Standard VTOL loses global position in HITL

[ColonelChicken5648]

I am trying to run gazebo using standard_vtol.world and qgroundcontrol with the HIL standard vtol airframe selected. The aircraft wobbles on takeoff and within 7-30 seconds it gives the errors "Critical navigation failure! Check sensor calibrations" and "Failed enable no global position." I have run iris.world with the copter simulation airframe with no problems. While running iris.world with the standard vtol airframe the aircraft does a vertical takeoff, but gets confused when it tries to transition to fixed wing and move forward, so it lands. This leads me to believe there is a problem with the standard_vtol world and/or model files. Does anyone have any insight into this issue?

I are using a Pixhawk 2 cube with firmware version fmu-v3.

[Jaeyoung-Lim]

@ColonelChicken5648 How is the flight controller connected to the simulation?

[ColonelChicken5648]

@Jaeyoung-Lim The pixhawk is connected to the PC via USB.

[Jaeyoung-Lim]

@ColonelChicken5648 I think what you are running is a bit outdated. standard_vtol.world had higher update rates than other worlds. But this does not exist anymore. I am wondering if this caused the issues you are seeing.

Could you maybe update to the latest master and try again?

[jasonotu]

@ColonelChicken5648 @Jaeyoung-Lim I'm having the same issue, did you get this working?

[jasonotu]

I can confirm using standard_vtol.world does not fix the issue.

[Jaeyoung-Lim]

@jasonotu What baudrate are you using?

[jasonotu]

@Jaeyoung-Lim the standard_vtol.sdf is using 921600

[jasonotu]

Any update on this? I'm using a Pixhawk 4.