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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] WARN [health_and_arming_checks] Preflight Fail: ekf2 missing data #24033

Open anhducad1111 opened 4 days ago

anhducad1111 commented 4 days ago

Describe the bug

ubuntu 22.04, ros2 humble, gz garden image it my first setup with px4 simulation https://docs.px4.io/main/en/sim_gazebo_gz/ cd ~ git clone https://github.com/PX4/PX4-Autopilot.git --recursive bash ./PX4-Autopilot/Tools/setup/ubuntu.sh cd PX4-Autopilot/ make px4_sitl

Installed ROS 2 installed and ran Micro XRCE-DDS Agent & Client Built ROS 2 Workspace Installed MAVSDK

To Reproduce

No response

Expected behavior

ready to takeoff

Screenshot / Media

No response

Flight Log

[0/1015] git submodule src/drivers/gps/devices [8/1015] git submodule src/modules/mavlink/mavlink [11/1015] git submodule src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client [1014/1015] cd /home/ad/PX4-Autopilot/build/...PX4-Autopilot/build/px4_sitl_default/bin/px4

| \ \ \ / / / | | |/ / \ V / / /| | | / / \ / /_| | | | / /^\ \ __ | _| \/ \/ |/

px4 starting.

INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 0 INFO [init] found model autostart file as SYS_AUTOSTART=4002 INFO [param] selected parameter default file parameters.bson INFO [param] selected parameter backup file parameters_backup.bson SYS_AUTOCONFIG: curr: 0 -> new: 1 SYS_AUTOSTART: curr: 0 -> new: 4002 CAL_ACC0_ID: curr: 0 -> new: 1310988 CAL_GYRO0_ID: curr: 0 -> new: 1310988 CAL_ACC1_ID: curr: 0 -> new: 1310996 CAL_GYRO1_ID: curr: 0 -> new: 1310996 CAL_ACC2_ID: curr: 0 -> new: 1311004 CAL_GYRO2_ID: curr: 0 -> new: 1311004 CAL_MAG0_ID: curr: 0 -> new: 197388 CAL_MAG0_PRIO: curr: -1 -> new: 50 CAL_MAG1_ID: curr: 0 -> new: 197644 CAL_MAG1_PRIO: curr: -1 -> new: 50 SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000 SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010 INFO [dataman] data manager file './dataman' size is 7872608 bytes INFO [init] Gazebo simulator INFO [init] gazebo already running world: default WARN [init] PX4_GZ_MODEL_POSE not set, spawning at origin. INFO [gz_bridge] world: default, model name: x500_depth_0, simulation model: x500_depth INFO [gz_bridge] Requested Model Position: 0,0,0,0,0,0 INFO [gz_bridge] Model position z is less or equal 0.0, moving upwards INFO [lockstep_scheduler] setting initial absolute time to 2190908000 us INFO [commander] LED: open /dev/led0 failed (22) WARN [health_and_arming_checks] Preflight Fail: ekf2 missing data WARN [health_and_arming_checks] Preflight Fail: No connection to the ground control station INFO [tone_alarm] home set INFO [uxrce_dds_client] init UDP agent IP:127.0.0.1, port:8888 INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550 INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540 INFO [mavlink] partner IP: 127.0.0.1 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/2024-11-25/10_05_03.ulg INFO [logger] Opened full log file: ./log/2024-11-25/10_0503.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> WARN [health_and_arming_checks] Preflight Fail: Attitude failure (roll) WARN [health_and_arming_checks] Preflight Fail: Attitude failure (roll) INFO [uxrce_dds_client] synchronized with time offset 1732526911822399us INFO [uxrce_dds_client] successfully created rt/fmu/out/battery_status data writer, topic id: 19 INFO [uxrce_dds_client] successfully created rt/fmu/out/estimator_status_flags data writer, topic id: 82 INFO [uxrce_dds_client] successfully created rt/fmu/out/failsafe_flags data writer, topic id: 88 INFO [uxrce_dds_client] successfully created rt/fmu/out/manual_control_setpoint data writer, topic id: 137 INFO [uxrce_dds_client] successfully created rt/fmu/out/position_setpoint_triplet data writer, topic id: 181INFO [uxrce_dds_client] successfully created rt/fmu/out/sensor_combined data writer, topic id: 213 INFO [uxrce_dds_client] successfully created rt/fmu/out/timesync_status data writer, topic id: 236 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_land_detected data writer, topic id: 265 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_attitude data writer, topic id: 252 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_control_mode data writer, topic id: 259 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_global_position data writer, topic id: 260 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_gps_position data writer, topic id: 262 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_local_position data writer, topic id: 266 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_odometry data writer, topic id: 271 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_status data writer, topic id: 276 INFO [uxrce_dds_client] time sync converged WARN [timesync] time jump detected. Resetting time synchroniser. WARN [uxrce_dds_client] time sync no longer converged INFO [uxrce_dds_client] time sync converged

Software Version

newest 25/11/2024

Flight controller

No response

Vehicle type

Multicopter

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

No response

Additional context

source ~/px4-venv/bin/activate

cd ~/Micro-XRCE-DDS-Agent MicroXRCEAgent udp4 -p 8888

source ~/.bashrc

cd ~/PX4-Autopilot

make px4_sitl gz_x500_depth make clean make distclean ros2 run ros_gz_image image_bridge /camera

source ~/px4-venv/bin/activate cd ~/PX4-ROS2-Gazebo-YOLOv8 python uav_camera_det.py

AerialMechX commented 2 days ago

This is not a bug. I came across the same problem initially, specifically with the EKF2 missing data. After successfully building the system, I was able to fly the drone using ROS2 Humble and MicroUXCREAgent. , used the YOLOv8 algorithm for object detection.

scr

To resolve this, install the correct version of Gazebo if it's not present by running the following command:

 sudo apt install gz-garden

Then, install the correct version of the Gazebo-ROS bridge using the command:

sudo apt install ros-humble-ros-gzgarden

Next, uninstall any incorrect version of Gazebo that is installed on your system. For example:

 sudo apt remove gz-harmonic 
 sudo apt autoremove

Finally, reboot your system. The problem should now be resolved.

anhducad1111 commented 1 day ago

image now i have this instead https://github.com/monemati/PX4-ROS2-Gazebo-YOLOv8 I do this step by step and ur guide pxh> WARN [health_and_arming_checks] Preflight Fail: Compass Sensor 0 missing im already source ~/.bashrc

anhducad1111 commented 1 day ago

I realized that if I follow https://github.com/monemati/PX4-ROS2-Gazebo-YOLOv8/tree/main to step PX4_SYS_AUTOSTART=4002 PX4_GZ_MODEL_POSE="268.08,-128.22,3.86,0.00,0,-0.7" PX4_GZ_MODEL=x500_depth ./build/px4_sitl_default/bin/px4 it have WARN [health_and_arming_checks] Preflight Fail: Compass Sensor 0 missing

but when i run in make px4_sitl gz_x500_depth_windy it normal i tried to install uninstall garden or harmonic, tried to use 1 of them but cant fix that

dagar commented 1 day ago

For some of these things it's a bit of a race condition where commander really shouldn't be complaining about "ekf2 missing data" immediately. I'll try to adjust it to silence false positives.