Liebes Team,
Könnt ihr dazu etwas Hilfe oder Ratschläge geben.
Ich verwende den OFFBOARD-Modus, um die Drohne zu steuern, um Indoor zu fliegen, ich habe einen Tiefensensor und ein visuelles Tag als Feedback und verwende die Geschwindigkeits-Closeloop-Steuerung. Aber wenn ich eine Nachricht mehrere Sekunden lang in /mavros/setpoint_raw/local bei 100 Hz veröffentliche, ist der Fehler aufgetreten und die Drohne kann keine Nachrichten empfangen. Ich teste mehrere Veröffentlichungsraten und verschiedene Pixhawk (2 und 4) Der Fehler besteht immer noch.
Ich bin komplett verloren. bitte geben sie eine richtung.
Meine Startprozedur:
terminal1: roslaunch mavros px4.launch
terminal2: rosrun offboard drohne_control.py
Mein px4.launch
<launch>
<!-- vim: set ft=xml noet : -->
<!-- example launch script for PX4 based FCU's -->
<arg name="fcu_url" default="/dev/ttyACM0:921600" />
<arg name="gcs_url" default="" />
<arg name="tgt_system" default="1" />
<arg name="tgt_component" default="1" />
<arg name="log_output" default="screen" />
<arg name="fcu_protocol" default="v2.0" />
<arg name="respawn_mavros" default="false" />
<include file="$(find mavros)/launch/node.launch">
<arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml" />
<arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" />
<arg name="fcu_url" value="$(arg fcu_url)" />
<arg name="gcs_url" value="$(arg gcs_url)" />
<arg name="tgt_system" value="$(arg tgt_system)" />
<arg name="tgt_component" value="$(arg tgt_component)" />
<arg name="log_output" value="$(arg log_output)" />
<arg name="fcu_protocol" value="$(arg fcu_protocol)" />
<arg name="respawn_mavros" default="$(arg respawn_mavros)" />
</include>
</launch>
die Hauptschleife meines Kontrollcodes
rospy.init_node('drone_control')
PIDinit()
rc_in = rospy.Subscriber('mavros/rc/in', RCIn, callback_rc, queue_size=1)
sub_state = rospy.Subscriber('mavros/state', State, callback_state, queue_size=1)
subodom = rospy.Subscriber('mavros/local_position/odom', Odometry, callback_odom)
subdepth = rospy.Subscriber('depth', Odometry, callback_depth)
position_pub = rospy.Publisher('mavros/setpoint_raw/local', PositionTarget, queue_size=1)
#rospy.spin()
rate = rospy.Rate(100)
while not rospy.is_shutdown():
vel_control = TwistStamped()
pos_control = PoseStamped()
scale_x = 0.4
scale_y = 0.4
scale_z = 1
scale_yaw = 1
pid_x.update(feedback_x)
output_x = pid_x.output * scale_x
feedback_x = pos_fuse_x
pid_x.SetPoint = 0
pid_y.update(feedback_y)
output_y = pid_y.output * scale_y
feedback_y = pos_fuse_y
pid_y.SetPoint = 0
pid_z.update(feedback_z)
output_z = pid_z.output * scale_z
feedback_z = pos_fuse_z
if SWITCH == 1:
pid_z.SetPoint = jump_height
else:
pid_z.SetPoint = 0
feedback_yaw = odom_yaw
if feedback_yaw - last_feedback_yaw != 0:
pid_yaw.update(feedback_yaw)
output_yaw = pid_yaw.output * scale_yaw
pid_yaw.SetPoint = tag_yaw
#for stable
if output_x > 0.02:
output_x = 0.02
elif output_x < -0.02:
output_x = -0.02
if output_y > 0.02:
output_y = 0.02
elif output_y < -0.02:
output_y = -0.02
if output_z > 0.1:
output_z = 0.1
elif output_z < -0.05:
output_z = -0.05
#output_z = 0
if Z_FEEDBACK_AVALIABLE == 0:
output_z = 0
if XY_FEEDBACK_AVALIABLE == 0:
output_x = 0
output_y = 0
setpoint = Vector3()
setpoint.x = output_x
setpoint.y = output_y
setpoint.z = output_z
stamp = rospy.get_rostime()
msg = PositionTarget(coordinate_frame=PositionTarget.FRAME_LOCAL_NED,
type_mask=
PositionTarget.IGNORE_PX + PositionTarget.IGNORE_PY + PositionTarget.IGNORE_PZ +
PositionTarget.IGNORE_AFX + PositionTarget.IGNORE_AFY + PositionTarget.IGNORE_AFZ +
PositionTarget.IGNORE_YAW + PositionTarget.IGNORE_YAW_RATE,
velocity=setpoint,
yaw = output_yaw)
msg.header.stamp = stamp
position_pub.publish(msg)
print "z_set:", pid_z.SetPoint, "z_out:", output_z, "z_Feb:", feedback_z,'jump',jump_height
rate.sleep()
Mavros: 0.18.4
ROS: Kinetisch
Ubuntu: 16.04
PX4, die neueste Version .
Mein Hardware-Setup :pixhawk4 - (PX4 1.8.0) und pixhawk2 haben beide das gleiche Problem.
eleboss<strong i="13">@eleboss</strong>:~$ roslaunch mavros px4.launch
... logging to /home/eleboss/.ros/log/7996cdf2-8a74-11e8-8157-00215caf42cc/roslaunch-eleboss-2176.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://eleboss:34437/
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: 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: /dev/ttyACM0:921600
* /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: 0.000349065850399
* /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/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/frame_tf/body_frame_orientation: frd
* /mavros/odometry/frame_tf/local_frame: vision_ned
* /mavros/plugin_blacklist: ['safety_area', '...
* /mavros/plugin_whitelist: []
* /mavros/px4flow/frame_id: px4flow
* /mavros/px4flow/ranger_fov: 0.118682389136
* /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_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
* /rosdistro: kinetic
* /rosversion: 1.12.13
NODES
/
mavros (mavros/mavros_node)
auto-starting new master
process[master]: started with pid [2186]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 7996cdf2-8a74-11e8-8157-00215caf42cc
process[rosout-1]: started with pid [2212]
started core service [/rosout]
process[mavros-2]: started with pid [2234]
[ INFO] [1531909350.225120069]: FCU URL: /dev/ttyACM0:921600
[ INFO] [1531909350.226491699]: serial0: device: /dev/ttyACM0 @ 921600 bps
[ INFO] [1531909350.226820176]: GCS bridge disabled
[ INFO] [1531909350.237634293]: Plugin 3dr_radio loaded
[ INFO] [1531909350.239873558]: Plugin 3dr_radio initialized
[ INFO] [1531909350.239991995]: Plugin actuator_control loaded
[ INFO] [1531909350.244402711]: Plugin actuator_control initialized
[ INFO] [1531909350.247686605]: Plugin adsb loaded
[ INFO] [1531909350.252164477]: Plugin adsb initialized
[ INFO] [1531909350.252287819]: Plugin altitude loaded
[ INFO] [1531909350.253538253]: Plugin altitude initialized
[ INFO] [1531909350.253642790]: Plugin cam_imu_sync loaded
[ INFO] [1531909350.254385422]: Plugin cam_imu_sync initialized
[ INFO] [1531909350.254507458]: Plugin command loaded
[ INFO] [1531909350.260767607]: Plugin command initialized
[ INFO] [1531909350.260882761]: Plugin debug_value loaded
[ INFO] [1531909350.266724238]: Plugin debug_value initialized
[ INFO] [1531909350.266761950]: Plugin distance_sensor blacklisted
[ INFO] [1531909350.266880713]: Plugin fake_gps loaded
[ INFO] [1531909350.285235202]: Plugin fake_gps initialized
[ INFO] [1531909350.285378124]: Plugin ftp loaded
[ INFO] [1531909350.292893777]: Plugin ftp initialized
[ INFO] [1531909350.293056406]: Plugin global_position loaded
[ INFO] [1531909350.316684204]: Plugin global_position initialized
[ INFO] [1531909350.316814783]: Plugin hil loaded
[ INFO] [1531909350.332854567]: Plugin hil initialized
[ INFO] [1531909350.332996072]: Plugin home_position loaded
[ INFO] [1531909350.337255788]: Plugin home_position initialized
[ INFO] [1531909350.337395106]: Plugin imu loaded
[ INFO] [1531909350.349334493]: Plugin imu initialized
[ INFO] [1531909350.349473928]: Plugin local_position loaded
[ INFO] [1531909350.356977561]: Plugin local_position initialized
[ INFO] [1531909350.357114405]: Plugin manual_control loaded
[ INFO] [1531909350.360976164]: Plugin manual_control initialized
[ INFO] [1531909350.361126079]: Plugin mocap_pose_estimate loaded
[ INFO] [1531909350.365655865]: Plugin mocap_pose_estimate initialized
[ INFO] [1531909350.365762619]: Plugin obstacle_distance loaded
[ INFO] [1531909350.368553759]: Plugin obstacle_distance initialized
[ INFO] [1531909350.368653103]: Plugin odom loaded
[ INFO] [1531909350.375619144]: Plugin odom initialized
[ INFO] [1531909350.375787260]: Plugin param loaded
[ INFO] [1531909350.379399807]: Plugin param initialized
[ INFO] [1531909350.379516510]: Plugin px4flow loaded
[ INFO] [1531909350.388167015]: Plugin px4flow initialized
[ INFO] [1531909350.388223705]: Plugin rangefinder blacklisted
[ INFO] [1531909350.388343616]: Plugin rc_io loaded
[ INFO] [1531909350.393300762]: Plugin rc_io initialized
[ INFO] [1531909350.393341683]: Plugin safety_area blacklisted
[ INFO] [1531909350.393454501]: Plugin setpoint_accel loaded
[ INFO] [1531909350.397677023]: Plugin setpoint_accel initialized
[ INFO] [1531909350.397807837]: Plugin setpoint_attitude loaded
[ INFO] [1531909350.412717136]: Plugin setpoint_attitude initialized
[ INFO] [1531909350.412859535]: Plugin setpoint_position loaded
[ INFO] [1531909350.429525693]: Plugin setpoint_position initialized
[ INFO] [1531909350.429714780]: Plugin setpoint_raw loaded
[ INFO] [1531909350.443358052]: Plugin setpoint_raw initialized
[ INFO] [1531909350.443515688]: Plugin setpoint_velocity loaded
[ INFO] [1531909350.454251102]: Plugin setpoint_velocity initialized
[ INFO] [1531909350.454424023]: Plugin sys_status loaded
[ INFO] [1531909350.467968466]: Plugin sys_status initialized
[ INFO] [1531909350.468137527]: Plugin sys_time loaded
[ INFO] [1531909350.481905565]: TM: Timesync mode: MAVLINK
[ INFO] [1531909350.483516225]: Plugin sys_time initialized
[ INFO] [1531909350.483657797]: Plugin trajectory loaded
[ INFO] [1531909350.493581639]: Plugin trajectory initialized
[ INFO] [1531909350.494069993]: Plugin vfr_hud loaded
[ INFO] [1531909350.496142178]: Plugin vfr_hud initialized
[ INFO] [1531909350.496190904]: Plugin vibration blacklisted
[ INFO] [1531909350.496335388]: Plugin vision_pose_estimate loaded
[ INFO] [1531909350.515468449]: Plugin vision_pose_estimate initialized
[ INFO] [1531909350.515643746]: Plugin vision_speed_estimate loaded
[ INFO] [1531909350.521799504]: Plugin vision_speed_estimate initialized
[ INFO] [1531909350.521968502]: Plugin waypoint loaded
[ INFO] [1531909350.538189416]: Plugin waypoint initialized
[ INFO] [1531909350.538386255]: Plugin wind_estimation loaded
[ INFO] [1531909350.539889616]: Plugin wind_estimation initialized
[ INFO] [1531909350.539964946]: Autostarting mavlink via USB on PX4
[ INFO] [1531909350.540088826]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1531909350.540114338]: Built-in MAVLink package version: 2018.6.6
[ INFO] [1531909350.540150085]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1531909350.540186079]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1531909350.622977431]: IMU: High resolution IMU detected!
[ INFO] [1531909350.770808248]: IMU: Attitude quaternion IMU detected!
[ INFO] [1531909351.510894360]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1531909351.524575461]: IMU: High resolution IMU detected!
[ INFO] [1531909351.536849572]: IMU: Attitude quaternion IMU detected!
[ INFO] [1531909352.521216751]: VER: 1.1: Capabilities 0x000000000000e4ef
[ INFO] [1531909352.521527249]: VER: 1.1: Flight software: 010800ff (00000000F3E3ADAE)
[ INFO] [1531909352.521695764]: VER: 1.1: Middleware software: 010800ff (00000000F3E3ADAE)
[ INFO] [1531909352.521851432]: VER: 1.1: OS software: 071600ff (0000000000000000)
[ INFO] [1531909352.522007743]: VER: 1.1: Board hardware: 00000011
[ INFO] [1531909352.522150719]: VER: 1.1: VID/PID: 26ac:0011
[ INFO] [1531909352.522287591]: VER: 1.1: UID: 3036510831353833
[ WARN] [1531909352.522524746]: CMD: Unexpected command 520, result 0
[ERROR] [1531909354.991362039]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909354.991492639]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909354.992848484]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909354.995085754]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909354.995192916]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909354.995250845]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909354.998997752]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909354.999679892]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909354.999754820]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.000055547]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.002572007]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.002665214]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.002730521]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.002792850]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.002890051]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.002958791]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.003023608]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.003079069]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.003137396]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.003192739]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.003248728]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.003375496]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.003647546]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.004041463]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.004533199]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.005017337]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.005340368]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.005722578]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.006120254]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.006537709]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.006987191]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.007467659]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.007845275]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.008362372]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.008871683]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.009518278]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.010015781]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.010528035]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
eleboss<strong i="6">@eleboss</strong>:~$ rostopic echo /diagnostics
header:
seq: 14
stamp:
secs: 1531909925
nsecs: 482805514
frame_id: ''
status:
-
level: 0
name: "mavros: FCU connection"
message: "connected"
hardware_id: "/dev/ttyACM0:921600"
values:
-
key: "Received packets:"
value: "4799"
-
key: "Dropped packets:"
value: "0"
-
key: "Buffer overruns:"
value: "0"
-
key: "Parse errors:"
value: "0"
-
key: "Rx sequence number:"
value: "176"
-
key: "Tx sequence number:"
value: "166"
-
key: "Rx total bytes:"
value: "222864"
-
key: "Tx total bytes:"
value: "42088"
-
key: "Rx speed:"
value: "18536.000000"
-
key: "Tx speed:"
value: "4120.000000"
-
level: 2
name: "mavros: GPS"
message: "No satellites"
hardware_id: "/dev/ttyACM0:921600"
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/ttyACM0:921600"
values:
-
key: "Heartbeats since startup"
value: "12"
-
key: "Frequency (Hz)"
value: "0.955432"
-
key: "Vehicle type"
value: "Hexarotor"
-
key: "Autopilot type"
value: "PX4 Autopilot"
-
key: "Mode"
value: "MANUAL"
-
key: "System status"
value: "Standby"
-
level: 0
name: "mavros: System"
message: "Normal"
hardware_id: "/dev/ttyACM0:921600"
values:
-
key: "Sensor present"
value: "0x00000000"
-
key: "Sensor enabled"
value: "0x00000000"
-
key: "Sensor helth"
value: "0x00000000"
-
key: "CPU Load (%)"
value: "55.5"
-
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/ttyACM0:921600"
values:
-
key: "Voltage"
value: "65.54"
-
key: "Current"
value: "-0.0"
-
key: "Remaining"
value: "-1.0"
-
level: 0
name: "mavros: Time Sync"
message: "Normal"
hardware_id: "/dev/ttyACM0:921600"
values:
-
key: "Timesyncs since startup"
value: "44"
-
key: "Frequency (Hz)"
value: "3.507350"
-
key: "Last RTT (ms)"
value: "6450.054686"
-
key: "Mean RTT (ms)"
value: "281.613853"
-
key: "Last remote time (s)"
value: "702.575705000"
-
key: "Estimated time offset (s)"
value: "1531909221.221841335"
---
Schauen Sie sich den Diag-Eintrag "mavros: FCU connection" an, wenn Sie einen Überlauf haben.
Überprüfen Sie die Geschwindigkeit Ihrer Sollwerte, auf unter 1M Baud sollten 100 Hz in Ordnung sein.
Aber irgendwie erzeugen Sie viel mehr Nachrichten, als Port verarbeiten kann.
TX-Queue haben 1k-Limit, was im Normalfall neuere Hits sind (normalerweise max. 10 Einträge).
Eine andere mögliche Sache ist, dass Ihr UART-Adapter 921600 und die effektive Bandbreite nicht verarbeiten kann, die durch etwas anderes begrenzt ist.
JAWOHL!!!!!!!!!!!!
Da hast du recht!
Ich habe die Veröffentlichungsrate des Themas überprüft und festgestellt, dass sie 1000 Hz und nicht 100 Hz beträgt.
@vooon Vielen Dank!
Hallo Leute,
Ich schätze, ich habe das gleiche Problem wie du, Eleboss... Ich habe die FCU auf 921600 geändert, aber ich würde gerne wissen, wo du die Veröffentlichungsrate gefunden hast!
Können Sie mir bitte helfen? Danke
Hilfreichster Kommentar
JAWOHL!!!!!!!!!!!!
Da hast du recht!
Ich habe die Veröffentlichungsrate des Themas überprüft und festgestellt, dass sie 1000 Hz und nicht 100 Hz beträgt.
@vooon Vielen Dank!