elgarbe
commented
5 years ago you have not connection at all, after roslaunch mavros apm.launch you have to see several messages (like you posted here) but there are several messages after the last one you paste, those messages are show when hertbeat is present. Check ttyACM0 (I have to use ttyS0 on raspberry pi 3b+) and the serial speed. It is useful to check serial data with minicom.
[ INFO] [1567709950.104092505]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1567709951.088085632]: CON: Got HEARTBEAT, connected. FCU: ArduPilotMega / ArduCopter
[ INFO] [1567709952.107684468]: VER: 1.1: Capabilities 0x0000000000001bcf
[ INFO] [1567709952.107942750]: VER: 1.1: Flight software: 030507ff (b11c6af3b535f9741bcae90b)
[ INFO] [1567709952.108162802]: VER: 1.1: Middleware software: 00000000 (b535f9741bcae90b)
[ INFO] [1567709952.108348375]: VER: 1.1: OS software: 00000000 (1bcae90b)
[ INFO] [1567709952.108544729]: VER: 1.1: Board hardware: 00000000
[ INFO] [1567709952.108719261]: VER: 1.1: VID/PID: 0000:0000
[ INFO] [1567709952.108905927]: VER: 1.1: UID: 0000000000000000
[ WARN] [1567709952.110164053]: CMD: Unexpected command 520, result 0
[ERROR] [1567709957.085779829]: FCU: PreArm: Check mag field
[ERROR] [1567709957.086813371]: FCU: PreArm: Need 3D Fix
[ERROR] [1567709957.087640194]: FCU: PreArm: Throttle below Failsafe
[ INFO] [1567709961.090199040]: HP: requesting home position
[ INFO] [1567709961.095706184]: FCU: APM:Copter V3.5.7 (b11c6af3)
[ INFO] [1567709961.097510620]: FCU: PX4: b535f974 NuttX: 1bcae90b
[ INFO] [1567709961.101307368]: FCU: Frame: HEXA
[ INFO] [1567709961.102324899]: FCU: PX4v2 00540035 3436510A 32393637
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Issue details
Please describe the problem, or desired feature
1.I'm able to list topics from the FCU. 2.At this stage when I echo /diagnostics it says FCU Connected. 3.To subscribe to topics I need to change the stream rate using rosservice command to 10 Hz rosservice call /mavros/set_stream_rate 0 10 1 4.After this the /diagnostics says the FCU is not connected and thus I cant subscribe to topics published by mavros
MAVROS version and platform
Mavros: ?0.18.4? ROS: Melodic Ubuntu: 18.04
Autopilot type and version
[ x ] ArduPilot [ ] PX4
Version: 3.6.9
Node logs
place here result of: rostopic echo -n1 /diagnostics `` header: seq: 5467 stamp: secs: 1563261616 nsecs: 741383132 frame_id: '' status:
level: 1 name: "mavros: FCU connection" message: "not connected" hardware_id: "/dev/ttyACM0:57600" values:
key: "Received packets:" value: "23637"
key: "Dropped packets:" value: "0"
key: "Buffer overruns:" value: "0"
key: "Parse errors:" value: "0"
key: "Rx sequence number:" value: "183"
key: "Tx sequence number:" value: "13"
key: "Rx total bytes:" value: "4047987"
key: "Tx total bytes:" value: "2339451"
key: "Rx speed:" value: "0.000000"
key: "Tx speed:" value: "500.000000"
level: 0 name: "mavros: GPS" message: "3D fix" hardware_id: "/dev/ttyACM0:57600" values:
key: "Satellites visible" value: "8"
key: "Fix type" value: "3"
key: "EPH (m)" value: "1.11"
key: "EPV (m)" value: "1.61"
level: 2 name: "mavros: Heartbeat" message: "No events recorded." hardware_id: "/dev/ttyACM0:57600" values:
key: "Heartbeats since startup" value: "6802"
key: "Frequency (Hz)" value: "0.000000"
key: "Vehicle type" value: "Quadrotor"
key: "Autopilot type" value: "ArduPilot"
key: "Mode" value: "STABILIZE"
key: "System status" value: "Standby"
level: 0 name: "mavros: System" message: "Normal" hardware_id: "/dev/ttyACM0:57600" values:
key: "Sensor present" value: "0x0360FD2F"
key: "Sensor enabled" value: "0x00601D2F"
key: "Sensor helth" value: "0x0160FD2F"
key: "3D gyro" value: "Ok"
key: "3D accelerometer" value: "Ok"
key: "3D magnetometer" value: "Ok"
key: "absolute pressure" value: "Ok"
key: "GPS" value: "Ok"
key: "laser based position" value: "Ok"
key: "3D angular rate control" value: "Ok"
key: "attitude stabilization" value: "Ok"
key: "yaw position" value: "Ok"
key: "AHRS subsystem health" value: "Ok"
key: "Terrain subsystem health" value: "Ok"
key: "CPU Load (%)" value: "49.7"
key: "Drop rate (%)" value: "0.0"
key: "Errors comm" value: "0"
key: "Errors count #1" value: "0"
key: "Errors count #2" value: "0"
key: "Errors count #3" value: "0"
key: "Errors count #4" value: "0"
level: 1 name: "mavros: Battery" message: "Low voltage" hardware_id: "/dev/ttyACM0:57600" values:
key: "Voltage" value: "0.00"
key: "Current" value: "-0.0"
key: "Remaining" value: "-1.0"
level: 2 name: "mavros: Time Sync" message: "No events recorded." hardware_id: "/dev/ttyACM0:57600" values:
key: "Timesyncs since startup" value: "68062"
key: "Frequency (Hz)" value: "0.000000"
key: "Last RTT (ms)" value: "10041.594736"
key: "Mean RTT (ms)" value: "8.660799"
key: "Last remote time (s)" value: "6877.624956000"
key: "Estimated time offset (s)" value: "1563254383.694509029" `
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