search

mavlink / mavros

MAVLink to ROS gateway with proxy for Ground Control Station
Other
902 stars 993 forks source link

HIGHRES_IMU stream rate not going over 182Hz #1837

Open ilitev opened 1 year ago

ilitev commented 1 year ago

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

Issue details

Hello, I have an issue where when i try to increase the HIGHRES_IMU data rate to 200Hz it only goes up to 182Hz. With older px4 version (1.12) i get 200Hz stable rate. Any suggestions?

MAVROS version and platform

Mavros: Latest ROS: Noetic Ubuntu: 20.04

Autopilot type and version

[ ] ArduPilot [ X ] PX4

Version: 1.13

Node logs

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/ttyACM0:57600
 * /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/mount/debounce_s: 4.0
 * /mavros/mount/err_threshold_deg: 10.0
 * /mavros/mount/negate_measured_pitch: False
 * /mavros/mount/negate_measured_roll: False
 * /mavros/mount/negate_measured_yaw: 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: 200.0
 * /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: 200.0
 * /mavros/setpoint_raw/thrust_scaling: 1.0
 * /mavros/setpoint_velocity/mav_frame: LOCAL_NED
 * /mavros/startup_px4_usb_quirk: False
 * /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: noetic
 * /rosversion: 1.15.14

NODES
/
    mavros (mavros/mavros_node)

auto-starting new master
process[master]: started with pid [114673]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 3766d9b8-bc2e-11ed-8180-cfc81f664a72
process[rosout-1]: started with pid [114683]
started core service [/rosout]
process[mavros-2]: started with pid [114691]
[ INFO] [1678114220.818812137]: FCU URL: /dev/ttyACM0:57600
[ INFO] [1678114220.819822395]: serial0: device: /dev/ttyACM0 @ 57600 bps
[ INFO] [1678114220.820081942]: GCS bridge disabled
[ INFO] [1678114220.825370629]: Plugin 3dr_radio loaded
[ INFO] [1678114220.825899187]: Plugin 3dr_radio initialized
[ INFO] [1678114220.825924894]: Plugin actuator_control loaded
[ INFO] [1678114220.826846241]: Plugin actuator_control initialized
[ INFO] [1678114220.828915838]: Plugin adsb loaded
[ INFO] [1678114220.830449518]: Plugin adsb initialized
[ INFO] [1678114220.830492235]: Plugin altitude loaded
[ INFO] [1678114220.830803976]: Plugin altitude initialized
[ INFO] [1678114220.830836520]: Plugin cam_imu_sync loaded
[ INFO] [1678114220.831021723]: Plugin cam_imu_sync initialized
[ INFO] [1678114220.831058400]: Plugin camera loaded
[ INFO] [1678114220.831242228]: Plugin camera initialized
[ INFO] [1678114220.831274236]: Plugin cellular_status loaded
[ INFO] [1678114220.831989542]: Plugin cellular_status initialized
[ INFO] [1678114220.832027298]: Plugin command loaded
[ INFO] [1678114220.833968416]: Plugin command initialized
[ INFO] [1678114220.834002263]: Plugin companion_process_status loaded
[ INFO] [1678114220.834718425]: Plugin companion_process_status initialized
[ INFO] [1678114220.834750067]: Plugin debug_value loaded
[ INFO] [1678114220.836130209]: Plugin debug_value initialized
[ INFO] [1678114220.836142629]: Plugin distance_sensor blacklisted
[ INFO] [1678114220.836174379]: Plugin esc_status loaded
[ INFO] [1678114220.836513853]: Plugin esc_status initialized
[ INFO] [1678114220.836545936]: Plugin esc_telemetry loaded
[ INFO] [1678114220.836732049]: Plugin esc_telemetry initialized
[ INFO] [1678114220.836774418]: Plugin fake_gps loaded
[ INFO] [1678114220.842165308]: Plugin fake_gps initialized
[ INFO] [1678114220.842237033]: Plugin ftp loaded
[ INFO] [1678114220.844177427]: Plugin ftp initialized
[ INFO] [1678114220.844217584]: Plugin geofence loaded
[ INFO] [1678114220.845192843]: Plugin geofence initialized
[ INFO] [1678114220.845234314]: Plugin global_position loaded
[ INFO] [1678114220.850186963]: Plugin global_position initialized
[ INFO] [1678114220.850228212]: Plugin gps_input loaded
[ INFO] [1678114220.851065530]: Plugin gps_input initialized
[ INFO] [1678114220.851097592]: Plugin gps_rtk loaded
[ INFO] [1678114220.851984834]: Plugin gps_rtk initialized
[ INFO] [1678114220.852018882]: Plugin gps_status loaded
[ INFO] [1678114220.852689047]: Plugin gps_status initialized
[ INFO] [1678114220.852728117]: Plugin guided_target loaded
[ INFO] [1678114220.854080007]: Plugin guided_target initialized
[ INFO] [1678114220.854121320]: Plugin hil loaded
[ INFO] [1678114220.857902889]: Plugin hil initialized
[ INFO] [1678114220.857948272]: Plugin home_position loaded
[ INFO] [1678114220.858987476]: Plugin home_position initialized
[ INFO] [1678114220.859028573]: Plugin imu loaded
[ INFO] [1678114220.861323023]: Plugin imu initialized
[ INFO] [1678114220.861369719]: Plugin landing_target loaded
[ INFO] [1678114220.865691600]: Plugin landing_target initialized
[ INFO] [1678114220.865741971]: Plugin local_position loaded
[ INFO] [1678114220.867734580]: Plugin local_position initialized
[ INFO] [1678114220.867771572]: Plugin log_transfer loaded
[ INFO] [1678114220.868779157]: Plugin log_transfer initialized
[ INFO] [1678114220.868818007]: Plugin mag_calibration_status loaded
[ INFO] [1678114220.869156477]: Plugin mag_calibration_status initialized
[ INFO] [1678114220.869206474]: Plugin manual_control loaded
[ INFO] [1678114220.870090261]: Plugin manual_control initialized
[ INFO] [1678114220.870126614]: Plugin mocap_pose_estimate loaded
[ INFO] [1678114220.871774917]: Plugin mocap_pose_estimate initialized
[ INFO] [1678114220.871815449]: Plugin mount_control loaded
[ WARN] [1678114220.873612541]: Could not retrive negate_measured_roll parameter value, using default (0)
[ WARN] [1678114220.873775650]: Could not retrive negate_measured_pitch parameter value, using default (0)
[ WARN] [1678114220.873919855]: Could not retrive negate_measured_yaw parameter value, using default (0)
[ WARN] [1678114220.874402754]: Could not retrive debounce_s parameter value, using default (4.000000)
[ WARN] [1678114220.874543579]: Could not retrive err_threshold_deg parameter value, using default (10.000000)
[ INFO] [1678114220.874564907]: Plugin mount_control initialized
[ INFO] [1678114220.874622318]: Plugin nav_controller_output loaded
[ INFO] [1678114220.874824668]: Plugin nav_controller_output initialized
[ INFO] [1678114220.874860403]: Plugin obstacle_distance loaded
[ INFO] [1678114220.875700014]: Plugin obstacle_distance initialized
[ INFO] [1678114220.875738128]: Plugin odom loaded
[ INFO] [1678114220.877054683]: Plugin odom initialized
[ INFO] [1678114220.877089983]: Plugin onboard_computer_status loaded
[ INFO] [1678114220.877814719]: Plugin onboard_computer_status initialized
[ INFO] [1678114220.877875035]: Plugin param loaded
[ INFO] [1678114220.878711606]: Plugin param initialized
[ INFO] [1678114220.878748062]: Plugin play_tune loaded
[ INFO] [1678114220.879460939]: Plugin play_tune initialized
[ INFO] [1678114220.879496997]: Plugin px4flow loaded
[ INFO] [1678114220.881625032]: Plugin px4flow initialized
[ INFO] [1678114220.881680969]: Plugin rallypoint loaded
[ INFO] [1678114220.882566377]: Plugin rallypoint initialized
[ INFO] [1678114220.882579762]: Plugin rangefinder blacklisted
[ INFO] [1678114220.882625796]: Plugin rc_io loaded
[ INFO] [1678114220.883662270]: Plugin rc_io initialized
[ INFO] [1678114220.883675947]: Plugin safety_area blacklisted
[ INFO] [1678114220.883743742]: Plugin setpoint_accel loaded
[ INFO] [1678114220.884817284]: Plugin setpoint_accel initialized
[ INFO] [1678114220.884863665]: Plugin setpoint_attitude loaded
[ INFO] [1678114220.887661178]: Plugin setpoint_attitude initialized
[ INFO] [1678114220.887705382]: Plugin setpoint_position loaded
[ INFO] [1678114220.892330248]: Plugin setpoint_position initialized
[ INFO] [1678114220.892375173]: Plugin setpoint_raw loaded
[ INFO] [1678114220.895187097]: Plugin setpoint_raw initialized
[ INFO] [1678114220.895234754]: Plugin setpoint_trajectory loaded
[ INFO] [1678114220.896650573]: Plugin setpoint_trajectory initialized
[ INFO] [1678114220.896691419]: Plugin setpoint_velocity loaded
[ INFO] [1678114220.898374751]: Plugin setpoint_velocity initialized
[ INFO] [1678114220.898433468]: Plugin sys_status loaded
[ INFO] [1678114220.901552683]: Plugin sys_status initialized
[ INFO] [1678114220.901601485]: Plugin sys_time loaded
[ INFO] [1678114220.903254716]: TM: Timesync mode: MAVLINK
[ INFO] [1678114220.903386432]: TM: Not publishing sim time
[ INFO] [1678114220.903863168]: Plugin sys_time initialized
[ INFO] [1678114220.903922310]: Plugin terrain loaded
[ INFO] [1678114220.904132246]: Plugin terrain initialized
[ INFO] [1678114220.904174452]: Plugin trajectory loaded
[ INFO] [1678114220.905810388]: Plugin trajectory initialized
[ INFO] [1678114220.905852793]: Plugin tunnel loaded
[ INFO] [1678114220.906721184]: Plugin tunnel initialized
[ INFO] [1678114220.906762312]: Plugin vfr_hud loaded
[ INFO] [1678114220.906945835]: Plugin vfr_hud initialized
[ INFO] [1678114220.906956453]: Plugin vibration blacklisted
[ INFO] [1678114220.906996628]: Plugin vision_pose_estimate loaded
[ INFO] [1678114220.909399880]: Plugin vision_pose_estimate initialized
[ INFO] [1678114220.909443591]: Plugin vision_speed_estimate loaded
[ INFO] [1678114220.910576012]: Plugin vision_speed_estimate initialized
[ INFO] [1678114220.910620654]: Plugin waypoint loaded
[ INFO] [1678114220.912038379]: Plugin waypoint initialized
[ INFO] [1678114220.912051150]: Plugin wheel_odometry blacklisted
[ INFO] [1678114220.912092878]: Plugin wind_estimation loaded
[ INFO] [1678114220.912275550]: Plugin wind_estimation initialized
[ INFO] [1678114220.912338919]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1678114220.912351423]: Built-in MAVLink package version: 2022.12.30
[ INFO] [1678114220.912366594]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1678114220.912379291]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1678114220.912455851]: IMU: Attitude quaternion IMU detected!
[ INFO] [1678114220.912497239]: IMU: High resolution IMU detected!
[ INFO] [1678114220.912754733]: RC_CHANNELS message detected!
[ INFO] [1678114220.921417828]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1678114220.921962095]: IMU: Attitude quaternion IMU detected!
[ INFO] [1678114220.921976333]: IMU: High resolution IMU detected!
[ INFO] [1678114221.735656689]: RC_CHANNELS message detected!
[ INFO] [1678114221.924223411]: GF: Using MISSION_ITEM_INT
[ INFO] [1678114221.924326107]: RP: Using MISSION_ITEM_INT
[ INFO] [1678114221.924385913]: WP: Using MISSION_ITEM_INT
[ INFO] [1678114221.924459884]: VER: 1.1: Capabilities         0x000000000000ecff
[ INFO] [1678114221.924516286]: VER: 1.1: Flight software:     010e0000 (95754876ed000000)
[ INFO] [1678114221.924575927]: VER: 1.1: Middleware software: 010e0000 (95754876ed000000)
[ INFO] [1678114221.924634746]: VER: 1.1: OS software:         0b0000ff (3f77354c0dc88793)
[ INFO] [1678114221.924696824]: VER: 1.1: Board hardware:      00001058
[ INFO] [1678114221.924755750]: VER: 1.1: VID/PID:             2dae:1058
[ INFO] [1678114221.924808246]: VER: 1.1: UID:                 3431511730343637
[ WARN] [1678114221.925199325]: CMD: Unexpected command 520, result 0
[ INFO] [1678114230.921870154]: HP: requesting home position
[ INFO] [1678114235.922000977]: GF: mission received
[ INFO] [1678114235.922125938]: RP: mission received
[ INFO] [1678114235.922216082]: WP: mission received
[ INFO] [1678114240.921824223]: HP: requesting home position
[ INFO] [1678114250.921828651]: HP: requesting home position
[ INFO] [1678114260.921828223]: HP: requesting home position
[ INFO] [1678114270.921784275]: HP: requesting home position
[ INFO] [1678114280.921827396]: HP: requesting home position
[ INFO] [1678114290.921798701]: HP: requesting home position
[ INFO] [1678114300.921845209]: HP: requesting home position
[ INFO] [1678114310.921849842]: HP: requesting home position
[ INFO] [1678114320.921794074]: HP: requesting home position
[ INFO] [1678114330.921811359]: HP: requesting home position
[ INFO] [1678114340.921786757]: HP: requesting home position
[ INFO] [1678114350.921835593]: HP: requesting home position
[ INFO] [1678114360.921838074]: HP: requesting home position

Diagnostics

place here result of:
eader: 
  seq: 40
  stamp: 
    secs: 1678114269
    nsecs: 412610586
  frame_id: ''
status: 
  - 
    level: 0
    name: "mavros: FCU connection"
    message: "connected"
    hardware_id: "/dev/ttyACM0:57600"
    values: 
      - 
        key: "Received packets:"
        value: "42359"
      - 
        key: "Dropped packets:"
        value: "0"
      - 
        key: "Buffer overruns:"
        value: "0"
      - 
        key: "Parse errors:"
        value: "0"
      - 
        key: "Rx sequence number:"
        value: "252"
      - 
        key: "Tx sequence number:"
        value: "48"
      - 
        key: "Rx total bytes:"
        value: "2291203"
      - 
        key: "Tx total bytes:"
        value: "27797"
      - 
        key: "Rx speed:"
        value: "69853.000000"
      - 
        key: "Tx speed:"
        value: "835.000000"
  - 
    level: 2
    name: "mavros: GPS"
    message: "No satellites"
    hardware_id: "/dev/ttyACM0:57600"
    values: 
      - 
        key: "Satellites visible"
        value: "0"
      - 
        key: "Fix type"
        value: "0"
      - 
        key: "EPH (m)"
        value: "Unknown"
      - 
        key: "EPV (m)"
        value: "Unknown"
  - 
    level: 1
    name: "mavros: Mount"
    message: "Can not diagnose in this targeting mode"
    hardware_id: "/dev/ttyACM0:57600"
    values: 
      - 
        key: "Mode"
        value: "255"
  - 
    level: 0
    name: "mavros: Heartbeat"
    message: "Normal"
    hardware_id: "/dev/ttyACM0:57600"
    values: 
      - 
        key: "Heartbeats since startup"
        value: "49"
      - 
        key: "Frequency (Hz)"
        value: "0.965518"
      - 
        key: "Vehicle type"
        value: "Quadrotor"
      - 
        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: "/dev/ttyACM0:57600"
    values: 
      - 
        key: "Sensor present"
        value: "0x0021000D"
      - 
        key: "Sensor enabled"
        value: "0x0021000D"
      - 
        key: "Sensor health"
        value: "0x2220803F"
      - 
        key: "3D gyro"
        value: "Ok"
      - 
        key: "3D magnetometer"
        value: "Ok"
      - 
        key: "absolute pressure"
        value: "Ok"
      - 
        key: "rc receiver"
        value: "Fail"
      - 
        key: "AHRS subsystem health"
        value: "Ok"
      - 
        key: "CPU Load (%)"
        value: "45.6"
      - 
        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: 1
    name: "mavros: Battery"
    message: "Low voltage"
    hardware_id: "/dev/ttyACM0:57600"
    values: 
      - 
        key: "Voltage"
        value: "0.00"
      - 
        key: "Current"
        value: "nan"
      - 
        key: "Remaining"
        value: "-1.0"
  - 
    level: 0
    name: "mavros: Time Sync"
    message: "Normal"
    hardware_id: "/dev/ttyACM0:57600"
    values: 
      - 
        key: "Timesyncs since startup"
        value: "485"
      - 
        key: "Frequency (Hz)"
        value: "10.000013"
      - 
        key: "Last RTT (ms)"
        value: "0.439942"
      - 
        key: "Mean RTT (ms)"
        value: "0.336895"
      - 
        key: "Last remote time (s)"
        value: "356.487783000"
      - 
        key: "Estimated time offset (s)"
        value: "1678113912.916246891"
---

Check ID

rosrun mavros checkid
FaboNo commented 1 year ago

@ilitev Sorry to bother you but may I ask you how did you increase the IMU data rate at 180Hz? I am running PX 1.13.2 on a Pixhawk 6X mini

I tried to use the following command rosrun mavros mavsys rate --all 100

But it did not change the rate

I used the trick to write on the SD (/etc/extras.txt):

mavlink stream -d /dev/ttyUSB0 -s ATTITUDE_QUATERNION -r 100
mavlink stream -d /dev/ttyUSB0 -s HIGHRES_IMU -r 100

But it did not work either

So I am out of option ... and open to suggestions

ilitev commented 1 year ago

Hello, You can use the same commands you wrote in the QGroundcontrol console and it should work but you will have to do it every time your flight controller restarts

I did it permanently by changing some source code and rebuilding the firmware. You can do that by git clone the repository of px4, go in to the folder, then src/modules/mavlink and open the mavlink_main.cpp, in there you can ctlr+f and search for HIGHRES_IMU. When you change to the desired number you save exit and go to back to the PX4 folder in a terminal and type “make your_controller_name“ and it should build new firmware. That firmware you will find in the build folder in PX4. The. You can flash your flight controller with QGroundcontrol and you should have higher rate.

Hope it helps

vooon commented 1 year ago

Have you tried to use QGC? What rate inspector shows? Have you tried to do the same but when mavros proxy messages (gcs proxy)?

ilitev commented 1 year ago

The mavlink analyzer in QGC shows the same rate aprox.185Hz. With the old firmware (1.12) the SD card with the etc/extras.txt works but not with the newer firmware. What i tried now is to change the rate in the firmware (modules/mavlink/mavlink_main.cpp) to 200Hz but no luck.

vooon commented 1 year ago

Then i suppose you should ask firmware guys, as mavros clearly runs on the same rate as fcu sends.