Mavros: Using fake_gps

Created on 17 Jun 2018 · 10Comments · Source: mavlink/mavros

Issue details

Hello,
I am using Pixhawk 2 with APM firmware. I am trying to use the fake_gps feature of mavros in gps-denied environment. I am getting the localised data of the quad.

What I have done:
I am publishing that data in the /mavros/fake_gps/mocap/pose topic
I have set the GPS_TYPE parameter to 14.
What else needs to be done?

I tried the example code: https://dev.px4.io/en/ros/mavros_offboard.html
I changed to GUIDED mode since OFFBOARD isn't available.
On executing, the quad armed and disarmed only.

Data is being published to /mavros/global_position/global and /mavros/global_position/local topics.

Am i missing something to use setpoint?

Thank you.

MAVROS version and platform

Mavros: 0.25.0
ROS: Kinetic
Ubuntu: 16.04

Autopilot type and version

[ ] ArduPilot 3.5.5

Node logs

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

Diagnostics

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"

Check 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

Source

trishantroy

Most helpful comment

@trishantroy That's great.
Could you please tell me how to solve this:
[ INFO] [1529234131.249046792]: HP: requesting home position
I am able to use vision position estimate to fly drone with position mode but when I switch to mission mode that always be rejected. I think that is requesting home position. I saw my mavros message it has plugged in fake_gps, but why it always request home position?

Should I open a new issue for it?

@px4Li please do not continue the discussion on a closed issue. You have two solution for your problem, considering you are using PX4:

Use fake_gps plugin and send local position estimation as GPS data;
Use the normal vision pipeline but, on the PX4 side, use the LPE estimator instead of EKF2, and set the LPE_FAKE_ORIGIN parameter to 1.

TSC21 on 30 Dec 2018

❤2

All 10 comments

Have you checked the plugin configuration: https://github.com/mavlink/mavros/blob/master/mavros/launch/px4_config.yaml#L161-L182?
You probably want to set https://github.com/mavlink/mavros/blob/master/mavros/launch/px4_config.yaml#L165 to false.

TSC21 on 17 Jun 2018

I tried the example code: https://dev.px4.io/en/ros/mavros_offboard.html
I changed to GUIDED mode since OFFBOARD isn't available.
On executing, the quad armed and disarmed only.

This has nothing to do with this issue itself. If you have questions on how to use GUIDED mode with APM, you should open a new issue or ask in the APM forums.

Data is being published to /mavros/global_position/global and /mavros/global_position/local topics.

What data? Your data? Or the data coming from the FCU?

Am i missing something to use setpoint?

Again, fake_gps plugin only matters for estimation, not control. So, two separate issues.

TSC21 on 17 Jun 2018

Thank you for the reply @TSC21

I had edited the apm_config.yaml file. No need to edit the px4_config.yaml, right?
#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
Doubt: What other parameters to change?

Should the lat and lon be changed to my current location as well?

What data? Your data? Or the data coming from the FCU?

FCU probably. Realised later that it wasn't data from localisation.
Is there a way to check whether the localisation data is being used by the Pixhawk i.e. is the estimation working? I will check the control part later then.

Again, fake_gps plugin only matters for estimation, not control. So, two separate issues.

Yeah. Got your point.

trishantroy on 18 Jun 2018

I had edited the apm_config.yaml file. No need to edit the px4_config.yaml, right?

You are using APM right? So, just APM is needed.

Should the lat and lon be changed to my current location as well?

You can but not mandatory. These are just fake coordinates.

Is there a way to check whether the localisation data is being used by the Pixhawk i.e. is the estimation working?

You can use both mavros/global_position/global and mavros/local_position/local. The first for LLA and the second for local position.

TSC21 on 18 Jun 2018

@TrishantRoy is this solved to you?

TSC21 on 14 Jul 2018

Not completely actually. Have kept this aside for sometime.

I would suggest to not close the issue currently. But if required, close it. I will post queries related to this in a new post later.

Thanks.

trishantroy on 14 Jul 2018

@trishantroy Do you have any progress?

px4Li on 29 Dec 2018

I used the External Position Estimate feature to solve the issue I was facing.

trishantroy on 29 Dec 2018

@trishantroy That's great.
Could you please tell me how to solve this:
I am able to use vision position estimate to fly drone with position mode but when I switch to mission mode that always be rejected. I think that is requesting home position. I saw my mavros message it has plugged in fake_gps, but why it always request home position?

Should I open a new issue for it?

px4Li on 30 Dec 2018

@trishantroy That's great.
Could you please tell me how to solve this:
[ INFO] [1529234131.249046792]: HP: requesting home position
I am able to use vision position estimate to fly drone with position mode but when I switch to mission mode that always be rejected. I think that is requesting home position. I saw my mavros message it has plugged in fake_gps, but why it always request home position?

Should I open a new issue for it?

@px4Li please do not continue the discussion on a closed issue. You have two solution for your problem, considering you are using PX4:

Use fake_gps plugin and send local position estimation as GPS data;
Use the normal vision pipeline but, on the PX4 side, use the LPE estimator instead of EKF2, and set the LPE_FAKE_ORIGIN parameter to 1.

TSC21 on 30 Dec 2018

❤2

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