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MAVLink to ROS gateway with proxy for Ground Control Station
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Drone is able to arm but can't switch to offboard #1753

Closed PhilipMar closed 2 years ago

PhilipMar commented 2 years ago

This is only bug and feature tracker, please use it to report bugs or request features.

Issue details

Hello.

I am trying to control an Alta X using a companion computer via Mavros. I am able to arm the Alta through my code, however I am unable to switch to offboard mode afterwards. The same code works on a smaller test drone with no problems. However, when I try to switch to offboard mode on the Alta X after arming, I get the error message: CMD: Unexpected command 176, result 1.

The drone has GPS reception, Heartbeat seems to work and setpoints are published with a frequency of 20Hz on the topic mavros/setpoint_position/global . I have also checked that this frequency is reached. The FCU is connected to the companion computer through a FTDI adapter. The port used on the flight controller is Telem2. The baud rate is 921600 and the rate of the Mavlink instance is set to 0. I have also tried some other baud rates, but only got different errors. Switching to the offboard mode was still not possible.

Is there any way to check why the switch to offboard is not working?

MAVROS version and platform

Mavros: currently unknown. I will add it on Tuesday. Probably one of the new ones, since it was set up only a few months ago ROS: melodic Ubuntu: 18.04

Autopilot type and version

[ ] ArduPilot [X] PX4

Version: PX4 Custom Flight Stack 1.3.17

Node logs

roslaunch mavros px4.launch fcu_url:="/dev/ttyUSB0:921600"
... logging to /home/doks/.ros/log/d12073fa-e7ec-11ec-9494-001e101f0000/roslaunch-ALTA_X-9366.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ALTA_X:34253/

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /mavros/camera/frame_id: base_link
 * /mavros/cmd/use_comp_id_system_control: False
 * /mavros/conn/heartbeat_rate: 1.0
 * /mavros/conn/system_time_rate: 1.0
 * /mavros/conn/timeout: 10.0
 * /mavros/conn/timesync_rate: 10.0
 * /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/horizontal_fov_ratio: 1.0
 * /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/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0
 * /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: /dev/ttyUSB0:921600
 * /mavros/gcs_url: 
 * /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/mission/use_mission_item_int: True
 * /mavros/mocap/use_pose: True
 * /mavros/mocap/use_tf: False
 * /mavros/odometry/fcu/odom_child_id_des: base_link
 * /mavros/odometry/fcu/odom_parent_id_des: map
 * /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: odom
 * /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: odom
 * /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: odom
 * /mavros/wheel_odometry/tf/send: False
 * /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: 1.14.13

NODES
  /
    mavros (mavros/mavros_node)

ROS_MASTER_URI=http://localhost:11311

process[mavros-1]: started with pid [9382]
[ INFO] [1654776872.604601370]: FCU URL: /dev/ttyUSB0:921600
[ INFO] [1654776872.609091013]: serial0: device: /dev/ttyUSB0 @ 921600 bps
[ INFO] [1654776872.611387462]: GCS bridge disabled
[ INFO] [1654776872.634194330]: Plugin 3dr_radio loaded
[ INFO] [1654776872.637847285]: Plugin 3dr_radio initialized
[ INFO] [1654776872.638032234]: Plugin actuator_control loaded
[ INFO] [1654776872.644996327]: Plugin actuator_control initialized
[ INFO] [1654776872.652600051]: Plugin adsb loaded
[ INFO] [1654776872.660665960]: Plugin adsb initialized
[ INFO] [1654776872.660959322]: Plugin altitude loaded
[ INFO] [1654776872.663779991]: Plugin altitude initialized
[ INFO] [1654776872.664066984]: Plugin cam_imu_sync loaded
[ INFO] [1654776872.665669555]: Plugin cam_imu_sync initialized
[ INFO] [1654776872.665879825]: Plugin camera loaded
[ INFO] [1654776872.667438035]: Plugin camera initialized
[ INFO] [1654776872.667684992]: Plugin command loaded
[ INFO] [1654776872.684097764]: Plugin command initialized
[ INFO] [1654776872.684339959]: Plugin companion_process_status loaded
[ INFO] [1654776872.689970765]: Plugin companion_process_status initialized
[ INFO] [1654776872.690178330]: Plugin debug_value loaded
[ INFO] [1654776872.701231397]: Plugin debug_value initialized
[ INFO] [1654776872.701324275]: Plugin distance_sensor blacklisted
[ INFO] [1654776872.701506679]: Plugin esc_status loaded
[ INFO] [1654776872.704377623]: Plugin esc_status initialized
[ INFO] [1654776872.704610200]: Plugin esc_telemetry loaded
[ INFO] [1654776872.706168761]: Plugin esc_telemetry initialized
[ INFO] [1654776872.706431470]: Plugin fake_gps loaded
[ INFO] [1654776872.740634769]: Plugin fake_gps initialized
[ INFO] [1654776872.740898659]: Plugin ftp loaded
[ INFO] [1654776872.757639871]: Plugin ftp initialized
[ INFO] [1654776872.757900944]: Plugin geofence loaded
[ INFO] [1654776872.765646490]: Plugin geofence initialized
[ INFO] [1654776872.765915295]: Plugin global_position loaded
[ INFO] [1654776872.803227626]: Plugin global_position initialized
[ INFO] [1654776872.803534249]: Plugin gps_input loaded
[ INFO] [1654776872.809939386]: Plugin gps_input initialized
[ INFO] [1654776872.810172974]: Plugin gps_rtk loaded
[ INFO] [1654776872.817086871]: Plugin gps_rtk initialized
[ INFO] [1654776872.817336366]: Plugin gps_status loaded
[ INFO] [1654776872.823076534]: Plugin gps_status initialized
[ INFO] [1654776872.823333260]: Plugin hil loaded
[ INFO] [1654776872.852598290]: Plugin hil initialized
[ INFO] [1654776872.852855224]: Plugin home_position loaded
[ INFO] [1654776872.861365944]: Plugin home_position initialized
[ INFO] [1654776872.861617648]: Plugin imu loaded
[ INFO] [1654776872.879656404]: Plugin imu initialized
[ INFO] [1654776872.879874809]: Plugin landing_target loaded
[ INFO] [1654776872.911411398]: Plugin landing_target initialized
[ INFO] [1654776872.911668382]: Plugin local_position loaded
[ INFO] [1654776872.927693812]: Plugin local_position initialized
[ INFO] [1654776872.927933950]: Plugin log_transfer loaded
[ INFO] [1654776872.936562240]: Plugin log_transfer initialized
[ INFO] [1654776872.936804922]: Plugin mag_calibration_status loaded
[ INFO] [1654776872.939976106]: Plugin mag_calibration_status initialized
[ INFO] [1654776872.940242357]: Plugin manual_control loaded
[ INFO] [1654776872.947152187]: Plugin manual_control initialized
[ INFO] [1654776872.947394173]: Plugin mocap_pose_estimate loaded
[ INFO] [1654776872.955751580]: Plugin mocap_pose_estimate initialized
[ INFO] [1654776872.955996310]: Plugin mount_control loaded
[ INFO] [1654776872.965475540]: Plugin mount_control initialized
[ INFO] [1654776872.965742808]: Plugin nav_controller_output loaded
[ INFO] [1654776872.967420662]: Plugin nav_controller_output initialized
[ INFO] [1654776872.967687378]: Plugin obstacle_distance loaded
[ INFO] [1654776872.973970841]: Plugin obstacle_distance initialized
[ INFO] [1654776872.974192631]: Plugin odom loaded
[ INFO] [1654776872.984491481]: Plugin odom initialized
[ INFO] [1654776872.984730398]: Plugin onboard_computer_status loaded
[ INFO] [1654776872.990165002]: Plugin onboard_computer_status initialized
[ INFO] [1654776872.990410386]: Plugin param loaded
[ INFO] [1654776872.997563582]: Plugin param initialized
[ INFO] [1654776872.997812332]: Plugin play_tune loaded
[ INFO] [1654776873.003392968]: Plugin play_tune initialized
[ INFO] [1654776873.003647032]: Plugin px4flow loaded
[ INFO] [1654776873.019655920]: Plugin px4flow initialized
[ INFO] [1654776873.019922602]: Plugin rallypoint loaded
[ INFO] [1654776873.027221771]: Plugin rallypoint initialized
[ INFO] [1654776873.027345290]: Plugin rangefinder blacklisted
[ INFO] [1654776873.027534768]: Plugin rc_io loaded
[ INFO] [1654776873.035834800]: Plugin rc_io initialized
[ INFO] [1654776873.035936421]: Plugin safety_area blacklisted
[ INFO] [1654776873.036138317]: Plugin setpoint_accel loaded
[ INFO] [1654776873.043209971]: Plugin setpoint_accel initialized
[ INFO] [1654776873.043478638]: Plugin setpoint_attitude loaded
[ INFO] [1654776873.063702796]: Plugin setpoint_attitude initialized
[ INFO] [1654776873.064017486]: Plugin setpoint_position loaded
[ INFO] [1654776873.099756306]: Plugin setpoint_position initialized
[ INFO] [1654776873.100035989]: Plugin setpoint_raw loaded
[ INFO] [1654776873.121201030]: Plugin setpoint_raw initialized
[ INFO] [1654776873.121489433]: Plugin setpoint_trajectory loaded
[ INFO] [1654776873.132591727]: Plugin setpoint_trajectory initialized
[ INFO] [1654776873.132888567]: Plugin setpoint_velocity loaded
[ INFO] [1654776873.146032336]: Plugin setpoint_velocity initialized
[ INFO] [1654776873.146367652]: Plugin sys_status loaded
[ INFO] [1654776873.172740889]: Plugin sys_status initialized
[ INFO] [1654776873.173025929]: Plugin sys_time loaded
[ INFO] [1654776873.185724928]: TM: Timesync mode: MAVLINK
[ INFO] [1654776873.186784312]: TM: Not publishing sim time
[ INFO] [1654776873.189818782]: Plugin sys_time initialized
[ INFO] [1654776873.190068743]: Plugin terrain loaded
[ INFO] [1654776873.191608348]: Plugin terrain initialized
[ INFO] [1654776873.191866479]: Plugin trajectory loaded
[ INFO] [1654776873.204262339]: Plugin trajectory initialized
[ INFO] [1654776873.204561673]: Plugin tunnel loaded
[ INFO] [1654776873.211527209]: Plugin tunnel initialized
[ INFO] [1654776873.211791921]: Plugin vfr_hud loaded
[ INFO] [1654776873.213345123]: Plugin vfr_hud initialized
[ INFO] [1654776873.213470718]: Plugin vibration blacklisted
[ INFO] [1654776873.213642964]: Plugin vision_pose_estimate loaded
[ INFO] [1654776873.231511308]: Plugin vision_pose_estimate initialized
[ INFO] [1654776873.231743320]: Plugin vision_speed_estimate loaded
[ INFO] [1654776873.240937625]: Plugin vision_speed_estimate initialized
[ INFO] [1654776873.241266151]: Plugin waypoint loaded
[ INFO] [1654776873.253213345]: Plugin waypoint initialized
[ INFO] [1654776873.253339532]: Plugin wheel_odometry blacklisted
[ INFO] [1654776873.253574502]: Plugin wind_estimation loaded
[ INFO] [1654776873.255176487]: Plugin wind_estimation initialized
[ INFO] [1654776873.255465372]: Autostarting mavlink via USB on PX4
[ INFO] [1654776873.255540237]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1654776873.255582384]: Built-in MAVLink package version: 2022.3.3
[ INFO] [1654776873.255648526]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1654776873.255708824]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1654776873.256268800]: IMU: Scaled IMU message used.
[ INFO] [1654776873.256671245]: IMU: High resolution IMU detected!
[ INFO] [1654776873.257106972]: IMU: Attitude quaternion IMU detected!
[ INFO] [1654776873.257920858]: RC_CHANNELS message detected!
[ INFO] [1654776873.306952036]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1654776873.323874178]: IMU: Scaled IMU message used.
[ INFO] [1654776873.324115784]: IMU: High resolution IMU detected!
[ INFO] [1654776873.324496513]: IMU: Attitude quaternion IMU detected!
[ INFO] [1654776873.350589880]: RC_CHANNELS message detected!
[ INFO] [1654776874.166818013]: FCU: Onboard controller regained
[ INFO] [1654776874.321468482]: GF: Using MISSION_ITEM_INT
[ INFO] [1654776874.321707282]: RP: Using MISSION_ITEM_INT
[ INFO] [1654776874.321818682]: WP: Using MISSION_ITEM_INT
[ INFO] [1654776874.321970686]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1654776874.322728679]: VER: 1.1: Flight software:     01030100 (570b479474000000)
[ INFO] [1654776874.322870342]: VER: 1.1: Middleware software: 01030011 (0100000600000001)
[ INFO] [1654776874.322961222]: VER: 1.1: OS software:         071c00ff (ffffffff00000000)
[ INFO] [1654776874.323041935]: VER: 1.1: Board hardware:      00000011
[ INFO] [1654776874.323127914]: VER: 1.1: VID/PID:             26ac:0011
[ INFO] [1654776874.323216270]: VER: 1.1: UID:                 3238510335363936
[ WARN] [1654776874.323339227]: CMD: Unexpected command 520, result 0
[ INFO] [1654776888.313249058]: GF: mission received
[ERROR] [1654776888.321169592]: FCU: IGN REQUEST LIST: Busy
[ERROR] [1654776888.374075591]: FCU: IGN REQUEST LIST: Busy
[ WARN] [1654776889.310312876]: RP: timeout, retries left 2
[ WARN] [1654776889.312069117]: WP: timeout, retries left 2
[ INFO] [1654776889.317961900]: RP: mission received
[ERROR] [1654776889.324599389]: FCU: IGN REQUEST LIST: Busy
[ WARN] [1654776890.312695248]: WP: timeout, retries left 1
[ INFO] [1654776890.318682965]: WP: mission received
[ WARN] [1654776957.741725301]: CMD: Unexpected command 176, result 0
[ INFO] [1654776958.775478698]: FCU: ARMED by Arm/Disarm component command
[ INFO] [1654776959.022190371]: FCU: [logger] file: /fs/microsd/log/2022-06-09/04_15_5
[ WARN] [1654776967.765953389]: CMD: Unexpected command 176, result 1

Diagnostics

rostopic echo -n1 /diagnostics 
header: 
  seq: 481
  stamp: 
    secs: 1654779409
    nsecs: 884717683
  frame_id: ''
status: 
  - 
    level: 0
    name: "mavros: FCU connection"
    message: "connected"
    hardware_id: "/dev/ttyUSB0:921600"
    values: 
      - 
        key: "Received packets:"
        value: "47012"
      - 
        key: "Dropped packets:"
        value: "0"
      - 
        key: "Buffer overruns:"
        value: "0"
      - 
        key: "Parse errors:"
        value: "0"
      - 
        key: "Rx sequence number:"
        value: "164"
      - 
        key: "Tx sequence number:"
        value: "0"
      - 
        key: "Rx total bytes:"
        value: "17305444"
      - 
        key: "Tx total bytes:"
        value: "516729"
      - 
        key: "Rx speed:"
        value: "26635.000000"
      - 
        key: "Tx speed:"
        value: "580.000000"
  - 
    level: 0
    name: "mavros: GPS"
    message: "3D fix"
    hardware_id: "/dev/ttyUSB0:921600"
    values: 
      - 
        key: "Satellites visible"
        value: "14"
      - 
        key: "Fix type"
        value: "4"
      - 
        key: "EPH (m)"
        value: "0.82"
      - 
        key: "EPV (m)"
        value: "1.14"
  - 
    level: 0
    name: "mavros: Heartbeat"
    message: "Normal"
    hardware_id: "/dev/ttyUSB0:921600"
    values: 
      - 
        key: "Heartbeats since startup"
        value: "638"
      - 
        key: "Frequency (Hz)"
        value: "0.999988"
      - 
        key: "Vehicle type"
        value: "Quadrotor"
      - 
        key: "Autopilot type"
        value: "PX4 Autopilot"
      - 
        key: "Mode"
        value: "ALTCTL"
      - 
        key: "System status"
        value: "Standby"
  - 
    level: 0
    name: "mavros: System"
    message: "Normal"
    hardware_id: "/dev/ttyUSB0:921600"
    values: 
      - 
        key: "Sensor present"
        value: "0x002F002F"
      - 
        key: "Sensor enabled"
        value: "0x0021000F"
      - 
        key: "Sensor health"
        value: "0x002F002F"
      - 
        key: "3D gyro"
        value: "Ok"
      - 
        key: "3D accelerometer"
        value: "Ok"
      - 
        key: "3D magnetometer"
        value: "Ok"
      - 
        key: "absolute pressure"
        value: "Ok"
      - 
        key: "rc receiver"
        value: "Ok"
      - 
        key: "AHRS subsystem health"
        value: "Ok"
      - 
        key: "CPU Load (%)"
        value: "69.6"
      - 
        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: "/dev/ttyUSB0:921600"
    values: 
      - 
        key: "Voltage"
        value: "50.05"
      - 
        key: "Current"
        value: "0.3"
      - 
        key: "Remaining"
        value: "100.0"
  - 
    level: 0
    name: "mavros: Time Sync"
    message: "Normal"
    hardware_id: "/dev/ttyUSB0:921600"
    values: 
      - 
        key: "Timesyncs since startup"
        value: "6378"
      - 
        key: "Frequency (Hz)"
        value: "9.999851"
      - 
        key: "Last RTT (ms)"
        value: "2.594426"
      - 
        key: "Mean RTT (ms)"
        value: "5.133375"
      - 
        key: "Last remote time (s)"
        value: "2196.248842000"
      - 
        key: "Estimated time offset (s)"
        value: "1654777213.569746494"

Check ID

currently unknown. I will add it on Tuesday. But most likely 1.1 since I am able to arm the drone with the current configuration.

PhilipMar commented 2 years ago

Problem was caused by old PX4 version. Did work with global_to_local topic