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ethz-asl / asctec_mav_framework

Framework for data aquisition and position control to be used with the highlevel processor of Ascending Technologies helicopters
http://www.ros.org/wiki/asctec_mav_framework
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Random errors with asctec_mav_framework #62

Open rbellido1 opened 8 years ago

rbellido1 commented 8 years ago

Hi @markusachtelik, I am doing a research project using an Asctec Hummingbird and try to communicate the HL processor with my laptop using the asctec_mav_framework. I flashed the main.elf, from asctec_hl_firmware, into HL processor and then I launch the fcu.launch file. The package works with mainly two issues:

  1. I constantly get checksum errors warnings: checksum error for packet 5 ,resyncing checksum error for packet 5 ,resyncing checksum error for packet 5 ,resyncing checksum error for packet 5 ,resyncing checksum error for packet 4 ,resyncing checksum error for packet 5 ,resyncing
  2. Fatal error: [ERROR] [1464106356.577814093]: sending SSDK parameters failed, tried 5 times [FATAL] [1464106356.577867841]: Could not send SSDK parameters to the HLP! Shutting down the node

The first error doesn't kill the node but my concern is if i am getting corrupted data The second error is fatal. To work around with this error I normally reboot the quad it seems that help. Do you know if there is a patch for these errors? Could you please provide any input about where to check or how to fix it?

Many thanks in advance for your help!

Robert

giovannisalierno commented 6 years ago

I am having a similar problem, could you fix yours?

roslaunch asctec_hl_interface fcu.launch ... logging to /home/giovanni/.ros/log/c7b255be-523f-11e8-bf30-00265e82a72d/roslaunch-giovanni-E5500-4962.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://giovanni-E5500:45725/

SUMMARY

CLEAR PARAMETERS

PARAMETERS

NODES / fcu (asctec_hl_interface/hl_node)

ROS_MASTER_URI=http://localhost:11311

process[fcu-1]: started with pid [4980] [ INFO] [1525729492.110433898]: INFO: opened serial port /dev/ttyUSB0 with baudrate 57600 [ INFO] [1525729492.110863055]: configured serial port(s), checking connection ... checksum error for packet 5 ,resyncing waiting for acknowledged packet timed out checksum error for packet 1 ,resyncing waiting for acknowledged packet timed out

[ERROR] [1525729493.554670607]: battery voltage critical - land now !!!: 0 V checksum error for packet 14 ,resyncing checksum error for packet 3 ,resyncing checksum error for packet 14 ,resyncing checksum error for packet 14 ,resyncing checksum error for packet 14 ,resyncing checksum error for packet 14 ,resyncing checksum error for packet 14 ,resyncing checksum error for packet 207 ,resyncing checksum error for packet 14 ,resyncing checksum error for packet 14 ,resyncing checksum error for packet 14 ,resyncing waiting for acknowledged packet timed out rx timeout waiting for acknowledged packet timed out rx timeout waiting for acknowledged packet timed out rx timeout waiting for acknowledged packet timed out rx timeout waiting for acknowledged packet timed out [ERROR] [1525729498.756950912]: sending SSDK parameters failed, tried 5 times [FATAL] [1525729498.757190767]: Could not send SSDK parameters to the HLP! Shutting down the node rx timeout [fcu-1] process has finished cleanly log file: /home/giovanni/.ros/log/c7b255be-523f-11e8-bf30-00265e82a72d/fcu-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done

Thanks,

rbellido1 commented 6 years ago

No never fixed it. I ended up using the ACI Asctec libarray, http://wiki.asctec.de/display/AR/ACI+Introduction to communicate my Laptop with the HL proccessor. There are good examples for a C communication interface and I wrote a small ROS wrapper to integrate this C interface. With this approach I haven't got the previous problem.

giovannisalierno commented 6 years ago

Thank you. Now I am trying to communicate in the LL processor.