDE_ANG 30.000000000000000000 9 1 1 DSHOT_CONFIG 0 6 1 1 DSHOT_TEL_CFG 0 6 1 1 EKF2_ABIAS_INIT 0.200000002980232239 9 1 1 EKF2_ABL_ACCLIM 25.000000000000000000 9 1 1 EKF2_ABL_GYRLIM 3.000000000000000000 9 1 1 EKF2_ABL_LIM 0.400000005960464478 9 1 1 EKF2_ABL_TAU 0.500000000000000000 9 1 1 EKF2_ACC_B_NOISE 0.003000000026077032 9 1 1 EKF2_ACC_NOISE 0.349999994039535522 9 1 1 EKF2_AID_MASK 1 6 1 1 EKF2_ANGERR_INIT 0.100000001490116119 9 1 1 EKF2_ARSP_THR 0.000000000000000000 9 1 1 EKF2_ASPD_MAX 20.000000000000000000 9 1 1 EKF2_ASP_DELAY 100.000000000000000000 9 1 1 EKF2_AVEL_DELAY 5.000000000000000000 9 1 1 EKF2_BARO_DELAY 0.000000000000000000 9 1 1 EKF2_BARO_GATE 5.000000000000000000 9 1 1 EKF2_BARO_NOISE 3.500000000000000000 9 1 1 EKF2_BCOEF_X 25.000000000000000000 9 1 1 EKF2_BCOEF_Y 25.000000000000000000 9 1 1 EKF2_BETA_GATE 5.000000000000000000 9 1 1 EKF2_BETA_NOISE 0.300000011920928955 9 1 1 EKF2_DECL_TYPE 7 6 1 1 EKF2_DRAG_NOISE 2.500000000000000000 9 1 1 EKF2_EAS_NOISE 1.399999976158142090 9 1 1 EKF2_EVA_NOISE 0.050000000745058060 9 1 1 EKF2_EVP_GATE 5.000000000000000000 9 1 1 EKF2_EVP_NOISE 0.100000001490116119 9 1 1 EKF2_EVV_GATE 3.000000000000000000 9 1 1 EKF2_EVV_NOISE 0.100000001490116119 9 1 1 EKF2_EV_DELAY 175.000000000000000000 9 1 1 EKF2_EV_NOISE_MD 0 6 1 1 EKF2_EV_POS_X 0.000000000000000000 9 1 1 EKF2_EV_POS_Y 0.000000000000000000 9 1 1 EKF2_EV_POS_Z 0.000000000000000000 9 1 1 EKF2_FUSE_BETA 0 6 1 1 EKF2_GBIAS_INIT 0.100000001490116119 9 1 1 EKF2_GND_EFF_DZ 4.000000000000000000 9 1 1 EKF2_GND_MAX_HGT 0.500000000000000000 9 1 1 EKF2_GPS_CHECK 245 6 1 1 EKF2_GPS_DELAY 110.000000000000000000 9 1 1 EKF2_GPS_POS_X 0.000000000000000000 9 1 1 EKF2_GPS_POS_Y 0.000000000000000000 9 1 1 EKF2_GPS_POS_Z 0.000000000000000000 9 1 1 EKF2_GPS_P_GATE 5.000000000000000000 9 1 1 EKF2_GPS_P_NOISE 0.500000000000000000 9 1 1 EKF2_GPS_V_GATE 5.000000000000000000 9 1 1 EKF2_GPS_V_NOISE 0.300000011920928955 9 1 1 EKF2_GSF_TAS 15.000000000000000000 9 1 1 EKF2_GYR_B_NOISE 0.001000000047497451 9 1 1 EKF2_GYR_NOISE 0.014999999664723873 9 1 1 EKF2_HDG_GATE 2.599999904632568359 9 1 1 EKF2_HEAD_NOISE 0.300000011920928955 9 1 1 EKF2_HGT_MODE 0 6 1 1 EKF2_IMU_POS_X 0.000000000000000000 9 1 1 EKF2_IMU_POS_Y 0.000000000000000000 9 1 1 EKF2_IMU_POS_Z 0.000000000000000000 9 1 1 EKF2_MAG_ACCLIM 0.500000000000000000 9 1 1 EKF2_MAG_B_NOISE 0.000099999997473788 9 1 1 EKF2_MAG_CHECK 0 6 1 1 EKF2_MAG_DECL -3.963644742965698242 9 1 1 EKF2_MAG_DELAY 0.000000000000000000 9 1 1 EKF2_MAG_E_NOISE 0.001000000047497451 9 1 1 EKF2_MAG_GATE 3.000000000000000000 9 1 1 EKF2_MAG_NOISE 0.050000000745058060 9 1 1 EKF2_MAG_TYPE 0 6 1 1 EKF2_MAG_YAWLIM 0.250000000000000000 9 1 1 EKF2_MIN_OBS_DT 20 6 1 1 EKF2_MIN_RNG 0.100000001490116119 9 1 1 EKF2_MOVE_TEST 1.000000000000000000 9 1 1 EKF2_MULTI_IMU 3 6 1 1 EKF2_MULTI_MAG 3 6 1 1 EKF2_NOAID_NOISE 10.000000000000000000 9 1 1 EKF2_NOAID_TOUT 5000000 6 1 1 EKF2_OF_DELAY 20.000000000000000000 9 1 1 EKF2_OF_GATE 3.000000000000000000 9 1 1 EKF2_OF_N_MAX 0.500000000000000000 9 1 1 EKF2_OF_N_MIN 0.150000005960464478 9 1 1 EKF2_OF_POS_X 0.000000000000000000 9 1 1 EKF2_OF_POS_Y 0.000000000000000000 9 1 1 EKF2_OF_POS_Z 0.000000000000000000 9 1 1 EKF2_OF_QMIN 1 6 1 1 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weagle08 commented 1 year ago

So issue is this message does not get sent over the USB on the Cubes. You have to use the MAV_[N]_CONFIG and accompanying params to target the available serial intefaces (TELEM1, TELEM2, GPS.. etc)