search

PX4 / PX4-Autopilot

PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
8.58k stars 13.56k forks source link

[Bug] Gazebo's drone is not working in an external HITL #21974

Open ymh1995s opened 1 year ago

ymh1995s commented 1 year ago

Describe the bug

Hello. I want to simulate it on Gazebo in conjunction with the actual drone that removed the propeller. The reason for using a real drone is to check with a simulator how the pixhawk 6c controls the drone when receiving spoofing GPS signals.

I found the document “HITL Simulation” and I followed the procedure When the take-off order was issued, Gazebo’s drone did not move despite checking the “in flight” letters in QGroundControl and the real drone’s motor rotation.

To Reproduce

  1. Ubuntu 20.04 install

  2. latest PX Autopilot install 2-1. git clon GitHub - PX4/PX4-Autopilot: PX4 Autopilot Software --recursive 2-2. bash ./Tools/setup/ubuntu.sh 2-3. DON_T RUN=1 make px4_sitl gazebo 2-4. changed “serialEnabled=1”, “hil_mode=1” in iris.sdf 2-5. source Tools/simulation/gazebo-classic/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default

  3. latest QGroundControl install 3-1. changed “external HITL” in Hardware in the loop simulation Menu. 3-2. Only checked one, UDP auto connect 3-3. I chose a drone Quadroter generic 3-4. Enable virtual joystick.

  4. After the installation, I closed all the programs and ran them again. 4-1. gazebo Tools/simulation/gazebo-classic/sitl_gazebo_classic/world/hitl_iris.world 4-2. I was able to confirm that it was connected to tty/ACM0 (my drone, 6c). 4-3. QGroundControl executed. 4-4. I checked the HITL activation message in the QGroundControl pop-up and confirmed that the instrument cluster and head move when the real drone is moved by hand.

  5. We ordered take-off via QGroundControl, and there was a problem 5-1. Checked “in flight” green text on QGroundControl. 5-2. If the battery was connected, the rotor of the real drone also rotated. 5-3. Gazebo’s drone doesn’t move(rotor does not rotate).

Expected behavior

real Drone, gazebo drone and QGroundControl must all operate. The gazebo drone takes off under take-off orders. (Probably, the real drone does not increase in altitude, so gazebo drone rises to infinity.)

Screenshot / Media

화면 캡처 2023-08-17 103509

Flight Log

https://logs.px4.io/plot_app?log=35719951-d656-4938-9ed3-b431d7d19cb4

Software Version

v1.13.3

Flight controller

pixhawk 6c

Vehicle type

None

How are the different components wired up (including port information)

No response

Additional context

No response

NanyongGit commented 8 months ago

+1 facing the same issue at the moment

ifiksel1 commented 3 months ago

I followed all your steps to recreate the issue using a Cube Orange FC, The drone flies in gazebo and it shows in QGC but the motor on the vehicle doesn't move. When I move the FC by hand, the instrument cluster and head doesn't move which makes me thing its not in HITL. Has this been solved?