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MAVLink to ROS gateway with proxy for Ground Control Station
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linear velocities in odometry/in and local_position/odom are different for the same child frame #1936

Open parakhm95 opened 3 months ago

parakhm95 commented 3 months ago

Issue details

I have been very confused by several topics on the mavros reporting similar yet slightly different data. We are flying using a companion/off-board computer with our PX4 flightcontroller. We noticed that despite having the same frame_id/child_frame_id, the topics odometry/in and local_position/odom report different linear velocities as shown in the plot. The plot also contains local_position/velocity_body and local_position/velocity_local and they are also different from both the odometry/in and local_position/odom. We have three different velocities being reported, none of which are the true derivatives of the position.

  1. Only the local_position/velocity_local topic seems to do that correctly and I understand the others might be in the body frame but all three are different. So what is going on here and which is correct? I can provide you the rosbag for this.
  2. Also, what are the purposes for these 4-5 different topics and which should we use for high-rate data for agile flights. There is also global_position/global and global_position/local so that is also confusing.

MAVROS version and platform

Mavros: 1.13.0 ROS: Noetic Ubuntu: 20.04

Autopilot type and version

Pixhawk Orange CubePilotPlus on PX4 1.14.0 and Holybro H-RTK F9P Helical

Node logs

Mar 06 14:01:42 SUMMARY
Mar 06 14:01:42 ========
Mar 06 14:01:42 
Mar 06 14:01:42 CLEAR PARAMETERS
Mar 06 14:01:42  * /uav52/mavros/
Mar 06 14:01:42 
Mar 06 14:01:42 PARAMETERS
Mar 06 14:01:42  * /rosdistro: noetic
Mar 06 14:01:42  * /rosversion: 1.16.666
Mar 06 14:01:42  * /uav52/mavros/cmd/use_comp_id_system_control: False
Mar 06 14:01:42  * /uav52/mavros/conn/heartbeat_rate: 1.0
Mar 06 14:01:42  * /uav52/mavros/conn/system_time_rate: 1.0
Mar 06 14:01:42  * /uav52/mavros/conn/timeout: 10.0
Mar 06 14:01:42  * /uav52/mavros/conn/timesync_rate: 10.0
Mar 06 14:01:42  * /uav52/mavros/distance_sensor/garmin/field_of_view: 0.0
Mar 06 14:01:42  * /uav52/mavros/distance_sensor/garmin/frame_id: uav52/garmin
Mar 06 14:01:42  * /uav52/mavros/distance_sensor/garmin/id: 0
Mar 06 14:01:42  * /uav52/mavros/distance_sensor/garmin/orientation: 25
Mar 06 14:01:42  * /uav52/mavros/distance_sensor/garmin/send_tf: False
Mar 06 14:01:42  * /uav52/mavros/distance_sensor/garmin/sensor_position/x: 0.0
Mar 06 14:01:42  * /uav52/mavros/distance_sensor/garmin/sensor_position/y: 0.0
Mar 06 14:01:42  * /uav52/mavros/distance_sensor/garmin/sensor_position/z: -0.1
Mar 06 14:01:42  * /uav52/mavros/fake_gps/eph: 2.0
Mar 06 14:01:42  * /uav52/mavros/fake_gps/epv: 2.0
Mar 06 14:01:42  * /uav52/mavros/fake_gps/fix_type: 3
Mar 06 14:01:42  * /uav52/mavros/fake_gps/geo_origin/alt: 408.0
Mar 06 14:01:42  * /uav52/mavros/fake_gps/geo_origin/lat: 47.3667
Mar 06 14:01:42  * /uav52/mavros/fake_gps/geo_origin/lon: 8.55
Mar 06 14:01:42  * /uav52/mavros/fake_gps/gps_rate: 5.0
Mar 06 14:01:42  * /uav52/mavros/fake_gps/mocap_transform: True
Mar 06 14:01:42  * /uav52/mavros/fake_gps/satellites_visible: 5
Mar 06 14:01:42  * /uav52/mavros/fake_gps/tf/child_frame_id: fix
Mar 06 14:01:42  * /uav52/mavros/fake_gps/tf/frame_id: map
Mar 06 14:01:42  * /uav52/mavros/fake_gps/tf/listen: False
Mar 06 14:01:42  * /uav52/mavros/fake_gps/tf/rate_limit: 10.0
Mar 06 14:01:42  * /uav52/mavros/fake_gps/tf/send: False
Mar 06 14:01:42  * /uav52/mavros/fake_gps/use_mocap: True
Mar 06 14:01:42  * /uav52/mavros/fake_gps/use_vision: False
Mar 06 14:01:42  * /uav52/mavros/fcu_protocol: v2.0
Mar 06 14:01:42  * /uav52/mavros/fcu_url: /dev/pixhawk:2000000
Mar 06 14:01:42  * /uav52/mavros/gcs_url: tcp-l://
Mar 06 14:01:42  * /uav52/mavros/global_position/child_frame_id: base_link
Mar 06 14:01:42  * /uav52/mavros/global_position/frame_id: map
Mar 06 14:01:42  * /uav52/mavros/global_position/gps_uere: 1.0
Mar 06 14:01:42  * /uav52/mavros/global_position/rot_covariance: 99999.0
Mar 06 14:01:42  * /uav52/mavros/global_position/tf/child_frame_id: base_link
Mar 06 14:01:42  * /uav52/mavros/global_position/tf/frame_id: map
Mar 06 14:01:42  * /uav52/mavros/global_position/tf/global_frame_id: earth
Mar 06 14:01:42  * /uav52/mavros/global_position/tf/send: False
Mar 06 14:01:42  * /uav52/mavros/global_position/use_relative_alt: True
Mar 06 14:01:42  * /uav52/mavros/image/frame_id: px4flow
Mar 06 14:01:42  * /uav52/mavros/imu/angular_velocity_stdev: 0.000349065850398...
Mar 06 14:01:42  * /uav52/mavros/imu/frame_id: base_link
Mar 06 14:01:42  * /uav52/mavros/imu/linear_acceleration_stdev: 0.0003
Mar 06 14:01:42  * /uav52/mavros/imu/magnetic_stdev: 0.0
Mar 06 14:01:42  * /uav52/mavros/imu/orientation_stdev: 1.0
Mar 06 14:01:42  * /uav52/mavros/local_position/frame_id: map
Mar 06 14:01:42  * /uav52/mavros/local_position/tf/child_frame_id: base_link
Mar 06 14:01:42  * /uav52/mavros/local_position/tf/frame_id: map
Mar 06 14:01:42  * /uav52/mavros/local_position/tf/send: False
Mar 06 14:01:42  * /uav52/mavros/local_position/tf/send_fcu: False
Mar 06 14:01:42  * /uav52/mavros/mission/pull_after_gcs: True
Mar 06 14:01:42  * /uav52/mavros/mocap/use_pose: True
Mar 06 14:01:42  * /uav52/mavros/mocap/use_tf: False
Mar 06 14:01:42  * /uav52/mavros/odometry/in/child_frame_id: base_link
Mar 06 14:01:42  * /uav52/mavros/odometry/in/frame_id: odom
Mar 06 14:01:42  * /uav52/mavros/odometry/in/frame_tf/body_frame_orientation: flu
Mar 06 14:01:42  * /uav52/mavros/odometry/in/frame_tf/local_frame: local_origin_ned
Mar 06 14:01:42  * /uav52/mavros/odometry/out/frame_tf/body_frame_orientation: frd
Mar 06 14:01:42  * /uav52/mavros/odometry/out/frame_tf/local_frame: vision_ned
Mar 06 14:01:42  * /uav52/mavros/plugin_blacklist: ['3dr_radio', 'hi...
Mar 06 14:01:42  * /uav52/mavros/plugin_whitelist: ['debug_value']
Mar 06 14:01:42  * /uav52/mavros/px4flow/frame_id: px4flow
Mar 06 14:01:42  * /uav52/mavros/px4flow/ranger_fov: 0.11868238913561441
Mar 06 14:01:42  * /uav52/mavros/px4flow/ranger_max_range: 5.0
Mar 06 14:01:42  * /uav52/mavros/px4flow/ranger_min_range: 0.3
Mar 06 14:01:42  * /uav52/mavros/safety_area/p1/x: 1.0
Mar 06 14:01:42  * /uav52/mavros/safety_area/p1/y: 1.0
Mar 06 14:01:42  * /uav52/mavros/safety_area/p1/z: 1.0
Mar 06 14:01:42  * /uav52/mavros/safety_area/p2/x: -1.0
Mar 06 14:01:42  * /uav52/mavros/safety_area/p2/y: -1.0
Mar 06 14:01:42  * /uav52/mavros/safety_area/p2/z: -1.0
Mar 06 14:01:42  * /uav52/mavros/setpoint_accel/send_force: False
Mar 06 14:01:42  * /uav52/mavros/setpoint_attitude/reverse_thrust: False
Mar 06 14:01:42  * /uav52/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
Mar 06 14:01:42  * /uav52/mavros/setpoint_attitude/tf/frame_id: map
Mar 06 14:01:42  * /uav52/mavros/setpoint_attitude/tf/listen: False
Mar 06 14:01:42  * /uav52/mavros/setpoint_attitude/tf/rate_limit: 50.0
Mar 06 14:01:42  * /uav52/mavros/setpoint_attitude/use_quaternion: False
Mar 06 14:01:42  * /uav52/mavros/setpoint_position/mav_frame: LOCAL_NED
Mar 06 14:01:42  * /uav52/mavros/setpoint_position/tf/child_frame_id: target_position
Mar 06 14:01:42  * /uav52/mavros/setpoint_position/tf/frame_id: map
Mar 06 14:01:42  * /uav52/mavros/setpoint_position/tf/listen: False
Mar 06 14:01:42  * /uav52/mavros/setpoint_position/tf/rate_limit: 50.0
Mar 06 14:01:42  * /uav52/mavros/setpoint_raw/thrust_scaling: 1.0
Mar 06 14:01:42  * /uav52/mavros/setpoint_velocity/mav_frame: LOCAL_NED
Mar 06 14:01:42  * /uav52/mavros/startup_px4_usb_quirk: True
Mar 06 14:01:42  * /uav52/mavros/sys/disable_diag: False
Mar 06 14:01:42  * /uav52/mavros/sys/min_voltage: 10.0
Mar 06 14:01:42  * /uav52/mavros/target_component_id: 
Mar 06 14:01:42  * /uav52/mavros/target_system_id: 
Mar 06 14:01:42  * /uav52/mavros/tdr_radio/low_rssi: 40
Mar 06 14:01:42  * /uav52/mavros/time/time_ref_source: fcu
Mar 06 14:01:42  * /uav52/mavros/time/timesync_avg_alpha: 0.6
Mar 06 14:01:42  * /uav52/mavros/time/timesync_mode: MAVLINK
Mar 06 14:01:42  * /uav52/mavros/vibration/frame_id: base_link
Mar 06 14:01:42  * /uav52/mavros/vision_pose/tf/child_frame_id: vision_estimate
Mar 06 14:01:42  * /uav52/mavros/vision_pose/tf/frame_id: map
Mar 06 14:01:42  * /uav52/mavros/vision_pose/tf/listen: False
Mar 06 14:01:42  * /uav52/mavros/vision_pose/tf/rate_limit: 10.0
Mar 06 14:01:42  * /uav52/mavros/vision_speed/listen_twist: True
Mar 06 14:01:42  * /uav52/mavros/vision_speed/twist_cov: True
Mar 06 14:01:42  * /uav52/mavros/wheel_odometry/child_frame_id: base_link
Mar 06 14:01:42  * /uav52/mavros/wheel_odometry/count: 2
Mar 06 14:01:42  * /uav52/mavros/wheel_odometry/frame_id: map
Mar 06 14:01:42  * /uav52/mavros/wheel_odometry/send_raw: True
Mar 06 14:01:42  * /uav52/mavros/wheel_odometry/send_twist: False
Mar 06 14:01:42  * /uav52/mavros/wheel_odometry/tf/child_frame_id: base_link
Mar 06 14:01:42  * /uav52/mavros/wheel_odometry/tf/frame_id: map
Mar 06 14:01:42  * /uav52/mavros/wheel_odometry/tf/send: True
Mar 06 14:01:42  * /uav52/mavros/wheel_odometry/use_rpm: False
Mar 06 14:01:42  * /uav52/mavros/wheel_odometry/vel_error: 0.1
Mar 06 14:01:42  * /uav52/mavros/wheel_odometry/wheel0/radius: 0.05
Mar 06 14:01:42  * /uav52/mavros/wheel_odometry/wheel0/x: 0.0
Mar 06 14:01:42  * /uav52/mavros/wheel_odometry/wheel0/y: -0.15
Mar 06 14:01:42  * /uav52/mavros/wheel_odometry/wheel1/radius: 0.05
Mar 06 14:01:42  * /uav52/mavros/wheel_odometry/wheel1/x: 0.0
Mar 06 14:01:42  * /uav52/mavros/wheel_odometry/wheel1/y: 0.15
Mar 06 14:01:42 
Mar 06 14:01:42 NODES
Mar 06 14:01:42   /uav52/
Mar 06 14:01:42     mavros (mavros/mavros_node)
Mar 06 14:01:42 
Mar 06 14:01:42 ROS_MASTER_URI=http://localhost:11311
Mar 06 14:01:42 ]2;/home/khadas/nmpc_workspace/src/mrs_uav_deployment/launch/sensors.launch http://localhost:11311
Mar 06 14:01:43 process[uav52/mavros-1]: started with pid [5214]
Mar 06 14:01:43 [ INFO] [1709733703.956508828]: FCU URL: /dev/pixhawk:2000000
Mar 06 14:01:43 [ INFO] [1709733703.980381873]: serial0: device: /dev/pixhawk @ 2000000 bps
Mar 06 14:01:43 [ INFO] [1709733703.980981124]: GCS URL: tcp-l://
Mar 06 14:01:43 [ INFO] [1709733703.982256585]: tcp1: Bind address: 0.0.0.0:5760
Mar 06 14:01:44 [ INFO] [1709733704.037076356]: Plugin 3dr_radio blacklisted
Mar 06 14:01:44 [ INFO] [1709733704.097261971]: Plugin actuator_control loaded
Mar 06 14:01:44 [ INFO] [1709733704.155361998]: Plugin actuator_control initialized
Mar 06 14:01:44 [ INFO] [1709733704.155507206]: Plugin adsb blacklisted
Mar 06 14:01:44 [ INFO] [1709733704.155771874]: Plugin altitude loaded
Mar 06 14:01:44 [ INFO] [1709733704.176615705]: Plugin altitude initialized
Mar 06 14:01:44 [ INFO] [1709733704.176746497]: Plugin cam_imu_sync blacklisted
Mar 06 14:01:44 [ INFO] [1709733704.205798844]: Plugin camera loaded
Mar 06 14:01:44 [ INFO] [1709733704.231041934]: Plugin camera initialized
Mar 06 14:01:44 [ INFO] [1709733704.234535482]: Plugin command loaded
Mar 06 14:01:44 [ INFO] [1709733704.354581419]: Plugin command initialized
Mar 06 14:01:44 [ INFO] [1709733704.354714002]: Plugin companion_process_status blacklisted
Mar 06 14:01:44 [ INFO] [1709733704.355075711]: Plugin debug_value loaded
Mar 06 14:01:44 [ INFO] [1709733704.438368036]: Plugin debug_value initialized
Mar 06 14:01:44 [ INFO] [1709733704.438749787]: Plugin distance_sensor loaded
Mar 06 14:01:44 [ INFO] [1709733704.508677587]: Plugin distance_sensor initialized
Mar 06 14:01:44 [ INFO] [1709733704.509125880]: Plugin esc_status loaded
Mar 06 14:01:44 [ INFO] [1709733704.525102035]: Plugin esc_status initialized
Mar 06 14:01:44 [ INFO] [1709733704.525595161]: Plugin esc_telemetry loaded
Mar 06 14:01:44 [ INFO] [1709733704.533876552]: Plugin esc_telemetry initialized
Mar 06 14:01:44 [ INFO] [1709733704.534007885]: Plugin fake_gps blacklisted
Mar 06 14:01:44 [ INFO] [1709733704.534064135]: Plugin ftp blacklisted
Mar 06 14:01:44 [ INFO] [1709733704.534474469]: Plugin geofence loaded
Mar 06 14:01:44 [ INFO] [1709733704.593413373]: Plugin geofence initialized
Mar 06 14:01:44 [ INFO] [1709733704.593978166]: Plugin global_position loaded
Mar 06 14:01:44 [ INFO] [1709733704.954134727]: Plugin global_position initialized
Mar 06 14:01:44 [ INFO] [1709733704.954564894]: Plugin gps_input loaded
Mar 06 14:01:45 [ INFO] [1709733705.006001325]: Plugin gps_input initialized
Mar 06 14:01:45 [ INFO] [1709733705.006148326]: Plugin gps_rtk blacklisted
Mar 06 14:01:45 [ INFO] [1709733705.006531368]: Plugin gps_status loaded
Mar 06 14:01:45 [ INFO] [1709733705.042433478]: Plugin gps_status initialized
Mar 06 14:01:45 [ INFO] [1709733705.042600062]: Plugin hil blacklisted
Mar 06 14:01:45 [ INFO] [1709733705.042855520]: Plugin home_position blacklisted
Mar 06 14:01:45 [ INFO] [1709733705.043654939]: Plugin imu loaded
Mar 06 14:01:45 [ INFO] [1709733705.197359481]: Plugin imu initialized
Mar 06 14:01:45 [ INFO] [1709733705.197519898]: Plugin landing_target blacklisted
Mar 06 14:01:45 [ INFO] [1709733705.198036149]: Plugin local_position loaded
Mar 06 14:01:45 [ INFO] [1709733705.327079186]: Plugin local_position initialized
Mar 06 14:01:45 [ INFO] [1709733705.327305354]: Plugin log_transfer blacklisted
Mar 06 14:01:45 [ INFO] [1709733705.327730563]: Plugin mag_calibration_status loaded
Mar 06 14:01:45 [ INFO] [1709733705.349133145]: Plugin mag_calibration_status initialized
Mar 06 14:01:45 [ INFO] [1709733705.349296895]: Plugin manual_control blacklisted
Mar 06 14:01:45 [ INFO] [1709733705.349382396]: Plugin mocap_pose_estimate blacklisted
Mar 06 14:01:45 [ INFO] [1709733705.349458771]: Plugin mount_control blacklisted
Mar 06 14:01:45 [ INFO] [1709733705.349853938]: Plugin nav_controller_output loaded
Mar 06 14:01:45 [ INFO] [1709733705.359040331]: Plugin nav_controller_output initialized
Mar 06 14:01:45 [ INFO] [1709733705.359294873]: Plugin obstacle_distance blacklisted
Mar 06 14:01:45 [ INFO] [1709733705.359811540]: Plugin odom loaded
Mar 06 14:01:45 [ INFO] [1709733705.431762469]: Plugin odom initialized
Mar 06 14:01:45 [ INFO] [1709733705.431918761]: Plugin onboard_computer_status blacklisted
Mar 06 14:01:45 [ INFO] [1709733705.432355970]: Plugin param loaded
Mar 06 14:01:45 [ INFO] [1709733705.495777841]: Plugin param initialized
Mar 06 14:01:45 [ INFO] [1709733705.496257883]: Plugin play_tune loaded
Mar 06 14:01:45 [ INFO] [1709733705.561186090]: Plugin play_tune initialized
Mar 06 14:01:45 [ INFO] [1709733705.561372841]: Plugin px4flow blacklisted
Mar 06 14:01:45 [ INFO] [1709733705.561795883]: Plugin rallypoint loaded
Mar 06 14:01:45 [ INFO] [1709733705.618188741]: Plugin rallypoint initialized
Mar 06 14:01:45 [ INFO] [1709733705.618356199]: Plugin rangefinder blacklisted
Mar 06 14:01:45 [ INFO] [1709733705.618873159]: Plugin rc_io loaded
Mar 06 14:01:45 [ INFO] [1709733705.688153249]: Plugin rc_io initialized
Mar 06 14:01:45 [ INFO] [1709733705.688299624]: Plugin safety_area blacklisted
Mar 06 14:01:45 [ INFO] [1709733705.688386833]: Plugin setpoint_accel blacklisted
Mar 06 14:01:45 [ INFO] [1709733705.688456958]: Plugin setpoint_attitude blacklisted
Mar 06 14:01:45 [ INFO] [1709733705.688525291]: Plugin setpoint_position blacklisted
Mar 06 14:01:45 [ INFO] [1709733705.688884125]: Plugin setpoint_raw loaded
Mar 06 14:01:45 [ INFO] [1709733705.937550015]: Plugin setpoint_raw initialized
Mar 06 14:01:45 [ INFO] [1709733705.937799974]: Plugin setpoint_trajectory blacklisted
Mar 06 14:01:45 [ INFO] [1709733705.937899849]: Plugin setpoint_velocity blacklisted
Mar 06 14:01:45 [ INFO] [1709733705.938548184]: Plugin sys_status loaded
Mar 06 14:01:46 [ INFO] [1709733706.173554131]: Plugin sys_status initialized
Mar 06 14:01:46 [ INFO] [1709733706.173732381]: Plugin sys_time blacklisted
Mar 06 14:01:46 [ INFO] [1709733706.174721008]: Plugin terrain loaded
Mar 06 14:01:46 [ INFO] [1709733706.184797819]: Plugin terrain initialized
Mar 06 14:01:46 [ INFO] [1709733706.184986069]: Plugin trajectory blacklisted
Mar 06 14:01:46 [ INFO] [1709733706.185428029]: Plugin tunnel loaded
Mar 06 14:01:46 [ INFO] [1709733706.273349196]: Plugin tunnel initialized
Mar 06 14:01:46 [ INFO] [1709733706.273541696]: Plugin vfr_hud blacklisted
Mar 06 14:01:46 [ INFO] [1709733706.273683530]: Plugin vibration blacklisted
Mar 06 14:01:46 [ INFO] [1709733706.273788822]: Plugin vision_pose_estimate blacklisted
Mar 06 14:01:46 [ INFO] [1709733706.273952905]: Plugin vision_speed_estimate blacklisted
Mar 06 14:01:46 [ INFO] [1709733706.274046364]: Plugin waypoint blacklisted
Mar 06 14:01:46 [ INFO] [1709733706.274115322]: Plugin wheel_odometry blacklisted
Mar 06 14:01:46 [ INFO] [1709733706.274196156]: Plugin wind_estimation blacklisted
Mar 06 14:01:46 [ INFO] [1709733706.274548073]: Autostarting mavlink via USB on PX4
Mar 06 14:01:46 [ INFO] [1709733706.274815199]: Built-in SIMD instructions: ARM NEON
Mar 06 14:01:46 [ INFO] [1709733706.274961741]: Built-in MAVLink package version: 2022.8.8
Mar 06 14:01:46 [ INFO] [1709733706.275097783]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
Mar 06 14:01:46 [ INFO] [1709733706.275372783]: MAVROS started. MY ID 1.240, TARGET ID 1.1
Mar 06 14:01:46 [ INFO] [1709733706.279837375]: IMU: Attitude quaternion IMU detected!
Mar 06 14:01:46 [ INFO] [1709733706.289579144]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
Mar 06 14:01:46 [ INFO] [1709733706.308728763]: IMU: High resolution IMU detected!
Mar 06 14:01:46 [ INFO] [1709733706.309058472]: IMU: Attitude quaternion IMU detected!
Mar 06 14:01:46 [ INFO] [1709733706.310215183]: RC_CHANNELS message detected!
Mar 06 14:01:47 [ INFO] [1709733707.320462814]: GF: Using MISSION_ITEM_INT
Mar 06 14:01:47 [ INFO] [1709733707.320693773]: RP: Using MISSION_ITEM_INT
Mar 06 14:01:47 [ INFO] [1709733707.320784856]: VER: 1.1: Capabilities         0x000000000000ecff
Mar 06 14:01:47 [ INFO] [1709733707.320871357]: VER: 1.1: Flight software:     010e0000 (b8c541dd72000000)
Mar 06 14:01:47 [ INFO] [1709733707.320910023]: VER: 1.1: Middleware software: 010e0000 (b8c541dd72000000)
Mar 06 14:01:47 [ INFO] [1709733707.320949940]: VER: 1.1: OS software:         0b0000ff (de41e7feaeffaec3)
Mar 06 14:01:47 [ INFO] [1709733707.320983857]: VER: 1.1: Board hardware:      00001058
Mar 06 14:01:47 [ INFO] [1709733707.321015065]: VER: 1.1: VID/PID:             2dae:1058
Mar 06 14:01:47 [ INFO] [1709733707.321061899]: VER: 1.1: UID:                 3032511437363931
Mar 06 14:01:47 [ WARN] [1709733707.322240026]: CMD: Unexpected command 520, result 0
Mar 06 14:02:01 [ INFO] [1709733721.292545493]: GF: mission received
Mar 06 14:02:01 [ INFO] [1709733721.302252220]: RP: mission received

Diagnostics

 header:
  seq: 224
  stamp:
    secs: 1709914986
    nsecs: 720657368
  frame_id: ''
status:
  -
    level: 0
    name: "uav52/mavros: FCU connection"
    message: "connected"
    hardware_id: "/dev/pixhawk:2000000"
    values:
      -
        key: "Received packets:"
        value: "33654"
      -
        key: "Dropped packets:"
        value: "0"
      -
        key: "Buffer overruns:"
        value: "0"
      -
        key: "Parse errors:"
        value: "0"
      -
        key: "Rx sequence number:"
        value: "253"
      -
        key: "Tx sequence number:"
        value: "0"
      -
        key: "Rx total bytes:"
        value: "10583093"
      -
        key: "Tx total bytes:"
        value: "3402"
      -
        key: "Rx speed:"
        value: "67594.000000"
      -
        key: "Tx speed:"
        value: "21.000000"
  -
    level: 0
    name: "uav52/mavros: GPS"
    message: "3D fix"
    hardware_id: "/dev/pixhawk:2000000"
    values:
      -
        key: "Satellites visible"
        value: "15"
      -
        key: "Fix type"
        value: "3"
      -
        key: "EPH (m)"
        value: "0.85"
      -
        key: "EPV (m)"
        value: "1.33"
  -
    level: 0
    name: "uav52/mavros: Heartbeat"
    message: "Normal"
    hardware_id: "/dev/pixhawk:2000000"
    values:
      -
        key: "Heartbeats since startup"
        value: "15751"
      -
        key: "Frequency (Hz)"
        value: "100.079427"
      -
        key: "Vehicle type"
        value: "Quadrotor"
      -
        key: "Autopilot type"
        value: "PX4 Autopilot"
      -
        key: "Mode"
        value: "MANUAL"
      -
        key: "System status"
        value: "Standby"
  -
    level: 2
    name: "uav52/mavros: System"
    message: "Sensor health"
    hardware_id: "/dev/pixhawk:2000000"
    values:
      -
        key: "Sensor present"
        value: "0x0221800D"
      -
        key: "Sensor enabled"
        value: "0x0221802D"
      -
        key: "Sensor health"
        value: "0x2221801F"
      -
        key: "3D gyro"
        value: "Ok"
      -
        key: "3D magnetometer"
        value: "Ok"
      -
        key: "absolute pressure"
        value: "Ok"
      -
        key: "GPS"
        value: "Fail"
      -
        key: "motor outputs / control"
        value: "Ok"
      -
        key: "rc receiver"
        value: "Ok"
      -
        key: "AHRS subsystem health"
        value: "Ok"
      -
        key: "Battery"
        value: "Ok"
      -
        key: "CPU Load (%)"
        value: "46.1"
      -
        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: "uav52/mavros: Battery"
    message: "Normal"
    hardware_id: "/dev/pixhawk:2000000"
    values:
      -
        key: "Voltage"
        value: "15.91"
      -
        key: "Current"
        value: "0.0"
      -
        key: "Remaining"
        value: "64.0"

Check ID

WARNING: mavros/target_system_id not set. Used default value: 1
WARNING: mavros/target_component_id not set. Used default value: 1
NOTE: Target parameters may be unset, but that may be result of incorrect --mavros-ns option.Double check results!
ERROR. I got 0 addresses, but not your target 1:1

---
Received 0 messages, from 0 addresses
sys:comp   list of messages

image

parakhm95 commented 3 months ago

@penickar

parakhm95 commented 3 months ago

Is someone going to resolve this?