Issue details

I'm trying to launch PX4 sitl with a custom simulator via mavros and connect via QGC all on the same linux machine.

I tried the following:

run px4 in ROS wrapper
run mavros node with fcu_url = udp://:14540@localhost:14557 and gcs_url = udp://@
run my own custom mavros node to which I send and receive sim data (HIL messages) and connect it using mavconninterface to px4 using tcp-l://:4560@localhost:4560.

I can send and receive the simulator data using my own custom mavros node via mavlink to PX4. However when I run QGC it doesn't load my parameters or vehicle. Although the vehicle seems to be connected.

Then I tried to run it as follows:

run px4 using make px4_sitl none_xxxx
run mavros node with fcu_url = udp://:14550@localhost:14556 and gcs_url = ""
run gcs_bridge with gcs_url = "udp://@localhost"
run my own mavros node using tcp-l://:4560@localhost:4560

Still, I can't seem to get QGC to work. I tried to set up the connection in QGC, but doesn't work. How can I connect this setup to QGC? I know I could also use other simulators (gazebo), but that is not the point as I try to connect a custom one. Thank you for helping!

MAVROS version and platform

Mavros: v0.31.0 ROS: melodic Ubuntu: 18.04

Autopilot type and version

PX4: Version: v1.9.2

Node logs

SUMMARY

CLEAR PARAMETERS

/mavros/

PARAMETERS

/mavros/cmd/use_comp_id_system_control: False
/mavros/conn/heartbeat_rate: 1.0
/mavros/conn/system_time_rate: 1.0
/mavros/conn/timeout: 600.0
/mavros/conn/timesync_rate: 0.0
/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
/mavros/distance_sensor/hrlv_ez4_pub/id: 0
/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
/mavros/distance_sensor/laser_1_sub/id: 3
/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
/mavros/distance_sensor/laser_1_sub/subscriber: True
/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
/mavros/distance_sensor/lidarlite_pub/id: 1
/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
/mavros/distance_sensor/lidarlite_pub/send_tf: True
/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
/mavros/distance_sensor/sonar_1_sub/id: 2
/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
/mavros/distance_sensor/sonar_1_sub/subscriber: True
/mavros/fake_gps/eph: 2.0
/mavros/fake_gps/epv: 2.0
/mavros/fake_gps/fix_type: 3
/mavros/fake_gps/geo_origin/alt: 408.0
/mavros/fake_gps/geo_origin/lat: 47.3667
/mavros/fake_gps/geo_origin/lon: 8.55
/mavros/fake_gps/gps_rate: 5.0
/mavros/fake_gps/mocap_transform: True
/mavros/fake_gps/satellites_visible: 5
/mavros/fake_gps/tf/child_frame_id: fix
/mavros/fake_gps/tf/frame_id: map
/mavros/fake_gps/tf/listen: False
/mavros/fake_gps/tf/rate_limit: 10.0
/mavros/fake_gps/tf/send: False
/mavros/fake_gps/use_mocap: True
/mavros/fake_gps/use_vision: False
/mavros/fcu_protocol: v2.0
/mavros/fcu_url: udp://:14540@127....
/mavros/gcs_url: udp://@
/mavros/global_position/child_frame_id: base_link
/mavros/global_position/frame_id: map
/mavros/global_position/gps_uere: 1.0
/mavros/global_position/rot_covariance: 99999.0
/mavros/global_position/tf/child_frame_id: base_link
/mavros/global_position/tf/frame_id: map
/mavros/global_position/tf/global_frame_id: earth
/mavros/global_position/tf/send: False
/mavros/global_position/use_relative_alt: True
/mavros/image/frame_id: px4flow
/mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
/mavros/imu/frame_id: base_link
/mavros/imu/linear_acceleration_stdev: 0.0003
/mavros/imu/magnetic_stdev: 0.0
/mavros/imu/orientation_stdev: 1.0
/mavros/landing_target/camera/fov_x: 2.0071286398
/mavros/landing_target/camera/fov_y: 2.0071286398
/mavros/landing_target/image/height: 480
/mavros/landing_target/image/width: 640
/mavros/landing_target/land_target_type: VISION_FIDUCIAL
/mavros/landing_target/listen_lt: False
/mavros/landing_target/mav_frame: LOCAL_NED
/mavros/landing_target/target_size/x: 0.3
/mavros/landing_target/target_size/y: 0.3
/mavros/landing_target/tf/child_frame_id: camera_center
/mavros/landing_target/tf/frame_id: landing_target
/mavros/landing_target/tf/listen: False
/mavros/landing_target/tf/rate_limit: 10.0
/mavros/landing_target/tf/send: True
/mavros/local_position/frame_id: map
/mavros/local_position/tf/child_frame_id: base_link
/mavros/local_position/tf/frame_id: map
/mavros/local_position/tf/send: False
/mavros/local_position/tf/send_fcu: False
/mavros/mission/pull_after_gcs: True
/mavros/mocap/use_pose: True
/mavros/mocap/use_tf: False
/mavros/odometry/in/child_frame_id: base_link
/mavros/odometry/in/frame_id: odom
/mavros/odometry/in/frame_tf/body_frame_orientation: flu
/mavros/odometry/in/frame_tf/local_frame: local_origin_ned
/mavros/odometry/out/frame_tf/body_frame_orientation: frd
/mavros/odometry/out/frame_tf/local_frame: vision_ned
/mavros/plugin_blacklist: ['safety_area', '...
/mavros/plugin_whitelist: []
/mavros/px4flow/frame_id: px4flow
/mavros/px4flow/ranger_fov: 0.118682
/mavros/px4flow/ranger_max_range: 5.0
/mavros/px4flow/ranger_min_range: 0.3
/mavros/safety_area/p1/x: 1.0
/mavros/safety_area/p1/y: 1.0
/mavros/safety_area/p1/z: 1.0
/mavros/safety_area/p2/x: -1.0
/mavros/safety_area/p2/y: -1.0
/mavros/safety_area/p2/z: -1.0
/mavros/setpoint_accel/send_force: False
/mavros/setpoint_attitude/reverse_thrust: False
/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
/mavros/setpoint_attitude/tf/frame_id: map
/mavros/setpoint_attitude/tf/listen: False
/mavros/setpoint_attitude/tf/rate_limit: 50.0
/mavros/setpoint_attitude/use_quaternion: False
/mavros/setpoint_position/mav_frame: LOCAL_NED
/mavros/setpoint_position/tf/child_frame_id: target_position
/mavros/setpoint_position/tf/frame_id: map
/mavros/setpoint_position/tf/listen: False
/mavros/setpoint_position/tf/rate_limit: 50.0
/mavros/setpoint_raw/thrust_scaling: 1.0
/mavros/setpoint_velocity/mav_frame: LOCAL_NED
/mavros/startup_px4_usb_quirk: True
/mavros/sys/disable_diag: False
/mavros/sys/min_voltage: 10.0
/mavros/target_component_id: 1
/mavros/target_system_id: 1
/mavros/tdr_radio/low_rssi: 40
/mavros/time/time_ref_source: fcu
/mavros/time/timesync_avg_alpha: 0.6
/mavros/time/timesync_mode: MAVLINK
/mavros/vibration/frame_id: base_link
/mavros/vision_pose/tf/child_frame_id: vision_estimate
/mavros/vision_pose/tf/frame_id: map
/mavros/vision_pose/tf/listen: False
/mavros/vision_pose/tf/rate_limit: 10.0
/mavros/vision_speed/listen_twist: True
/mavros/vision_speed/twist_cov: True
/mavros/wheel_odometry/child_frame_id: base_link
/mavros/wheel_odometry/count: 2
/mavros/wheel_odometry/frame_id: map
/mavros/wheel_odometry/send_raw: True
/mavros/wheel_odometry/send_twist: False
/mavros/wheel_odometry/tf/child_frame_id: base_link
/mavros/wheel_odometry/tf/frame_id: map
/mavros/wheel_odometry/tf/send: True
/mavros/wheel_odometry/use_rpm: False
/mavros/wheel_odometry/vel_error: 0.1
/mavros/wheel_odometry/wheel0/radius: 0.05
/mavros/wheel_odometry/wheel0/x: 0.0
/mavros/wheel_odometry/wheel0/y: -0.15
/mavros/wheel_odometry/wheel1/radius: 0.05
/mavros/wheel_odometry/wheel1/x: 0.0
/mavros/wheel_odometry/wheel1/y: 0.15
/rosdistro: melodic
/rosversion: 1.14.3
/sim_interface/sim_url: tcp-l://:4560@127...

NODES / mavros (mavros/mavros_node) sitl (px4/px4) sim_interface (mavros/sim_interface_node)

auto-starting new master process[master]: started with pid [31567] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 371bf72a-eb50-11e9-ae93-80ce62115750 process[rosout-1]: started with pid [31578] started core service [/rosout] process[sitl-2]: started with pid [31586] INFO [px4] Creating symlink /home/anne/ROVER/catkin_ws/src/px4/ROMFS/px4fmu_common -> /home/anne/.ros/etc 0 WARNING: setRealtimeSched failed (not run as root?)

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

px4 starting.

INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0 process[mavros-3]: started with pid [31599] process[sim_interface-4]: started with pid [31608] SYS_AUTOSTART: curr: 0 -> new: 1060 BAT_N_CELLS: curr: 0 -> new: 3 CAL_ACC0_ID: curr: 0 -> new: 1311244 CAL_ACC_PRIME: curr: 0 -> new: 1311244 CAL_GYRO0_ID: curr: 0 -> new: 2294028 CAL_GYRO_PRIME: curr: 0 -> new: 2294028 CAL_MAG0_ID: curr: 0 -> new: 197388 CAL_MAG_PRIME: curr: 0 -> new: 197388 CAL_BARO_PRIME: curr: 0 -> new: 6620172 COM_DISARM_LAND: curr: 2.0000 -> new: 0.1000 COM_OBL_ACT: curr: 0 -> new: 2 COM_OF_LOSS_T: curr: 0.0000 -> new: 5.0000 COM_RC_IN_MODE: curr: 0 -> new: 1 EKF2_ANGERR_INIT: curr: 0.1000 -> new: 0.0100 EKF2_GBIAS_INIT: curr: 0.1000 -> new: 0.0100 EKF2_REQ_GPS_H: curr: 10.0000 -> new: 0.5000 MC_PITCH_P: curr: 6.5000 -> new: 6.0000 MC_PITCHRATE_P: curr: 0.1500 -> new: 0.2000 MC_ROLL_P: curr: 6.5000 -> new: 6.0000 MC_ROLLRATE_P: curr: 0.1500 -> new: 0.2000 MPC_HOLD_MAX_Z: curr: 0.6000 -> new: 2.0000 MPC_Z_VEL_I: curr: 0.1000 -> new: 0.1500 [ INFO] [1570706538.143968686]: FCU URL: udp://:14540@127.0.0.1:14557 MPC_Z_VEL_P: curr: 0.2000 -> new: 0.6000 [ INFO] [1570706538.146229611]: udp0: Bind address: 0.0.0.0:14540 [ INFO] [1570706538.146305234]: udp0: Remote address: 127.0.0.1:14557 [ INFO] [1570706538.146559305]: GCS URL: udp://@ [ INFO] [1570706538.146656926]: udp1: Bind address: 0.0.0.0:14555 MPC_XY_P: curr: 0.9500 -> new: 0.8000 MPC_XY_VEL_P: curr: 0.0900 -> new: 0.2000 MPC_XY_VEL_D: curr: 0.0100 -> new: 0.0160 MPC_JERK_MIN: curr: 8.0000 -> new: 10.0000 MPC_ACC_HOR_MAX: curr: 5.0000 -> new: 3.0000 [ INFO] [1570706538.157136292]: Plugin 3dr_radio loaded NAV_ACC_RAD: curr: 10.0000 -> new: 2.0000 [ INFO] [1570706538.159003540]: Plugin 3dr_radio initialized [ INFO] [1570706538.159123018]: Plugin actuator_control loaded NAV_DLL_ACT: curr: 0 -> new: 2 RTL_DESCEND_ALT: curr: 30.0000 -> new: 5.0000 [ INFO] [1570706538.161606157]: Plugin actuator_control initialized RTL_LAND_DELAY: curr: -1.0000 -> new: 5.0000 RTL_RETURN_ALT: curr: 60.0000 -> new: 30.0000 [ INFO] [1570706538.165552945]: Plugin adsb loaded SDLOG_MODE: curr: 0 -> new: 1 [ INFO] [1570706538.169544739]: Plugin adsb initialized [ INFO] [1570706538.169716950]: Plugin altitude loaded SDLOG_PROFILE: curr: 3 -> new: 131 [ INFO] [1570706538.170536908]: Plugin altitude initialized [ INFO] [1570706538.170646270]: Plugin cam_imu_sync loaded [ INFO] [1570706538.171191157]: Plugin cam_imu_sync initialized [ INFO] [1570706538.171338328]: Plugin command loaded SDLOG_DIRS_MAX: curr: 0 -> new: 7 [ INFO] [1570706538.175822729]: Plugin command initialized [ INFO] [1570706538.175968276]: Plugin companion_process_status loaded SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000 [ INFO] [1570706538.177529866]: Plugin companion_process_status initialized [ INFO] [1570706538.177647770]: Plugin debug_value loaded SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010 TRIG_INTERFACE: curr: 4 -> new: 3 [ INFO] [1570706538.180919024]: Plugin debug_value initialized [ INFO] [1570706538.180956912]: Plugin distance_sensor blacklisted [ INFO] [1570706538.181109363]: Plugin fake_gps loaded MIS_LTRMIN_ALT: curr: -1.0000 -> new: 0.0100 MIS_TAKEOFF_ALT: curr: 2.5000 -> new: 0.0100 [ INFO] [1570706538.190236616]: Plugin fake_gps initialized [ INFO] [1570706538.190447972]: Plugin ftp loaded

NAV_DLL_ACT: curr: 2 -> new: 0 NAV_FW_ALT_RAD: curr: 10.0000 -> new: 1000.0000 [ INFO] [1570706538.196678505]: Plugin ftp initialized [ INFO] [1570706538.196869825]: Plugin global_position loaded GND_SPEED_D: curr: 0.0000 -> new: 3.0000 GND_SPEED_I: curr: 0.1000 -> new: 0.0010 GND_SPEED_IMAX: curr: 1.0000 -> new: 0.1250 GND_SPEED_P: curr: 2.0000 -> new: 0.2500 GND_SPEED_TRIM: curr: 3.0000 -> new: 4.0000 [ INFO] [1570706538.208721153]: Plugin global_position initialized [ INFO] [1570706538.208856489]: Plugin gps_rtk loaded GND_THR_CRUISE: curr: 0.1000 -> new: 0.3000 [ INFO] [1570706538.210466859]: Plugin gps_rtk initialized [ INFO] [1570706538.210598282]: Plugin hil loaded GND_THR_MAX: curr: 0.3000 -> new: 0.5000
NAV_ACC_RAD: curr: 2.0000 -> new: 0.5000 [ INFO] [1570706538.219010209]: Plugin hil initialized [ INFO] [1570706538.219213941]: Plugin home_position loaded NAV_LOITER_RAD: curr: 50.0000 -> new: 2.0000 CBRK_AIRSPD_CHK: curr: 0 -> new: 162128 [ INFO] [1570706538.222141265]: Plugin home_position initialized [ INFO] [1570706538.222348905]: Plugin imu loaded GND_MAX_ANG: curr: 0.7854 -> new: 0.6000 [ INFO] [1570706538.227758796]: Plugin imu initialized [ INFO] [1570706538.227967555]: Plugin landing_target loaded INFO [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes INFO [simulator] Waiting for simulator to connect on TCP port 4560 INFO [simulator] Simulator connected on TCP port 4560. [ INFO] [1570706538.237540742]: Plugin landing_target initialized [ INFO] [1570706538.237684782]: Plugin local_position loaded [ INFO] [1570706538.241943866]: Plugin local_position initialized [ INFO] [1570706538.242098493]: Plugin log_transfer loaded [ INFO] [1570706538.244501885]: Plugin log_transfer initialized [ INFO] [1570706538.244634753]: Plugin manual_control loaded [ INFO] [1570706538.247032757]: Plugin manual_control initialized [ INFO] [1570706538.247132677]: Plugin mocap_pose_estimate loaded [ INFO] [1570706538.250061585]: Plugin mocap_pose_estimate initialized [ INFO] [1570706538.250176048]: Plugin mount_control loaded [ INFO] [1570706538.251881447]: Plugin mount_control initialized [ INFO] [1570706538.252010969]: Plugin obstacle_distance loaded [ INFO] [1570706538.253749584]: Plugin obstacle_distance initialized [ INFO] [1570706538.253860443]: Plugin odom loaded [ INFO] [1570706538.258903690]: Plugin odom initialized [ INFO] [1570706538.259079275]: Plugin param loaded [ INFO] [1570706538.262088487]: Plugin param initialized [ INFO] [1570706538.262247334]: Plugin px4flow loaded [ INFO] [1570706538.268398514]: Plugin px4flow initialized [ INFO] [1570706538.268458850]: Plugin rangefinder blacklisted [ INFO] [1570706538.268644840]: Plugin rc_io loaded [ INFO] [1570706538.271286664]: Plugin rc_io initialized [ INFO] [1570706538.271324461]: Plugin safety_area blacklisted [ INFO] [1570706538.271436194]: Plugin setpoint_accel loaded [ INFO] [1570706538.273415940]: Plugin setpoint_accel initialized [ INFO] [1570706538.273627124]: Plugin setpoint_attitude loaded [ INFO] [1570706538.281036238]: Plugin setpoint_attitude initialized [ INFO] [1570706538.281199890]: Plugin setpoint_position loaded [ INFO] [1570706538.290441080]: Plugin setpoint_position initialized [ INFO] [1570706538.290580965]: Plugin setpoint_raw loaded [ INFO] [1570706538.297111108]: Plugin setpoint_raw initialized [ INFO] [1570706538.297271008]: Plugin setpoint_velocity loaded [ INFO] [1570706538.301747694]: Plugin setpoint_velocity initialized [ INFO] [1570706538.302097868]: Plugin sys_status loaded [ INFO] [1570706538.309330248]: Plugin sys_status initialized [ INFO] [1570706538.309522583]: Plugin sys_time loaded [ INFO] [1570706538.313638618]: TM: Timesync mode: MAVLINK [ INFO] [1570706538.314637796]: Plugin sys_time initialized [ INFO] [1570706538.314787261]: Plugin trajectory loaded [ INFO] [1570706538.318928721]: Plugin trajectory initialized [ INFO] [1570706538.319054862]: Plugin vfr_hud loaded [ INFO] [1570706538.319601435]: Plugin vfr_hud initialized [ INFO] [1570706538.319638701]: Plugin vibration blacklisted [ INFO] [1570706538.319761036]: Plugin vision_pose_estimate loaded [ INFO] [1570706538.324765505]: Plugin vision_pose_estimate initialized [ INFO] [1570706538.324863433]: Plugin vision_speed_estimate loaded [ INFO] [1570706538.327454159]: Plugin vision_speed_estimate initialized [ INFO] [1570706538.329665639]: Plugin waypoint loaded [ INFO] [1570706538.334616210]: Plugin waypoint initialized [ INFO] [1570706538.334695088]: Plugin wheel_odometry blacklisted [ INFO] [1570706538.334838459]: Plugin wind_estimation loaded [ INFO] [1570706538.335514948]: Plugin wind_estimation initialized [ INFO] [1570706538.335571608]: Autostarting mavlink via USB on PX4 [ INFO] [1570706538.335703736]: Built-in SIMD instructions: SSE, SSE2 [ INFO] [1570706538.335728224]: Built-in MAVLink package version: 2019.9.9 [ INFO] [1570706538.335752444]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta [ INFO] [1570706538.335773383]: MAVROS started. MY ID 1.240, TARGET ID 1.1 INFO [px4_work_queue] creating: wq:hp_default, priority: 87, stack: 16384 bytes INFO [px4_work_queue] creating: wq:att_pos_ctrl, priority: 88, stack: 16384 bytes INFO [px4_work_queue] creating: wq:rate_ctrl, priority: 99, stack: 16384 bytes MAV_TYPE: curr: 2 -> new: 10 INFO [init] Mixer: etc/mixers-sitl/rover_sitl.main.mix on /dev/pwm_output0 INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 14570 remote port 14550 INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540 INFO [logger] logger started (mode=all) INFO [logger] Start file log (type: full) INFO [logger] Opened full log file: ./log/2019-10-10/11_22_19.ulg INFO [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network) [ INFO] [1570706539.369154084]: udp0: Remote address: 127.0.0.1:14580 [ WARN] [1570706539.370228048]: GP: No GPS fix INFO [px4] Startup script returned successfully pxh> [ INFO] [1570706539.370726887]: FCU: [logger] file: ./log/2019-10-10/11_22_19.ulg [ INFO] [1570706539.371078414]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot INFO [mavlink] partner IP: 127.0.0.1 [ INFO] [1570706540.373201481]: VER: 1.1: Capabilities 0x000000000000e4ef [ INFO] [1570706540.373246982]: VER: 1.1: Flight software: 010a0000 (190c817a9e000000) [ INFO] [1570706540.373278265]: VER: 1.1: Middleware software: 010a0000 (190c817a9e000000) [ INFO] [1570706540.373313840]: VER: 1.1: OS software: 050000ff (d8da511082646d83) [ INFO] [1570706540.373348986]: VER: 1.1: Board hardware: 00000001 [ INFO] [1570706540.373382207]: VER: 1.1: VID/PID: 0000:0000 [ INFO] [1570706540.373414113]: VER: 1.1: UID: 4954414c44494e4f [ WARN] [1570706540.373728870]: CMD: Unexpected command 520, result 0 [ INFO] [1570706549.371735084]: HP: requesting home position [ WARN] [1570706550.372001549]: PR: request list timeout, retries left 2 [ WARN] [1570706551.372459043]: PR: request list timeout, retries left 1 [ WARN] [1570706552.373568694]: PR: request list timeout, retries left 0 [ INFO] [1570706554.371955250]: WP: mission received [ INFO] [1570706559.371206478]: HP: requesting home position

Diagnostics

header: seq: 221 stamp: secs: 1570706676 nsecs: 836563777 frame_id: '' status:

level: 0
name: "mavros: FCU connection"
message: "connected"
hardware_id: "udp://:14540@127.0.0.1:14557"
values:

```
key: "Received packets:"
value: "60092"
```
```
key: "Dropped packets:"
value: "0"
```
```
key: "Buffer overruns:"
value: "0"
```
```
key: "Parse errors:"
value: "0"
```
```
key: "Rx sequence number:"
value: "187"
```
```
key: "Tx sequence number:"
value: "216"
```

key: "Rx total bytes:"
value: "27358808"

```
key: "Tx total bytes:"
value: "1699367"
```
```
key: "Rx speed:"
value: "297432.000000"
```
```
key: "Tx speed:"
value: "18400.000000"
```

level: 2
name: "mavros: GPS"
message: "No satellites"

hardware_id: "udp://:14540@127.0.0.1:14557" values:

```
key: "Satellites visible"
value: "0"
```
```
key: "Fix type"
value: "0"
```
```
key: "EPH (m)"
value: "0.00"
```
```
key: "EPV (m)"
value: "0.00"
```

level: 1
name: "mavros: Heartbeat"
message: "Frequency too high."
hardware_id: "udp://:14540@127.0.0.1:14557"
values:

key: "Heartbeats since startup"
value: "84656"

key: "Frequency (Hz)"
value: "616.241282"

key: "Vehicle type"
value: "Ground rover"

key: "Autopilot type"
value: "PX4 Autopilot"

```
key: "Mode"
value: "MANUAL"
```
```
key: "System status"
value: "Standby"
```

level: 2
name: "mavros: System"
message: "Sensor health"
hardware_id: "udp://:14540@127.0.0.1:14557"
values:

key: "Sensor present"
value: "0x00000020"

key: "Sensor enabled"
value: "0x0020000F"

key: "Sensor health"
value: "0x00000020"

```
key: "3D gyro"
value: "Fail"
```
```
key: "3D accelerometer"
value: "Fail"
```
```
key: "3D magnetometer"
value: "Fail"
```
```
key: "absolute pressure"
value: "Fail"
```

key: "AHRS subsystem health"
value: "Fail"

```
key: "CPU Load (%)"
value: "0.0"
```
```
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: 0 name: "mavros: Battery" message: "Normal" hardware_id: "udp://:14540@127.0.0.1:14557" values:
```
key: "Voltage"
value: "65.54"
```
```
key: "Current"
value: "-0.0"
```
```
key: "Remaining"
value: "-1.0"
```

mavlink / mavros

Launch mavros with PX4 sitl, QGC and ROS sim #1329