Mavros: Usando fake_gps

Creado en 17 jun. 2018 · 10Comentarios · Fuente: mavlink/mavros

Detalles del problema

Hola,
Estoy usando Pixhawk 2 con firmware APM. Estoy tratando de usar la función fake_gps de mavros en un entorno denegado por gps. Obtengo los datos localizados del quad.

Que he hecho:
Estoy publicando esos datos en el tema / mavros / fake_gps / mocap / pose
Establecí el parámetro GPS_TYPE en 14.
¿Qué más hay que hacer?

Probé el código de ejemplo: https://dev.px4.io/en/ros/mavros_offboard.html
Cambié al modo GUIADO porque OFFBOARD no está disponible.
Al ejecutar, el quad se armó y desarmó únicamente.

Los datos se publican en / mavros / global_position / global y / mavros / global_position / local topics.

¿Me falta algo para usar el punto de ajuste?

Gracias.

Versión y plataforma MAVROS

Mavros: 0.25.0
ROS: cinético
Ubuntu: 16.04

Tipo y versión de piloto automático

[] ArduPilot 3.5.5

Registros de nodo

roslaunch mavros apm.launch 

... logging to /home/iarc/.ros/log/1febaee0-721d-11e8-9249-d46d6dbd4f34/roslaunch-iarc-nuc-7785.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://192.168.1.113:43529/

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /mavros/cmd/use_comp_id_system_control: False
 * /mavros/conn/heartbeat_rate: 1.0
 * /mavros/conn/system_time_rate: 0.0
 * /mavros/conn/timeout: 10.0
 * /mavros/conn/timesync_rate: 0.0
 * /mavros/distance_sensor/rangefinder_pub/field_of_view: 0.0
 * /mavros/distance_sensor/rangefinder_pub/frame_id: lidar
 * /mavros/distance_sensor/rangefinder_pub/id: 0
 * /mavros/distance_sensor/rangefinder_pub/send_tf: False
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/rangefinder_sub/id: 1
 * /mavros/distance_sensor/rangefinder_sub/orientation: PITCH_270
 * /mavros/distance_sensor/rangefinder_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: 0
 * /mavros/fake_gps/geo_origin/lat: 0
 * /mavros/fake_gps/geo_origin/lon: 0
 * /mavros/fake_gps/gps_rate: 5.0
 * /mavros/fake_gps/mocap_transform: False
 * /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/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/estimator_type: 3
 * /mavros/odometry/frame_tf/desired_frame: ned
 * /mavros/plugin_blacklist: ['actuator_contro...
 * /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: 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: NONE
 * /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: False
 * /rosdistro: kinetic
 * /rosversion: 1.12.13

NODES
  /
    mavros (mavros/mavros_node)

ROS_MASTER_URI=http://192.168.1.113:11311

process[mavros-1]: started with pid [7803]
[ INFO] [1529233100.904693726]: FCU URL: /dev/ttyACM0:57600
[ INFO] [1529233100.907066529]: serial0: device: /dev/ttyACM0 @ 57600 bps
[ INFO] [1529233100.907533645]: GCS bridge disabled
[ INFO] [1529233100.917808324]: Plugin 3dr_radio loaded
[ INFO] [1529233100.919697375]: Plugin 3dr_radio initialized
[ INFO] [1529233100.919734284]: Plugin actuator_control blacklisted
[ INFO] [1529233100.922886504]: Plugin adsb loaded
[ INFO] [1529233100.926845739]: Plugin adsb initialized
[ INFO] [1529233100.926925649]: Plugin altitude blacklisted
[ INFO] [1529233100.927045572]: Plugin cam_imu_sync loaded
[ INFO] [1529233100.927855154]: Plugin cam_imu_sync initialized
[ INFO] [1529233100.928014385]: Plugin command loaded
[ INFO] [1529233100.933157757]: Plugin command initialized
[ INFO] [1529233100.933194582]: Plugin debug_value blacklisted
[ INFO] [1529233100.933371202]: Plugin distance_sensor loaded
[ INFO] [1529233100.942871617]: Plugin distance_sensor initialized
[ INFO] [1529233100.943050631]: Plugin fake_gps loaded
[ INFO] [1529233100.955037809]: Plugin fake_gps initialized
[ INFO] [1529233100.955071701]: Plugin ftp blacklisted
[ INFO] [1529233100.955248411]: Plugin global_position loaded
[ INFO] [1529233100.973410008]: Plugin global_position initialized
[ INFO] [1529233100.973452160]: Plugin hil blacklisted
[ INFO] [1529233100.973617757]: Plugin home_position loaded
[ INFO] [1529233100.977492334]: Plugin home_position initialized
[ INFO] [1529233100.977692161]: Plugin imu loaded
[ INFO] [1529233100.984270055]: Plugin imu initialized
[ INFO] [1529233100.984451873]: Plugin local_position loaded
[ INFO] [1529233100.989291483]: Plugin local_position initialized
[ INFO] [1529233100.989510646]: Plugin manual_control loaded
[ INFO] [1529233100.992795357]: Plugin manual_control initialized
[ INFO] [1529233100.992844272]: Plugin mocap_pose_estimate blacklisted
[ INFO] [1529233100.992994825]: Plugin obstacle_distance loaded
[ INFO] [1529233100.995429976]: Plugin obstacle_distance initialized
[ INFO] [1529233100.995575217]: Plugin odom loaded
[ INFO] [1529233100.999476117]: Plugin odom initialized
[ INFO] [1529233100.999861248]: Plugin param loaded
[ INFO] [1529233101.003437383]: Plugin param initialized
[ INFO] [1529233101.003533073]: Plugin px4flow blacklisted
[ INFO] [1529233101.003707552]: Plugin rangefinder loaded
[ INFO] [1529233101.005058203]: Plugin rangefinder initialized
[ INFO] [1529233101.005262754]: Plugin rc_io loaded
[ INFO] [1529233101.009053322]: Plugin rc_io initialized
[ INFO] [1529233101.009096818]: Plugin safety_area blacklisted
[ INFO] [1529233101.009248917]: Plugin setpoint_accel loaded
[ INFO] [1529233101.012390968]: Plugin setpoint_accel initialized
[ INFO] [1529233101.012684757]: Plugin setpoint_attitude loaded
[ INFO] [1529233101.022731729]: Plugin setpoint_attitude initialized
[ INFO] [1529233101.022927908]: Plugin setpoint_position loaded
[ INFO] [1529233101.036281193]: Plugin setpoint_position initialized
[ INFO] [1529233101.036517508]: Plugin setpoint_raw loaded
[ INFO] [1529233101.046721225]: Plugin setpoint_raw initialized
[ INFO] [1529233101.046908548]: Plugin setpoint_velocity loaded
[ INFO] [1529233101.052510683]: Plugin setpoint_velocity initialized
[ INFO] [1529233101.052785529]: Plugin sys_status loaded
[ INFO] [1529233101.061974310]: Plugin sys_status initialized
[ INFO] [1529233101.062195184]: Plugin sys_time loaded
[ INFO] [1529233101.065219807]: TM: Timesync mode: NONE
[ INFO] [1529233101.065815237]: Plugin sys_time initialized
[ INFO] [1529233101.065991897]: Plugin vfr_hud loaded
[ INFO] [1529233101.067270138]: Plugin vfr_hud initialized
[ INFO] [1529233101.067307615]: Plugin vibration blacklisted
[ INFO] [1529233101.067455484]: Plugin vision_pose_estimate loaded
[ INFO] [1529233101.076259336]: Plugin vision_pose_estimate initialized
[ INFO] [1529233101.076298309]: Plugin vision_speed_estimate blacklisted
[ INFO] [1529233101.076496955]: Plugin waypoint loaded
[ INFO] [1529233101.082239613]: Plugin waypoint initialized
[ INFO] [1529233101.082336193]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1529233101.082357679]: Built-in MAVLink package version: 2018.4.4
[ INFO] [1529233101.082385235]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1529233101.082404631]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1529233101.093278229]: IMU: Raw IMU message used.
[ WARN] [1529233101.093778768]: IMU: linear acceleration on RAW_IMU known on APM only.
[ WARN] [1529233101.093807927]: IMU: ~imu/data_raw stores unscaled raw acceleration report.
[ INFO] [1529233101.248482208]: CON: Got HEARTBEAT, connected. FCU: ArduPilotMega / ArduCopter
[ INFO] [1529233102.256140604]: VER: 1.1: Capabilities         0x0000000000001bcf
[ INFO] [1529233102.256182404]: VER: 1.1: Flight software:     030505ff (27229c830384802e1bcae90b)
[ INFO] [1529233102.256234497]: VER: 1.1: Middleware software: 00000000 (0384802e1bcae90b)
[ INFO] [1529233102.256319103]: VER: 1.1: OS software:         00000000 (1bcae90b)
[ INFO] [1529233102.256398035]: VER: 1.1: Board hardware:      00000000
[ INFO] [1529233102.256436218]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1529233102.256547518]: VER: 1.1: UID:                 0000000000000000
[ WARN] [1529233102.256762459]: CMD: Unexpected command 520, result 0
[ INFO] [1529233103.394170126]: FCU: GPS 1: specified as MAV
[ INFO] [1529233107.414786119]: FCU: GPS 1: specified as MAV
[ INFO] [1529233111.249279828]: HP: requesting home position
[ INFO] [1529233111.253802921]: FCU: APM:Copter V3.5.5 (27229c83)
[ INFO] [1529233111.253972217]: FCU: PX4: 0384802e NuttX: 1bcae90b
[ INFO] [1529233111.254091634]: FCU: Frame: QUAD
[ INFO] [1529233111.254203199]: FCU: PX4v3 003C0044 31375102 33343537
[ INFO] [1529233111.447864456]: FCU: GPS 1: specified as MAV
[ INFO] [1529233115.481029316]: FCU: GPS 1: specified as MAV
[ INFO] [1529233116.253756914]: WP: mission received
[ INFO] [1529233119.515181385]: FCU: GPS 1: specified as MAV
[ INFO] [1529233120.225944654]: PR: parameters list received
[ INFO] [1529233121.249355747]: HP: requesting home position
[ INFO] [1529233123.555016685]: FCU: GPS 1: specified as MAV
[ INFO] [1529233127.590272598]: FCU: GPS 1: specified as MAV
[ INFO] [1529233131.249285398]: HP: requesting home position
[ INFO] [1529233131.628315571]: FCU: GPS 1: specified as MAV
[ WARN] [1529233135.071486383]: GP: No GPS fix
[ INFO] [1529233135.075731838]: RC_CHANNELS message detected!
[ WARN] [1529233135.076477046]: TM: Wrong FCU time.
[ INFO] [1529233135.653925863]: FCU: GPS 1: specified as MAV
[ INFO] [1529233139.685347724]: FCU: GPS 1: specified as MAV
[ INFO] [1529233141.249356342]: HP: requesting home position
[ INFO] [1529233143.717709032]: FCU: GPS 1: specified as MAV
[ INFO] [1529233147.752196306]: FCU: GPS 1: specified as MAV
[ INFO] [1529233151.249823219]: HP: requesting home position
[ INFO] [1529233151.784442458]: FCU: GPS 1: specified as MAV
[ INFO] [1529233155.808994927]: FCU: GPS 1: specified as MAV
[ INFO] [1529233159.842142713]: FCU: GPS 1: specified as MAV
[ INFO] [1529233161.249325469]: HP: requesting home position
[ INFO] [1529233163.867081122]: FCU: GPS 1: specified as MAV
[ INFO] [1529233167.901698837]: FCU: GPS 1: specified as MAV
[ WARN] [1529233167.902534354]: GP: No GPS fix
[ INFO] [1529233171.249009537]: HP: requesting home position
[ INFO] [1529233171.926019409]: FCU: GPS 1: specified as MAV
[ INFO] [1529233175.952398268]: FCU: GPS 1: specified as MAV
[ INFO] [1529233179.983146598]: FCU: GPS 1: specified as MAV
[ INFO] [1529233181.249289068]: HP: requesting home position
[ INFO] [1529233184.006929757]: FCU: GPS 1: specified as MAV
[ WARN] [1529233186.787595623]: CMD: Unexpected command 11, result 0
[ INFO] [1529233188.027575700]: FCU: GPS 1: specified as MAV
[ INFO] [1529233191.249731575]: HP: requesting home position
[ INFO] [1529233192.112129587]: FCU: GPS 1: specified as MAV
[ WARN] [1529233195.200561229]: TM: Wrong FCU time.
[ INFO] [1529233196.143702084]: FCU: GPS 1: specified as MAV
[ INFO] [1529233200.170517098]: FCU: GPS 1: specified as MAV
[ WARN] [1529233200.191084345]: GP: No GPS fix
[ INFO] [1529233201.249219509]: HP: requesting home position
[ INFO] [1529233204.200820562]: FCU: GPS 1: specified as MAV
[ INFO] [1529233208.224145083]: FCU: GPS 1: specified as MAV
[ INFO] [1529233211.248923744]: HP: requesting home position
[ INFO] [1529233212.258277496]: FCU: GPS 1: specified as MAV
[ INFO] [1529233216.285994373]: FCU: GPS 1: specified as MAV
[ INFO] [1529233220.312574027]: FCU: GPS 1: specified as MAV
[ INFO] [1529233221.249636027]: HP: requesting home position
[ INFO] [1529233224.337966981]: FCU: GPS 1: specified as MAV
[ INFO] [1529233228.368042929]: FCU: GPS 1: specified as MAV
[ INFO] [1529233231.249305788]: HP: requesting home position
[ INFO] [1529233241.249557762]: HP: requesting home position
[ INFO] [1529233251.249011158]: HP: requesting home position
[ WARN] [1529233255.327671766]: TM: Wrong FCU time.
[ INFO] [1529233261.248929313]: HP: requesting home position
[ INFO] [1529233271.248681832]: HP: requesting home position
[ INFO] [1529233281.249366743]: HP: requesting home position
[ INFO] [1529233286.901058197]: FCU: GPS 1: specified as MAV
[ WARN] [1529233286.913974601]: GP: No GPS fix
[ INFO] [1529233290.928028111]: FCU: GPS 1: specified as MAV
[ INFO] [1529233291.249449155]: HP: requesting home position
[ INFO] [1529233294.949740956]: FCU: GPS 1: specified as MAV
[ INFO] [1529233298.977783913]: FCU: GPS 1: specified as MAV
[ INFO] [1529233301.249022461]: HP: requesting home position
[ INFO] [1529233303.007798640]: FCU: GPS 1: specified as MAV
[ INFO] [1529233307.040855179]: FCU: GPS 1: specified as MAV
[ INFO] [1529233311.071646472]: FCU: GPS 1: specified as MAV
[ INFO] [1529233311.249484208]: HP: requesting home position
[ INFO] [1529233315.108677495]: FCU: GPS 1: specified as MAV
[ WARN] [1529233315.380266121]: TM: Wrong FCU time.
[ INFO] [1529233319.146834635]: FCU: GPS 1: specified as MAV
[ WARN] [1529233319.162073776]: GP: No GPS fix
[ INFO] [1529233321.249184201]: HP: requesting home position
[ INFO] [1529233323.175349773]: FCU: GPS 1: specified as MAV
[ INFO] [1529233327.205661862]: FCU: GPS 1: specified as MAV
[ INFO] [1529233331.233739427]: FCU: GPS 1: specified as MAV
[ INFO] [1529233331.249530318]: HP: requesting home position
[ INFO] [1529233335.268604835]: FCU: GPS 1: specified as MAV
[ INFO] [1529233339.299985616]: FCU: GPS 1: specified as MAV
[ INFO] [1529233341.248873702]: HP: requesting home position
[ INFO] [1529233343.332455953]: FCU: GPS 1: specified as MAV
[ INFO] [1529233347.361766277]: FCU: GPS 1: specified as MAV
[ INFO] [1529233351.249429500]: HP: requesting home position
[ INFO] [1529233351.389718728]: FCU: GPS 1: specified as MAV
[ WARN] [1529233351.390070171]: GP: No GPS fix
[ INFO] [1529233355.419317598]: FCU: GPS 1: specified as MAV
[ INFO] [1529233359.450095251]: FCU: GPS 1: specified as MAV
[ INFO] [1529233361.248966447]: HP: requesting home position
[ INFO] [1529233363.489095254]: FCU: GPS 1: specified as MAV
[ INFO] [1529233367.512442875]: FCU: GPS 1: specified as MAV
[ INFO] [1529233371.248639415]: HP: requesting home position
[ INFO] [1529233371.538314556]: FCU: GPS 1: specified as MAV
[ WARN] [1529233375.426974748]: TM: Wrong FCU time.
[ INFO] [1529233375.570707437]: FCU: GPS 1: specified as MAV
[ INFO] [1529233379.600086762]: FCU: GPS 1: specified as MAV
[ INFO] [1529233381.249291464]: HP: requesting home position
[ WARN] [1529233383.609857168]: GP: No GPS fix
[ INFO] [1529233383.626871073]: FCU: GPS 1: specified as MAV
[ INFO] [1529233387.662994914]: FCU: GPS 1: specified as MAV
[ INFO] [1529233391.248993310]: HP: requesting home position
[ INFO] [1529233391.686922293]: FCU: GPS 1: specified as MAV
[ INFO] [1529233395.714712687]: FCU: GPS 1: specified as MAV
[ INFO] [1529233399.750133517]: FCU: GPS 1: specified as MAV
[ INFO] [1529233401.249354961]: HP: requesting home position
[ INFO] [1529233403.779743139]: FCU: GPS 1: specified as MAV
[ INFO] [1529233407.812814964]: FCU: GPS 1: specified as MAV
[ INFO] [1529233411.248654159]: HP: requesting home position
[ INFO] [1529233411.846221497]: FCU: GPS 1: specified as MAV
[ INFO] [1529233415.874353495]: FCU: GPS 1: specified as MAV
[ WARN] [1529233415.945644587]: GP: No GPS fix
[ INFO] [1529233419.903408485]: FCU: GPS 1: specified as MAV
[ INFO] [1529233421.249254246]: HP: requesting home position
[ INFO] [1529233423.932839130]: FCU: GPS 1: specified as MAV
[ INFO] [1529233427.962273008]: FCU: GPS 1: specified as MAV
[ INFO] [1529233431.249328032]: HP: requesting home position
[ INFO] [1529233431.984509354]: FCU: GPS 1: specified as MAV
[ WARN] [1529233435.500096395]: TM: Wrong FCU time.
[ INFO] [1529233436.006257174]: FCU: GPS 1: specified as MAV
[ INFO] [1529233440.039063452]: FCU: GPS 1: specified as MAV
[ INFO] [1529233441.249443599]: HP: requesting home position
[ INFO] [1529233444.079404012]: FCU: GPS 1: specified as MAV
[ INFO] [1529233448.105451615]: FCU: GPS 1: specified as MAV
[ WARN] [1529233448.126532297]: GP: No GPS fix
[ INFO] [1529233451.249306373]: HP: requesting home position
[ INFO] [1529233452.143016622]: FCU: GPS 1: specified as MAV
[ INFO] [1529233456.168985599]: FCU: GPS 1: specified as MAV
[ INFO] [1529233460.196618407]: FCU: GPS 1: specified as MAV
[ INFO] [1529233461.249133610]: HP: requesting home position
[ INFO] [1529233464.227714397]: FCU: GPS 1: specified as MAV
[ INFO] [1529233468.261722299]: FCU: GPS 1: specified as MAV
[ INFO] [1529233471.248625641]: HP: requesting home position
[ INFO] [1529233481.249068977]: HP: requesting home position
[ INFO] [1529233491.249042000]: HP: requesting home position
[ WARN] [1529233495.522446777]: TM: Wrong FCU time.
[ INFO] [1529233501.249318446]: HP: requesting home position
[ INFO] [1529233511.249172243]: HP: requesting home position
[ INFO] [1529233521.248836416]: HP: requesting home position
[ INFO] [1529233531.249503656]: HP: requesting home position
[ INFO] [1529233541.249042618]: HP: requesting home position
[ INFO] [1529233551.249461932]: HP: requesting home position
[ WARN] [1529233555.581892810]: TM: Wrong FCU time.
[ INFO] [1529233561.249301280]: HP: requesting home position
[ INFO] [1529233571.249552332]: HP: requesting home position
[ INFO] [1529233581.249404226]: HP: requesting home position
[ INFO] [1529233591.249340694]: HP: requesting home position
[ INFO] [1529233601.249134821]: HP: requesting home position
[ INFO] [1529233611.248867728]: HP: requesting home position
[ WARN] [1529233615.634297444]: TM: Wrong FCU time.
[ INFO] [1529233621.249271320]: HP: requesting home position
[ INFO] [1529233631.249518855]: HP: requesting home position
[ INFO] [1529233641.248807186]: HP: requesting home position
[ INFO] [1529233651.248936152]: HP: requesting home position
[ INFO] [1529233661.249330179]: HP: requesting home position
[ INFO] [1529233671.248947692]: HP: requesting home position
[ WARN] [1529233675.660762296]: TM: Wrong FCU time.
[ INFO] [1529233681.249632431]: HP: requesting home position
[ INFO] [1529233691.248845092]: HP: requesting home position
[ INFO] [1529233701.249006952]: HP: requesting home position
[ INFO] [1529233711.249445211]: HP: requesting home position
[ INFO] [1529233721.249430880]: HP: requesting home position
[ INFO] [1529233731.249171087]: HP: requesting home position
[ WARN] [1529233735.698660133]: TM: Wrong FCU time.
[ INFO] [1529233741.249518988]: HP: requesting home position
[ INFO] [1529233751.248892504]: HP: requesting home position
[ INFO] [1529233761.249125937]: HP: requesting home position
[ INFO] [1529233771.249541330]: HP: requesting home position
[ INFO] [1529233781.249461834]: HP: requesting home position
[ INFO] [1529233791.249648463]: HP: requesting home position
[ WARN] [1529233795.725572246]: TM: Wrong FCU time.
[ INFO] [1529233801.248934706]: HP: requesting home position
[ INFO] [1529233811.249255778]: HP: requesting home position
[ INFO] [1529233821.249206161]: HP: requesting home position
[ INFO] [1529233831.249502995]: HP: requesting home position
[ INFO] [1529233841.248692377]: HP: requesting home position
[ INFO] [1529233851.249376398]: HP: requesting home position
[ WARN] [1529233855.810071689]: TM: Wrong FCU time.
[ INFO] [1529233861.248920285]: HP: requesting home position
[ INFO] [1529233871.248628598]: HP: requesting home position
[ INFO] [1529233881.248989665]: HP: requesting home position
[ INFO] [1529233891.249602943]: HP: requesting home position
[ INFO] [1529233901.249465007]: HP: requesting home position
[ INFO] [1529233911.249521154]: HP: requesting home position
[ WARN] [1529233915.839602673]: TM: Wrong FCU time.
[ INFO] [1529233921.249167122]: HP: requesting home position
[ INFO] [1529233931.249239963]: HP: requesting home position
[ INFO] [1529233941.249008651]: HP: requesting home position
[ INFO] [1529233951.248840613]: HP: requesting home position
[ INFO] [1529233961.249624098]: HP: requesting home position
[ INFO] [1529233971.249236874]: HP: requesting home position
[ WARN] [1529233975.883673824]: TM: Wrong FCU time.
[ INFO] [1529233981.248869482]: HP: requesting home position
[ INFO] [1529233991.249665175]: HP: requesting home position
[ INFO] [1529234001.249437581]: HP: requesting home position
[ INFO] [1529234011.249133372]: HP: requesting home position
[ INFO] [1529234021.249644236]: HP: requesting home position
[ INFO] [1529234031.249353099]: HP: requesting home position
[ WARN] [1529234035.961871520]: TM: Wrong FCU time.
[ INFO] [1529234041.249298719]: HP: requesting home position
[ INFO] [1529234051.249243604]: HP: requesting home position
[ INFO] [1529234061.249666832]: HP: requesting home position
[ INFO] [1529234071.249297121]: HP: requesting home position
[ INFO] [1529234081.249317568]: HP: requesting home position
[ INFO] [1529234091.249500240]: HP: requesting home position
[ WARN] [1529234095.965315243]: TM: Wrong FCU time.
[ INFO] [1529234101.249055145]: HP: requesting home position
[ INFO] [1529234111.248864856]: HP: requesting home position
[ INFO] [1529234121.249184079]: HP: requesting home position
[ INFO] [1529234131.249046792]: HP: requesting home position

Diagnósticos

place here result of:
rostopic echo -n1 /diagnostics
header: 
  seq: 1121
  stamp: 
    secs: 1529234554
    nsecs:  82984505
  frame_id: ''
status: 
  - 
    level: 0
    name: "mavros: FCU connection"
    message: "connected"
    hardware_id: "/dev/ttyACM0:57600"
    values: 
      - 
        key: "Received packets:"
        value: "51732"
      - 
        key: "Dropped packets:"
        value: "0"
      - 
        key: "Buffer overruns:"
        value: "0"
      - 
        key: "Parse errors:"
        value: "0"
      - 
        key: "Rx sequence number:"
        value: "98"
      - 
        key: "Tx sequence number:"
        value: "62"
      - 
        key: "Rx total bytes:"
        value: "11044217"
      - 
        key: "Tx total bytes:"
        value: "362018"
      - 
        key: "Rx speed:"
        value: "11498.000000"
      - 
        key: "Tx speed:"
        value: "378.000000"
  - 
    level: 0
    name: "mavros: GPS"
    message: "3D fix"
    hardware_id: "/dev/ttyACM0:57600"
    values: 
      - 
        key: "Satellites visible"
        value: "5"
      - 
        key: "Fix type"
        value: "3"
      - 
        key: "EPH (m)"
        value: "99.99"
      - 
        key: "EPV (m)"
        value: "99.99"
  - 
    level: 0
    name: "mavros: Heartbeat"
    message: "Normal"
    hardware_id: "/dev/ttyACM0:57600"
    values: 
      - 
        key: "Heartbeats since startup"
        value: "1449"
      - 
        key: "Frequency (Hz)"
        value: "1.037027"
      - 
        key: "Vehicle type"
        value: "Quadrotor"
      - 
        key: "Autopilot type"
        value: "ArduPilotMega / ArduCopter"
      - 
        key: "Mode"
        value: "GUIDED"
      - 
        key: "System status"
        value: "Standby"
  - 
    level: 2
    name: "mavros: System"
    message: "Sensor helth"
    hardware_id: "/dev/ttyACM0:57600"
    values: 
      - 
        key: "Sensor present"
        value: "0x0160FD6F"
      - 
        key: "Sensor enabled"
        value: "0x0260FD6F"
      - 
        key: "Sensor helth"
        value: "0x0160FD6F"
      - 
        key: "3D gyro"
        value: "Ok"
      - 
        key: "3D accelerometer"
        value: "Ok"
      - 
        key: "3D magnetometer"
        value: "Ok"
      - 
        key: "absolute pressure"
        value: "Ok"
      - 
        key: "GPS"
        value: "Ok"
      - 
        key: "optical flow"
        value: "Ok"
      - 
        key: "laser based position"
        value: "Ok"
      - 
        key: "3D angular rate control"
        value: "Ok"
      - 
        key: "attitude stabilization"
        value: "Ok"
      - 
        key: "yaw position"
        value: "Ok"
      - 
        key: "z/altitude control"
        value: "Ok"
      - 
        key: "x/y position control"
        value: "Ok"
      - 
        key: "motor outputs / control"
        value: "Ok"
      - 
        key: "AHRS subsystem health"
        value: "Ok"
      - 
        key: "Terrain subsystem health"
        value: "Ok"
      - 
        key: "Battery"
        value: "Fail"
      - 
        key: "CPU Load (%)"
        value: "58.5"
      - 
        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: 1
    name: "mavros: Battery"
    message: "Low voltage"
    hardware_id: "/dev/ttyACM0:57600"
    values: 
      - 
        key: "Voltage"
        value: "0.00"
      - 
        key: "Current"
        value: "-0.0"
      - 
        key: "Remaining"
        value: "-1.0"

Verificar ID

rosrun mavros checkid
OK. I got messages from 1:1.

---
Received 3999 messages, from 1 addresses
sys:comp   list of messages
  1:1     0, 129, 2, 133, 1, 136, 137, 24, 150, 152, 22, 27, 29, 30, 193, 33, 35, 36, 165, 42, 173, 178, 182, 62, 65, 74, 77, 163, 100, 241, 116, 125

APM extras question

Fuente

trishantroy

Comentario más útil

@trishantroy Eso es genial.
¿Podría decirme cómo resolver esto?
[INFO] [1529234131.249046792]: HP: solicitando posición inicial
Puedo usar la estimación de la posición de la visión para volar un dron con el modo de posición, pero cuando cambio al modo de misión, eso siempre se rechaza. Creo que está solicitando la posición de casa. Vi el mensaje de mi mavros que se ha conectado en fake_gps, pero ¿por qué siempre solicita la posición inicial?
¿Debería abrir una nueva edición?

@ px4Li por favor no continúe la discusión sobre un tema cerrado. Tiene dos soluciones para su problema, considerando que está usando PX4:

Utilice el complemento fake_gps y envíe una estimación de posición local como datos de GPS;
Use la canalización de visión normal pero, en el lado PX4, use el estimador LPE en lugar de EKF2 y establezca el parámetro LPE_FAKE_ORIGIN en 1 .

TSC21 en 30 dic. 2018

❤2

Todos 10 comentarios

¿Ha verificado la configuración del complemento: https://github.com/mavlink/mavros/blob/master/mavros/launch/px4_config.yaml#L161 -L182?
Probablemente desee establecer https://github.com/mavlink/mavros/blob/master/mavros/launch/px4_config.yaml#L165 en falso.

TSC21 en 17 jun. 2018

Probé el código de ejemplo: https://dev.px4.io/en/ros/mavros_offboard.html
Cambié al modo GUIADO porque OFFBOARD no está disponible.
Al ejecutar, el quad se armó y desarmó únicamente.

Esto no tiene nada que ver con este problema en sí. Si tiene preguntas sobre cómo usar el modo GUIADO con APM, debe abrir una nueva edición o preguntar en los foros de APM.

Los datos se publican en / mavros / global_position / global y / mavros / global_position / local topics.

¿Qué datos? ¿Tu información? ¿O los datos provenientes de la FCU?

¿Me falta algo para usar el punto de ajuste?

Nuevamente, el complemento fake_gps solo importa para la estimación, no para el control. Entonces, dos temas separados.

TSC21 en 17 jun. 2018

Gracias por la respuesta @ TSC21

Había editado el archivo apm_config.yaml. No es necesario editar px4_config.yaml, ¿verdad?
#fake_gps fake_gps: # select data source use_mocap: true # ~mocap/pose mocap_transform: false # ~mocap/tf instead of pose use_vision: false # ~vision (pose) # origin (default: Zürich) geo_origin: lat: 0 # latitude [degrees] lon: 0 # longitude [degrees] alt: 0 # altitude (height over the WGS-84 ellipsoid) [meters] eph: 2.0 epv: 2.0 satellites_visible: 5 # virtual number of visible satellites fix_type: 3 # type of GPS fix (default: 3D) tf: listen: false send: false # send TF? frame_id: "map" # TF frame_id child_frame_id: "fix" # TF child_frame_id rate_limit: 10.0 # TF rate gps_rate: 5.0 # GPS data publishing rate
Duda: ¿Qué otros parámetros cambiar?

¿Deberían cambiarse también la latitud y la longitud a mi ubicación actual?

¿Qué datos? ¿Tu información? ¿O los datos provenientes de la FCU?

Probablemente FCU. Más tarde me di cuenta de que no se trataba de datos de localización.
¿Hay alguna forma de comprobar si Pixhawk está utilizando los datos de localización, es decir, si la estimación funciona? Verificaré la parte de control más tarde.

Nuevamente, el complemento fake_gps solo importa para la estimación, no para el control. Entonces, dos temas separados.

Si. Entendí tu punto.

trishantroy en 18 jun. 2018

Había editado el archivo apm_config.yaml. No es necesario editar px4_config.yaml, ¿verdad?

Estás usando APM, ¿verdad? Entonces, solo se necesita APM.

¿Deberían cambiarse también la latitud y la longitud a mi ubicación actual?

Puede, pero no es obligatorio. Estas son solo coordenadas falsas.

¿Hay alguna forma de comprobar si Pixhawk está utilizando los datos de localización, es decir, si la estimación funciona?

Puede usar tanto mavros/global_position/global como mavros/local_position/local . El primero para LLA y el segundo para cargo local.

TSC21 en 18 jun. 2018

@TrishantRoy, ¿esto te ha resuelto?

TSC21 en 14 jul. 2018

En realidad, no del todo. He dejado esto a un lado por algún tiempo.

Sugeriría no cerrar el problema actualmente. Pero si es necesario, ciérrelo. Publicaré consultas relacionadas con esto en una nueva publicación más adelante.

Gracias.

trishantroy en 14 jul. 2018

@trishantroy ¿Tienes algún progreso?

px4Li en 29 dic. 2018

Usé la función Estimación de posición externa para resolver el problema al que me enfrentaba.

trishantroy en 29 dic. 2018

@trishantroy Eso es genial.
¿Podría decirme cómo resolver esto?
Puedo usar la estimación de la posición de la visión para volar un dron con el modo de posición, pero cuando cambio al modo de misión, eso siempre se rechaza. Creo que está solicitando la posición de casa. Vi el mensaje de mi mavros que se ha conectado en fake_gps, pero ¿por qué siempre solicita la posición inicial?

¿Debería abrir una nueva edición?

px4Li en 30 dic. 2018

@trishantroy Eso es genial.
¿Podría decirme cómo resolver esto?
[INFO] [1529234131.249046792]: HP: solicitando posición inicial
Puedo usar la estimación de la posición de la visión para volar un dron con el modo de posición, pero cuando cambio al modo de misión, eso siempre se rechaza. Creo que está solicitando la posición de casa. Vi el mensaje de mi mavros que se ha conectado en fake_gps, pero ¿por qué siempre solicita la posición inicial?
¿Debería abrir una nueva edición?

@ px4Li por favor no continúe la discusión sobre un tema cerrado. Tiene dos soluciones para su problema, considerando que está usando PX4:

Utilice el complemento fake_gps y envíe una estimación de posición local como datos de GPS;
Use la canalización de visión normal pero, en el lado PX4, use el estimador LPE en lugar de EKF2 y establezca el parámetro LPE_FAKE_ORIGIN en 1 .

TSC21 en 30 dic. 2018

❤2

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