Mavros: 使用mavftp下载/保存文件时出错：IOError [Errno 110]连接超时

创建于 2017-04-04  ·  9评论  ·  资料来源: mavlink/mavros

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报告错误或请求功能。

问题详情

尝试通过mavftp下载.px4log时，出现以下错误：

ubuntu<strong i="10">@ubuntu</strong>:~$ rosrun mavros mavftp download /fs/microsd/log/2016-11-01/21_43_29.px4log
Prigressbar disabled. install python-progressbar
Traceback (most recent call last):
  File "/opt/ros/indigo/lib/mavros/mavftp", line 296, in <module>
    main()
  File "/opt/ros/indigo/lib/mavros/mavftp", line 292, in main
    args.func(args)
  File "/opt/ros/indigo/lib/mavros/mavftp", line 152, in do_download
    buf = from_fd.read(FTP_PAGE_SIZE)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/mavros/ftp.py", line 107, in read
    _check_raise_errno(ret)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/mavros/ftp.py", line 39, in _check_raise_errno
    raise IOError(ret.r_errno, os.strerror(ret.r_errno))
IOError: [Errno 110] Connection timed out

因此，我能够打开该文件，因为roslaunch mavros主窗口显示如下：

[ INFO] [1491328759.740312395]: FTP:Open /fs/microsd/log/2016-11-01/21_43_29.px4log: success, session 0, size 263247

但是在读取文件时出现[Errno 110]连接超时错误。

MAVROS版本和平台

马夫罗斯：0.17.4
ROS：靛蓝
Ubuntu：14.04

自动驾驶仪的类型和版本

[ ] ArduPilot
[X] PX4

版本：1.1

节点日志

ubuntu<strong i="26">@ubuntu</strong>:~$ roslaunch mavros px4.launch fcu_url:="/dev/ttyUSB0:921600"
... logging to /home/ubuntu/.ros/log/4bfe2358-1960-11e7-a396-54ee75c35d17/roslaunch-ubuntu-10479.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:40096/

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: 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: ROLL_180
 * /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: ROLL_180
 * /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: ROLL_180
 * /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: ROLL_180
 * /mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /mavros/fcu_url: /dev/ttyUSB0:921600
 * /mavros/gcs_url: 
 * /mavros/global_position/frame_id: fcu
 * /mavros/global_position/rot_covariance: 99999.0
 * /mavros/global_position/tf/child_frame_id: fcu_utm
 * /mavros/global_position/tf/frame_id: local_origin
 * /mavros/global_position/tf/send: False
 * /mavros/image/frame_id: px4flow
 * /mavros/imu/angular_velocity_stdev: 0.000349065850399
 * /mavros/imu/frame_id: fcu
 * /mavros/imu/linear_acceleration_stdev: 0.0003
 * /mavros/imu/magnetic_stdev: 0.0
 * /mavros/imu/orientation_stdev: 1.0
 * /mavros/local_position/frame_id: fcu
 * /mavros/local_position/tf/child_frame_id: fcu
 * /mavros/local_position/tf/frame_id: local_origin
 * /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/plugin_blacklist: ['safety_area', '...
 * /mavros/plugin_whitelist: []
 * /mavros/px4flow/frame_id: px4flow
 * /mavros/px4flow/ranger_fov: 0.0
 * /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_throttle: False
 * /mavros/setpoint_attitude/tf/child_frame_id: attitude
 * /mavros/setpoint_attitude/tf/frame_id: local_origin
 * /mavros/setpoint_attitude/tf/listen: False
 * /mavros/setpoint_attitude/tf/rate_limit: 10.0
 * /mavros/setpoint_position/tf/child_frame_id: setpoint
 * /mavros/setpoint_position/tf/frame_id: local_origin
 * /mavros/setpoint_position/tf/listen: False
 * /mavros/setpoint_position/tf/rate_limit: 50.0
 * /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/vibration/frame_id: vibration
 * /mavros/vision_pose/tf/child_frame_id: vision
 * /mavros/vision_pose/tf/frame_id: local_origin
 * /mavros/vision_pose/tf/listen: False
 * /mavros/vision_pose/tf/rate_limit: 10.0
 * /mavros/vision_speed/listen_twist: False
 * /rosdistro: indigo
 * /rosversion: 1.11.20

NODES
  /
    mavros (mavros/mavros_node)

auto-starting new master
process[master]: started with pid [10491]
ROS_MASTER_URI=http://localhost:11311/

setting /run_id to 4bfe2358-1960-11e7-a396-54ee75c35d17
process[rosout-1]: started with pid [10504]
started core service [/rosout]
process[mavros-2]: started with pid [10522]
[ INFO] [1491328704.639977423]: FCU URL: /dev/ttyUSB0:921600
[ INFO] [1491328704.640148669]: serial0: device: /dev/ttyUSB0 @ 921600 bps
[ INFO] [1491328704.640857865]: GCS bridge disabled
[ INFO] [1491328704.678791638]: Plugin 3dr_radio loaded and initialized
[ INFO] [1491328704.681584591]: Plugin actuator_control loaded and initialized
[ INFO] [1491328704.682806790]: Plugin altitude loaded and initialized
[ INFO] [1491328704.734773858]: Plugin cam_imu_sync loaded and initialized
[ INFO] [1491328704.741470118]: Plugin command loaded and initialized
[ INFO] [1491328704.741573052]: Plugin distance_sensor blacklisted
[ INFO] [1491328704.755546619]: Plugin ftp loaded and initialized
[ INFO] [1491328704.766173170]: Plugin global_position loaded and initialized
[ INFO] [1491328704.767192333]: Plugin hil_controls loaded and initialized
[ INFO] [1491328704.767303516]: Plugin image_pub blacklisted
[ INFO] [1491328704.778053521]: Plugin imu_pub loaded and initialized
[ INFO] [1491328704.784409686]: Plugin local_position loaded and initialized
[ INFO] [1491328704.785040013]: Plugin manual_control loaded and initialized
[ INFO] [1491328704.789160066]: IMU: High resolution IMU detected!
[ INFO] [1491328704.793286286]: Plugin mocap_pose_estimate loaded and initialized
[ INFO] [1491328704.795783133]: Plugin param loaded and initialized
[ INFO] [1491328704.803470692]: Plugin px4flow loaded and initialized
[ INFO] [1491328704.810457093]: Plugin rc_io loaded and initialized
[ INFO] [1491328704.810504287]: Plugin safety_area blacklisted
[ INFO] [1491328704.814195357]: Plugin setpoint_accel loaded and initialized
[ INFO] [1491328704.833646784]: Plugin setpoint_attitude loaded and initialized
[ INFO] [1491328704.843787243]: Plugin setpoint_position loaded and initialized
[ INFO] [1491328704.854228533]: Plugin setpoint_raw loaded and initialized
[ INFO] [1491328704.857035208]: Plugin setpoint_velocity loaded and initialized
[ INFO] [1491328704.868906236]: Plugin sys_status loaded and initialized
[ INFO] [1491328704.872289296]: Plugin sys_time loaded and initialized
[ INFO] [1491328704.873499821]: Plugin vfr_hud loaded and initialized
[ INFO] [1491328704.873528131]: Plugin vibration blacklisted
[ INFO] [1491328704.886149274]: Plugin vision_pose_estimate loaded and initialized
[ INFO] [1491328704.892185325]: Plugin vision_speed_estimate loaded and initialized
[ INFO] [1491328704.898632965]: Plugin waypoint loaded and initialized
[ INFO] [1491328704.899156813]: Autostarting mavlink via USB on PX4
[ INFO] [1491328704.899568244]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1491328704.899737606]: Built-in MAVLink package version: 2016.5.20
[ INFO] [1491328704.899814667]: Built-in MAVLink dialect: ardupilotmega
[ INFO] [1491328704.899913235]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ WARN] [1491328704.977042906]: TM: Clock skew detected (-1491328273.724662542 s). Hard syncing clocks.
[ INFO] [1491328705.728264902]: CON: Got HEARTBEAT, connected. FCU: PX4
[ INFO] [1491328705.730098822]: IMU: High resolution IMU detected!
[ INFO] [1491328706.741017002]: VER: 1.1: Capabilities 0x00000000000004eb
[ INFO] [1491328706.741277778]: VER: 1.1: Flight software:     00000000 (328018937301dc7e)
[ INFO] [1491328706.741430544]: VER: 1.1: Middleware software: 00000000 (328018937301dc7e)
[ INFO] [1491328706.741573285]: VER: 1.1: OS software:         00000000 (0000000000000000)
[ INFO] [1491328706.741672549]: VER: 1.1: Board hardware:      00000000
[ INFO] [1491328706.741741415]: VER: 1.1: VID/PID: 26ac:0011
[ INFO] [1491328706.741793858]: VER: 1.1: UID: 3135511735333436
[ WARN] [1491328716.730309039]: PR: request list timeout, retries left 2
[ WARN] [1491328717.730709455]: PR: request list timeout, retries left 1
[ WARN] [1491328718.731847404]: PR: request list timeout, retries left 0
[ INFO] [1491328720.737982744]: WP: mission received
[ WARN] [1491328740.830436979]: TM: Clock skew detected (0.024262897 s). Hard syncing clocks.
[ INFO] [1491328759.740312395]: FTP:Open /fs/microsd/log/2016-11-01/21_43_29.px4log: success, session 0, size 263247

诊断

header: 
  seq: 27
  stamp: 
    secs: 1491329484
    nsecs: 383406366
  frame_id: ''
status: 
  - 
    level: 0
    name: mavros: FCU connection
    message: connected
    hardware_id: /dev/ttyUSB0:921600
    values: 
      - 
        key: Received packets:
        value: 8489
      - 
        key: Dropped packets:
        value: 0
      - 
        key: Buffer overruns:
        value: 0
      - 
        key: Parse errors:
        value: 0
      - 
        key: Rx sequence number:
        value: 177
      - 
        key: Tx sequence number:
        value: 138
      - 
        key: Rx total bytes:
        value: 346726
      - 
        key: Tx total bytes:
        value: 22004
      - 
        key: Rx speed:
        value: 17138.000000
      - 
        key: Tx speed:
        value: 709.000000
  - 
    level: 2
    name: mavros: GPS
    message: No satellites
    hardware_id: /dev/ttyUSB0:921600
    values: 
      - 
        key: Satellites visible
        value: 0
      - 
        key: Fix type
        value: 0
      - 
        key: EPH (m)
        value: Unknown
      - 
        key: EPV (m)
        value: Unknown
  - 
    level: 0
    name: mavros: Heartbeat
    message: Normal
    hardware_id: /dev/ttyUSB0:921600
    values: 
      - 
        key: Heartbeats since startup
        value: 29
      - 
        key: Frequency (Hz)
        value: 0.962921
      - 
        key: Vehicle type
        value: VTOL-Quadrotor
      - 
        key: Autopilot type
        value: PX4
      - 
        key: Mode
        value: MANUAL
      - 
        key: System status
        value: Uninit
  - 
    level: 0
    name: mavros: System
    message: Normal
    hardware_id: /dev/ttyUSB0:921600
    values: 
      - 
        key: Sensor present
        value: 0x00000000
      - 
        key: Sensor enabled
        value: 0x00000000
      - 
        key: Sensor helth
        value: 0x00000000
      - 
        key: CPU Load (%)
        value: 74.6
      - 
        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/ttyUSB0:921600
    values: 
      - 
        key: Voltage
        value: 0.00
      - 
        key: Current
        value: 0.0
      - 
        key: Remaining
        value: -1.0
  - 
    level: 0
    name: mavros: Time Sync
    message: Normal
    hardware_id: /dev/ttyUSB0:921600
    values: 
      - 
        key: Timesyncs since startup
        value: 155
      - 
        key: Frequency (Hz)
        value: 9.999546
      - 
        key: Last dt (ms)
        value: -1.344876
      - 
        key: Mean dt (ms)
        value: 0.008980
      - 
        key: Last system time (s)
        value: 1210.658179000
      - 
        key: Time offset (s)
        value: 1491328273.698000193
---

查身份证

OK. I got messages from 1:1.

---
Received 4327 messages, from 1 addresses
sys:comp   list of messages
  1:1     32, 1, 2, 36, 147, 105, 74, 140, 141, 111, 76, 241, 83, 245, 251, 44, 30, 0
PX4 question
资料来源
picture fionachui

最有用的评论

@ TSC21，因为FTP仅通过USB稳定，并且主要通过TELEMx使用mavros，因此没有理由实施该模式，并且它与当前的类似保险丝的接口不兼容。

所以：

  1. 没有充分的理由实施
  2. 可以通过mavlink和Intel的路由器进行记录
picture vooon 于 2017-06-25
👍2

所有9条评论

飞行日志通常对于FTP来说太大，也由于某些原因，它仅通过USB连接才稳定（pihxawk上的usb-ttyACM％d）。
在UART上，它仅适用于需要修改Extras rc或Mixer文件的情况。
同样在文件下载脚本之后，告诉FCU计算整个文件的CRC32，这也可能是超时。

注意：FTP 很慢，但 QGC 下载实现比 mavros 快两倍。

vooon picture vooon 于 2017-04-04

注意：FTP 很慢，但 QGC 下载实现比 mavros 快两倍。

@vooon可能有什么区别？

TSC21 picture TSC21 于 2017-04-14

QGC支持流下载，只需要一个请求消息即可传输整个文件。
虽然我使用较旧的请求缓冲区，所以要传输文件，我应该请求一堆239字节的响应。

我不打算实现那种模式，只使用 QGC。

vooon picture vooon 于 2017-04-14

我不打算实现那种模式，只使用 QGC。

考虑到我们在MAVROS上提供FTP的可能性，我认为这是必要的。 我会调查它并返回新闻（和公关）。

TSC21 picture TSC21 于 2017-06-24

@ TSC21，因为FTP仅通过USB稳定，并且主要通过TELEMx使用mavros，因此没有理由实施该模式，并且它与当前的类似保险丝的接口不兼容。

所以：

  1. 没有充分的理由实施
  2. 可以通过mavlink和Intel的路由器进行记录
vooon picture vooon 于 2017-06-25
👍2

@vooon如你所愿。 我认为，MAVROS对某些人的主要用途之一就是将其用作QGC的替代品。 尽管如此，我们仍缺乏对ULog流的支持。

TSC21 picture TSC21 于 2017-06-25

这是一个可用性的事情。 与遥测相比，文件传输速度非常可笑，并且即使采用优化的实现方式，提取任意大小的日志（10-15 MB）也将花费太长时间。

关于ULog流-是的，它很不错，但是您只能使用mavlink-router 。 （https://github.com/01org/mavlink-router）。

mhkabir picture mhkabir 于 2017-06-26

关于ULog流-是的，这很不错，但是您可以使用mavlink-router。 （https://github.com/01org/mavlink-router）。

真的。 尽管如此，我认为作为 MAVROS 开发人员和维护人员，我们希望拥有它的全功能。

TSC21 picture TSC21 于 2017-06-26

实际上，对于较新的无人机，我将在tty和mavros之间设置路由器。
因为TELEM1将被RFD和TELEM2占用。 所以我也需要在FCU内安装路由器。

而且我不认为mavros可以替代任何GCS，它是用于编写您的自主控制软件的API集。
无论如何，您都需要GCS来调整固件。

vooon picture vooon 于 2017-06-26
👍1
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