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PX4 / PX4-Autopilot

PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
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[Bug] HITL simulation motors not spinning PX4 v1.14.0 #22625

Open vacoff opened 6 months ago

vacoff commented 6 months ago

Describe the bug

The first problem with hitl was observed in the Airsim simulator when upgraded to the 1.14 version of PX4. Until that with 1.13.3 version Airsim worked just fine ( had a problem with mission uploading, but unrelated to this issue). Then we thought the problem was in the Airsim side, so tried to run the Gazebo hitl simulation, but problem was also present there. As everything connects to each-other without problem, commands also reach and even we can see signal to the motor commands in the logs. But the motors is not spinning. I suspect that the cause might be the dynamic mixer allocation related somehow.

To Reproduce

  1. Upload 1.14.0 version to the flight controller from QGC
  2. git clone --branch release/1.14 https://github.com/PX4/PX4-Autopilot.git --recursive
  3. Follow the HITL Simulation guide.

Expected behavior

The uav, quadcopter in this case to spin its motors and fly according to the rc input or mission.

Screenshot / Media

Screenshot from 2024-01-11 17-03-40 Screenshot from 2024-01-11 17-04-05

Flight Log

From gazebo: https://logs.px4.io/plot_app?log=0fc1709f-9ab5-4cbc-bb72-fb596af114f8

From Airsim: https://logs.px4.io/plot_app?log=11c84cd4-e76a-4c20-81fe-5afaaeee8ce7

Software Version

v1.14.0

Flight controller

Cube Orange with ADSB carieer board

Vehicle type

Multicopter

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

Cube Orange plugged into the pc using Serial and other connections are default UDP ports.

Additional context

No response

thuhangkhuat commented 6 months ago

Hello @vacoff, I also had the same problem. Have you solved it?

vacoff commented 6 months ago

Hi, unfortunately no, still waiting response from maintainers.

jnomikos commented 5 months ago

I also ran into this issue with the Cube Orange Plus when running multicopter HITL and VTOL HITL

jnomikos commented 5 months ago

Also, when running the VTOL HITL simulation specifically, I am spammed with MAG and COMPASS timeouts. Might be an unrelated issue, I am not sure.

Also, when running SIH on the cube orange plus, I get a preflight fail of every sensor missing, and I don't see the drone on the map.

As another note, for HITL and SIH, actuators are never getting assigned by default. Maybe this is normal? I am new to HITL.

DronecodeBot commented 5 months ago

This issue has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/sih-is-disabled-with-the-cube-orange-plus-is-it-a-good-idea-to-reenable-it/36593/1

DronecodeBot commented 4 months ago

This issue has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/qgroundcontrol-hitl-airframe-motor-doesnt-spin/37076/2

NanyongGit commented 4 months ago

Also, when running the VTOL HITL simulation specifically, I am spammed with MAG and COMPASS timeouts. Might be an unrelated issue, I am not sure.

Also, when running SIH on the cube orange plus, I get a preflight fail of every sensor missing, and I don't see the drone on the map.

As another note, for HITL and SIH, actuators are never getting assigned by default. Maybe this is normal? I am new to HITL.

I face the exact same problems with all the sensors missing and missing drone. Have you found a workaround?

VladSmirnov777 commented 4 months ago

I'm using cubeorangeplus.And next thing solved this issue: In file boards/cubepilot/cubeorangeplus/default.px4board add line: CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y Now I'm running HIL Standard VTOL with Gazebo Classic and everything runs as expected (according to https://docs.px4.io/v1.14/en/simulation/hitl.html).

NanyongGit commented 4 months ago

I'm using cubeorangeplus.And next thing solved this issue: In file boards/cubepilot/cubeorangeplus/default.px4board add line: CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y Now I'm running HIL Standard VTOL with Gazebo Classic and everything runs as expected (according to https://docs.px4.io/v1.14/en/simulation/hitl.html).

Hi VladSmirnov, thanks so much for replying. Can you share the exact steps you took because I'm still unable to replicate it. I'm using the cube black so I added the CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=yinto my boards/px4/fmu-v3/default.px4board then I did make px4_fmu-v3_default to compile it, and then make px4_fmu-v3_default uploadto upload it to my pixhawk.

I then did a make clean again and followed the steps in the documentation. After running gazebo or jmavsim, the motors are still not turning. Any idea why?

Thank you once again for your reply.

Edit: I also added CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y into the default.px4board in px4>sitl file directory. Didn't work either.

VladSmirnov777 commented 4 months ago

MAVLink Console nsh>help ===> Check if pwm_out_sim module exists. Check QGroundControl MAVLink Inspector window HIL_ACTUATOR_CONTROLS message existing And first of all I have checked in Wireshark if any udp messages sent to the port 14550 (listen port of Gazebo Classic). And one important thing:I'm using Gazebo Classic,not new Gazebo.

NanyongGit commented 4 months ago

Hi Vlad, thanks for replying. i just checked, pwm_out_sim does not exist here, there's pca9685_pwm_out, pwm_input, and pwm_out but not the sim one. Do you know how I can get it to appear?

In the Mavlink Inspector, HIL_ACTUATOR_CONTROLS exists and there's a frequency. I'm using Gazebo classic as well, which is the same UDP port.

May I ask if your motors will move if you move the sliders under Actuators in QGC?

VladSmirnov777 commented 4 months ago

May I ask if your motors will move if you move the sliders under Actuators in QGC? Good question.I have never checked it. No,it's not moving under Actuators but after created some flight and start mission it's moving.

NanyongGit commented 4 months ago

Thank you! @VladSmirnov777 Will try it again

NanyongGit commented 4 months ago

Sorryy @VladSmirnov777, Do you happen to know how to get pwm_out_sim to appear?

MAVLink Console nsh>help ===> Check if pwm_out_sim module exists.

Also, I'm so sorry i hope you don't mind me asking - are you using v1.14 or v1.13 for the Pixhawk?

FilBk commented 3 months ago

Hi all, @jnomikos any update about the spamming message of MAG and COMPASS timeouts in HITL VTOL simulation? I do have the same situation, with just same setup as described by @vacoff .

Beyond CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y which made the plane actually spin props, but i had no proper flight. In also addeed in /boards/cubepilot/cubeorange/default.px4board file before building anything the following: CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM =y CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM =y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM =y

For some reason, something probably linked with the sensor errors which keeps spamming, is obstructing the flightcontroller to perform a simple assigned mission, which is working just fine in SITL.

BehnoushHatami commented 1 month ago

Hello everyone. I am experiencing an issue with the HITL simulation and seeking some advice. I am using Pixhawk 6C as my flight controller with PX4 1.14.3. The gazebo version is 11.10.2, QGroundControl is v4.3.0, and I selected the airframe as Holybro X500 V2 (since it is mentioned that it is compatible with HITL since it is a generic quadcopter airframe). I successfully set up my environment according to the HITL documentation. The iris model is visible and correctly loaded in Gazebo, and it appears that the flight controller is connected to both Gazebo and QGroundControl without any issues. However, I am unable to arm the vehicle using either my transmitter or directly through QGroundControl…