Closed Jaeyoung-Lim closed 4 years ago
kaklik
commented
4 years ago This can happen in the situation when some parts of the model are not found. Yellow-blue airplane is a common simplification of FG model in situations where something gets wrong. The command-line messages probably can help you debug this issue.
Jaeyoung-Lim
commented
4 years ago @kaklik Oh, right. Thanks for clarifying.
The log is as below
I'm Mavlink to FlightGear Bridge
Targed Bridge Freq: 200, send data every step: 1
4
5 -1
7 -1
2 1
4 1
INFO [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
INFO [simulator] Waiting for simulator to accept connection on TCP port 4560
INFO [simulator] Simulator connected on TCP port 4560.
INFO [commander] LED: open /dev/led0 failed (22)
INFO [commander] Mission #3 loaded, 11 WPs, curr: 0
0.04 [INFO]:gui UI languages: ("en-US")
0.04 [INFO]:gui Loaded translations for locale "en_US"
0.04 [INFO]:general FlightGear: Version 2019.2.0
0.04 [INFO]:general FlightGear: Build Type Nightly
0.04 [INFO]:general Built with GNU C++ version 7.5
0.04 [INFO]:general Jenkins number/ID 0:none
0.04 [INFO]:general platform default fg_root = Path "/usr/share/games/flightgear"
INFO [init] Mixer: etc/mixers-sitl/plane_sitl.main.mix on /dev/pwm_output0
0.05 [INFO]:input Reading user settings from Path "/home/jaeyoung/.fgfs/autosave_2019_2.xml"
0.05 [INFO]:general init package root at:Path "/home/jaeyoung/.fgfs/Aircraft"
INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
INFO [airspeed_selector] No airspeed sensor detected. Switch to non-airspeed mode.
0.06 [INFO]:input aircraft = Rascal110-YASim
0.06 [INFO]:general Loading aircraft -set file from:Path "/home/jaeyoung/src/Firmware/Tools/flightgear_bridge/models/FlightGear-Rascal/Rascal110-YASim-set.xml"
0.06 [ALRT]:aircraft Aircraft does not specify a minimum FG version: please add one at /sim/minimum-fg-version
0.06 [INFO]:general Found language resource for: en_US
0.06 [INFO]:general Reading localized strings for 'en' from Path "/usr/share/games/flightgear/Translations/default/sys.xml"
0.06 [INFO]:general Reading localized strings for 'en' from Path "/usr/share/games/flightgear/Translations/default/atc.xml"
0.06 [INFO]:general Reading localized strings for 'en' from Path "/usr/share/games/flightgear/Translations/default/tips.xml"
0.06 [INFO]:general option:aircraft = Rascal110-YASim
0.06 [INFO]:general option:fg-aircraft = ./models
0.06 [INFO]:general option:enable-terrasync =
0.06 [INFO]:general option:timeofday = noon
0.06 [INFO]:general option:disable-sound =
0.06 [INFO]:general Channel string = 15400
0.06 [INFO]:general option:telnet = 15400
0.06 [INFO]:general Channel string = socket,out,100,127.0.0.1,15200,udp,FGtoPX4
0.06 [INFO]:general option:generic = socket,out,100,127.0.0.1,15200,udp,FGtoPX4
0.06 [INFO]:general Channel string = socket,in,100,,15300,udp,PX4toFG
0.06 [INFO]:general option:generic = socket,in,100,,15300,udp,PX4toFG
0.06 [INFO]:general option:model-hz = 120
0.06 [INFO]:general option:disable-random-objects =
0.06 [INFO]:general option:prop = /sim/rendering/texture-compression=off
0.06 [INFO]:general option:prop = /sim/rendering/quality-level=0
0.06 [INFO]:general option:prop = /sim/rendering/shaders/quality-level=0
0.06 [INFO]:general option:disable-ai-traffic =
0.06 [INFO]:general option:prop = /sim/ai/enabled=0
0.06 [INFO]:general option:prop = /sim/rendering/random-vegetation=0
0.06 [INFO]:general option:prop = /sim/rendering/random-buildings=0
0.06 [INFO]:general option:disable-specular-highlight =
0.06 [INFO]:general option:disable-ai-models =
0.06 [INFO]:general option:disable-clouds =
0.06 [INFO]:general option:disable-clouds3d =
0.06 [INFO]:general option:fog-fastest =
0.06 [INFO]:general option:visibility = 2000
0.06 [INFO]:general option:disable-distance-attenuation =
0.06 [INFO]:general option:disable-real-weather-fetch =
0.06 [INFO]:general option:prop = /sim/rendering/particles=0
0.06 [INFO]:general option:prop = /sim/rendering/multi-sample-buffers=1
0.06 [INFO]:general option:prop = /sim/rendering/multi-samples=2
0.06 [INFO]:general option:prop = /sim/rendering/draw-mask/clouds=false
0.06 [INFO]:general option:prop = /sim/rendering/draw-mask/aircraft=true
0.06 [INFO]:general option:prop = /sim/rendering/draw-mask/models=true
0.06 [INFO]:general option:prop = /sim/rendering/draw-mask/terrain=true
0.06 [INFO]:general option:disable-random-vegetation =
0.06 [INFO]:general option:disable-random-buildings =
0.06 [INFO]:general option:disable-rembrandt =
0.06 [INFO]:general option:disable-horizon-effect =
0.06 [INFO]:general Using default download dir: Path "/home/jaeyoung/.fgfs"
0.06 [INFO]:general Using default texture cache directory: Path "/home/jaeyoung/.fgfs/TextureCache"
0.06 [INFO]:general Using TerraSync dir: Path "/home/jaeyoung/.fgfs/TerraSync"
0.06 [WARN]:general scenery path not found:Path "/usr/share/games/flightgear/Scenery"
0.06 [INFO]:general EmbeddedResourceManager: selected locale 'en_US'
0.06 [INFO]:opengl Using stock OSG implementation of GraphicsWindow
StatsHandler::StatsHandler() Setting up GL2 compatible shaders
Now checking for plug-in osgPlugins-3.4.1/osgdb_nvtt.so
0.06 [INFO]:astro initializing cloud layers
INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
INFO [logger] logger started (mode=all)
INFO [logger] Start file log (type: full)
INFO [logger] Opened full log file: ./log/2020-05-02/20_31_42.ulg
INFO [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
INFO [px4] Startup script returned successfully
pxh> 0.19 [WARN]:general Enabling ATI/AMD viewport hack
0.19 [INFO]:general Configuration State
0.19 [INFO]:general ============= =====
0.19 [INFO]:general aircraft-dir = "/home/jaeyoung/src/Firmware/Tools/flightgear_bridge/models/FlightGear-Rascal"
0.19 [INFO]:general fghome-dir = "Path "/home/jaeyoung/.fgfs""
0.19 [INFO]:general download-dir = "/home/jaeyoung/.fgfs"
0.19 [INFO]:general terrasync-dir = "/home/jaeyoung/.fgfs/TerraSync"
0.19 [INFO]:general aircraft-search-paths =
/home/jaeyoung/src/Firmware/Tools/flightgear_bridge/models
0.19 [INFO]:general scenery-search-paths =
/home/jaeyoung/.fgfs/TerraSync
0.26 [INFO]:general NVIDIA Corporation
0.26 [INFO]:general GeForce RTX 2080 SUPER/PCIe/SSE2
0.26 [INFO]:general 4.6.0 NVIDIA 440.59
0.26 [INFO]:general 4.60 NVIDIA
0.26 [INFO]:general VertexAttribDivisor supported
0.28 [INFO]:view Splash screen progress loading-aircraft-list
0.28 [INFO]:view FGRenderer:: Maximum texture size 32768
0.30 [ALRT]:terrasync Starting automatic scenery download/synchronization to '/home/jaeyoung/.fgfs/TerraSync'.
0.30 [INFO]:view Splash screen progress loading-nav-dat
0.31 [INFO]:navaid NavCache at:Path "/home/jaeyoung/.fgfs/navdata_2019_2.cache"
0.31 [INFO]:navaid NavCache read-only flags is:0
0.31 [INFO]:navaid NavCache: no main cache rebuild required
0.31 [INFO]:view Splash screen progress init-scenery
0.32 [INFO]:general General Initialization
0.32 [INFO]:general ======= ==============
0.32 [INFO]:general FG_ROOT = "Path "/usr/share/games/flightgear""
0.34 [INFO]:general Attempting to set starting position for BIKF:29
0.34 [INFO]:event Reading timezone info from: Path "/usr/share/games/flightgear/Timezone/zone.tab"
0.34 [INFO]:terrain Selected scenery is tilecache
0.34 [INFO]:terrain FGStgTerrain::init - init tilemgr
0.34 [INFO]:terrain Initializing Tile Manager subsystem.
0.34 [INFO]:terrain Initializing the tile cache.
0.34 [INFO]:terrain max cache size = 100
0.34 [INFO]:terrain current cache size = 0
0.34 [INFO]:terrain done with init()
0.34 [INFO]:view Splash screen progress finalize-position
0.39 [INFO]:view Splash screen progress creating-subsystems
0.40 [INFO]:general Creating Subsystems
0.40 [INFO]:general ======== ==========
0.40 [INFO]:input Reading materials from Path "/usr/share/games/flightgear/Materials/regions/materials.xml"
0.48 [INFO]:terrasync picking entry # 2, server is https://mpserver16.flightgear.org/scenery
0.48 [INFO]:terrasync terrasync scenery provider of the day is 'https://mpserver16.flightgear.org/scenery'
0.50 [INFO]:terrasync sync of https://mpserver16.flightgear.org/scenery/Models started, queue size is 26
0.95 [INFO]:systems Reading systems from Path "/usr/share/games/flightgear/Aircraft/Generic/generic-systems.xml"
0.96 [INFO]:cockpit Initializing HUD Instrument
0.96 [INFO]:sound Reading sound sound from Path "/usr/share/games/flightgear/Aircraft/Generic/generic-sound.xml"
0.96 [INFO]:general Creating subsystems took:567
0.96 [INFO]:view Splash screen progress binding-subsystems
1.75 [ALRT]:systems Failed to load electrical system model: Path ""
1.88 [ALRT]:autopilot Cannot find property-rule configuration file 'Aircraft/Rascal/Systems/110-autopilot.xml'.
1.98 [ALRT]:ai Submodels: Unable to read AI submodels file: Path ""
2.24 [ALRT]:aircraft Failed to find aircraft model: Aircraft/Rascal/Models/Rascal110.xml
2.24 [ALRT]:aircraft (Falling back to glider.ac.)
2.41 [ALRT]:nasal Volcanic activity off.
2.55 [ALRT]:nasal Cannot find Nasal script 'Aircraft/Rascal/Systems/main.nas' for module 'rascal'.
2.55 [ALRT]:nasal Cannot find Nasal script 'Aircraft/Rascal/Systems/airdata.nas' for module 'rascal'.
2.55 [ALRT]:nasal Cannot find Nasal script 'Aircraft/Rascal/Systems/aura.nas' for module 'rascal'.
PX4 Communicator: PX4 Connected.
7.51 [ALRT]:flight This aircraft uses yasim version '2018.1' (3)
YASim warning: possible convergence problem.
FGBridge: Low FlightGear Update Freq: 5.71429
8.03 [INFO]:OSG
8.03 [WARN]:OSG PNG lib warning : iCCP: known incorrect sRGB profile
8.04 [WARN]:OSG PNG lib warning : iCCP: known incorrect sRGB profile
WARN [airspeed_selector] Airspeed: switched from sensor -1 to 1
INFO [ecl/EKF] 9299022871: GPS checks passed (WGS-84 origin set)
8.47 [WARN]:OSG PNG lib warning : iCCP: known incorrect sRGB profile
8.49 [WARN]:OSG PNG lib warning : iCCP: known incorrect sRGB profile
8.49 [WARN]:OSG PNG lib warning : iCCP: known incorrect sRGB profile
8.49 [WARN]:OSG PNG lib warning : iCCP: known incorrect sRGB profile
8.49 [WARN]:OSG PNG lib warning : iCCP: known incorrect sRGB profile
8.52 [WARN]:OSG PNG lib warning : iCCP: known incorrect sRGB profile
8.52 [WARN]:OSG PNG lib warning : iCCP: known incorrect sRGB profile
8.52 [WARN]:OSG PNG lib warning : iCCP: known incorrect sRGB profile
8.52 [WARN]:OSG PNG lib warning : iCCP: known incorrect sRGB profile
8.53 [WARN]:OSG PNG lib warning : iCCP: known incorrect sRGB profile
INFO [ecl/EKF] 9299788114: EKF aligned, (baro height, IMU buf: 18, OBS buf: 14)
INFO [ecl/EKF] 9299788114: reset position to last known position
INFO [ecl/EKF] 9299788114: reset velocity to zero
INFO [ecl/EKF] 9303612347: reset position to GPS
INFO [ecl/EKF] 9303612347: reset velocity to GPS
INFO [ecl/EKF] 9303612347: commencing GPS fusionIt seems like it wasn't able to find the aircraft model: 2.24 [ALRT]:aircraft Failed to find aircraft model: Aircraft/Rascal/Models/Rascal110.xml
kaklik
commented
4 years ago It seems you have defined the model path as a relative path.
option:fg-aircraft = ./models
FG does not like relative paths.
Jaeyoung-Lim
commented
4 years ago I didn't change anything out of px4 master. Seems like that is coming from https://github.com/ThunderFly-aerospace/PX4-FlightGear-Bridge/blob/master/FG_run.py#L42
kaklik
commented
4 years ago I didn't change anything out of px4 master. Seems like that is coming from https://github.com/ThunderFly-aerospace/PX4-FlightGear-Bridge/blob/master/FG_run.py#L42
Ok, it seems to be a bug in the FG_run.py. Apparently you can work around it by setting the FG_MODELS_DIR variable to the required absolute path to the directory of models.
You should be inspired by this script.
saengphet
commented
4 years ago Hi, I got the same problem "failed to find aircraft model".
Jaeyoung-Lim
commented
4 years ago @kaklik @saengphet Updating the submodule to the master of this repo solved the problem. This needs a backport as https://github.com/PX4/PX4-FlightGear-Bridge/pull/3 and a update on the firmware side
seems like https://github.com/ThunderFly-aerospace/PX4-FlightGear-Bridge/commit/eb89f37c7fe69efc286d8bce8bedb3f1541f9db8 fixes it?
kaklik
commented
4 years ago seems like eb89f37 fixes it?
That commit could solve the issue in the case where you had the Rascal model directory named by an old submodule name Rascal110.
In another case, we should check that FG_run.py is completely avoiding to use a relative path in fgfs startup parameters.
Jaeyoung-Lim
commented
4 years ago @kaklik This is not a special setup for me. I am trying to debug the broken setup in master of PX4/firmware.
It seems like master has a model name as FlightGear-Rascal (https://github.com/PX4/PX4-FlightGear-Bridge/tree/13dde0b4a42be19e9e9dbbb1c2527fab634112af/models) and this has been changed Rascal110 then to Rascal
I have removed the previously installed rascal model and tried running the fg nightly build.
However, the rascal model looks a bit different compared to the previously installed model.
Could someone enlighten me on why the mesh of the model changed?