VOXL2 - HITL/VIO
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Hey guys !
I want to run PX4-HITL using VIO, but I'm running into some problems.
I was able to create the communication with the FTDI cable, but using the docker image or using gazebo on my computer I had problems with the pre-flights checks.
I also had problems with QGC, which kept alerting me to an unknown mode-
The data presented was strange
The version of the sdk and packages are:
I used as reference :
https://docs.modalai.com/voxl2-PX4-hitl/I would like to know if there are any additional steps for the parameters with VIO and what would be the correct way to execute VOXL-PX4-HITL.
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@leonardo-Andrade-0 Doesn't look like the HITL driver is receiving any data over the serial port. That's why you see those failures about baro, gyro, and accel data missing. Can you execute the command
qshell dsp_hitl statusand see that it says? -
@Eric-Katzfey said in VOXL2 - HITL/VIO:
qshell dsp_hitl status
I runned the command , but seems it's ok.What could I check? What do you suggest?@Eric-Katzfey
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@leonardo-Andrade-0 Is px4 generating a log for the failed takeoff attempt? It's best to go into /data/px4/log and clear out any logs that may be saved there. Then run your test and verify that a new log was created. That log should indicate the reason for the arming failure. You can also just look at topics like
failsafe_flagsandvehicle_statuswith thelistenercommand to see what they are indicating as failures. What does the start command look like in/usr/bin/voxl-px4-hitl-start? Did you change it from the defaultqshell dsp_hitl start -g -m -o? -
Hi Eric, this is my first time doing any setup with HITL.
I'm using the standard voxl-px4-hitl-start file, on the host computer it apparently opens communication with the usb, I send the command to arm the drone and when I tried the first time, it still tookoff, without showing any stability, now it triggers the failsafe and doesn't even takeoff.
Do you have any suggestions as to how I could approach it better? As it's my first time, I'm a bit lost as to how to debug in this case.
ps: I'm not using GPS
voxl-px4-hitl-start
During the execution of voxl-px4-hitl
Failsafe triggered
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@leonardo-Andrade-0 It shows you are just running gazebo from the command line. You need to be running our version of gazebo from the Docker. See https://docs.modalai.com/voxl2-PX4-hitl/#gazebo-simulator-setup-on-host-computer
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@leonardo-Andrade-0 Can you change the start command to remove the
-ooption from dsp_hitl start? That will try prevent VIO odometry from being published and only leave GPS and magnetomer for position hold. See if that works. You can see that home position is not valid in the failsafe flags but it should be if GPS is coming in. -
@Eric-Katzfey If that works then try using only the
-ooption and removing the-gand-moptions so that you have no gps or magnetometer coming in, only VIO odometry. With that also change the PX4 parameters SYS_HAS_GPS and SYS_HAS_MAG to 0 and EKF2_MAG_TYPE to 5. Then try to fly VIO only with that. -
hey @Eric-Katzfey
Using GPS/MAG in case -g -m, its stopped to warning the pre-flight check of yaw estimate error, however I noticed seems missing params.
voxl2:/$ voxl-px4-hitl Found DSP signature file INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM. INFO [px4] assuming working directory is rootfs, no symlinks needed. INFO [muorb] Got muorb init command Sending initialization request Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete INFO [muorb] SLPI: muorb aggregator thread running INFO [muorb] muorb protobuf initalize method succeeded INFO [muorb] succesfully did ADVERTISE_TEST_TYPE INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097656 INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] succesfully did SUBSCRIBE_TEST_TYPE INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097655 INFO [muorb] succesfully did TOPIC_TEST_TYPE INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097654 INFO [muorb] succesfully did UNSUBSCRIBE_TEST_TYPE INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097653 INFO [muorb] muorb test passed ______ __ __ ___ | ___ \ \ \ / / / | | |_/ / \ V / / /| | | __/ / \ / /_| | | | / /^\ \ \___ | \_| \/ \/ |_/ px4 starting. INFO [px4] startup script: /bin/sh /usr/bin/voxl-px4-hitl-start 0 INFO [parameters] Starting param sync THREAD INFO [muorb] SLPI: Advertising remote topic log_message Running on M0054 INFO [muorb] SLPI: Starting param sync THREAD INFO [muorb] SLPI: before starting the qshell_entry task INFO [muorb] SLPI: Creating pthread qshell INFO [muorb] SLPI: qshell entry..... INFO [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 2097652 INFO [muorb] SLPI: Init app map initialized INFO [muorb] SLPI: after starting the qshell_entry task INFO [param] selected parameter default file /data/px4/param/hitl_parameters INFO [muorb] SLPI: Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic INFO [uORB] Marking DeviceNode(parameter_client_reset_response) as advertised in process_remote_topic INFO [muorb] SLPI: Advertising remote topic parameter_update INFO [muorb] SLPI: Marking DeviceNode(parameter_client_set_value_request) as advertised in process_remote_to INFO [uORB] Marking DeviceNode(parameter_server_set_used_request) as advertised in process_remote_topic INFO [muorb] SLPI: Marking DeviceNode(parameter_server_set_used_response) as advertised in process_remote_to INFO [uORB] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic INFO [parameters] BSON document size 4109 bytes, decoded 4109 bytes (INT32:79, FLOAT:114) INFO [logger] logger started (mode=all) INFO [logger] Start file log (type: full) INFO [logger] [logger] /data/px4/log/2024-05-20/16_01_02.ulg INFO [muorb] SLPI: Advertising remote topic mavlink_log INFO [muorb] SLPI: Advertising remote topic event INFO [logger] Opened full log file: /data/px4/log/2024-05-20/16_01_02.ulg INFO [muorb] SLPI: Advertising remote topic logger_status INFO [qshell] Send cmd: 'sensors start -h' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: sensors start -h INFO [muorb] SLPI: arg0 = 'sensors' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-h' INFO [uORB] Advertising remote topic sensor_selection INFO [uORB] Advertising remote topic sensors_status_imu INFO [uORB] Advertising remote topic vehicle_acceleration INFO [uORB] Advertising remote topic vehicle_angular_velocity INFO [uORB] Advertising remote topic sensor_combined INFO [uORB] Advertising remote topic vehicle_air_data INFO [muorb] SLPI: Ok executing command: sensors start -h INFO [uORB] Advertising remote topic qshell_retval INFO [qshell] qshell return value timestamp: 1597879835, local time: 1597887360 INFO [qshell] Send cmd: 'ekf2 start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: ekf2 start INFO [muorb] SLPI: arg0 = 'ekf2' INFO [muorb] SLPI: arg1 = 'start' INFO [uORB] Advertising remote topic vehicle_attitude INFO [uORB] Advertising remote topic vehicle_local_position INFO [uORB] Advertising remote topic estimator_event_flags INFO [uORB] Advertising remote topic estimator_innovation_test_ratios INFO [uORB] Advertising remote topic estimator_innovation_variances INFO [uORB] Advertising remote topic estimator_innovations INFO [uORB] Advertising remote topic estimator_sensor_bias INFO [uORB] Advertising remote topic estimator_states INFO [uORB] Advertising remote topic estimator_status_flags INFO [uORB] Advertising remote topic estimator_status INFO [muorb] SLPI: Ok executing command: ekf2 start INFO [qshell] qshell return value timestamp: 1598279802, local time: 1598282277 INFO [qshell] Send cmd: 'mc_pos_control start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mc_pos_control start INFO [muorb] SLPI: arg0 = 'mc_pos_control' INFO [muorb] SLPI: arg1 = 'start' INFO [uORB] Advertising remote topic takeoff_status INFO [muorb] SLPI: Ok executing command: mc_pos_control start INFO [qshell] qshell return value timestamp: 1598401731, local time: 1598403944 INFO [qshell] Send cmd: 'mc_att_control start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mc_att_control start INFO [muorb] SLPI: arg0 = 'mc_att_control' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: Ok executing command: mc_att_control start INFO [qshell] qshell return value timestamp: 1598464342, local time: 1598467697 INFO [qshell] Send cmd: 'mc_rate_control start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mc_rate_control start INFO [muorb] SLPI: arg0 = 'mc_rate_control' INFO [muorb] SLPI: arg1 = 'start' INFO [uORB] Advertising remote topic rate_ctrl_status INFO [muorb] SLPI: Ok executing command: mc_rate_control start INFO [qshell] qshell return value timestamp: 1598592592, local time: 1598595052 INFO [qshell] Send cmd: 'mc_hover_thrust_estimator start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mc_hover_thrust_estimator start INFO [muorb] SLPI: arg0 = 'mc_hover_thrust_estimator' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: Ok executing command: mc_hover_thrust_estimator start INFO [qshell] qshell return value timestamp: 1598667266, local time: 1598670137 INFO [qshell] Send cmd: 'mc_autotune_attitude_control start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mc_autotune_attitude_control start INFO [muorb] SLPI: arg0 = 'mc_autotune_attitude_control' INFO [muorb] SLPI: arg1 = 'start' INFO [uORB] Advertising remote topic autotune_attitude_control_status INFO [muorb] SLPI: Ok executing command: mc_autotune_attitude_control start INFO [qshell] qshell return value timestamp: 1598716330, local time: 1598718644 INFO [qshell] Send cmd: 'land_detector start multicopter' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: land_detector start multicopter INFO [muorb] SLPI: arg0 = 'land_detector' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = 'multicopter' INFO [muorb] SLPI: Ok executing command: land_detector start multicopter INFO [qshell] qshell return value timestamp: 1598767502, local time: 1598769992 INFO [qshell] Send cmd: 'manual_control start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: manual_control start INFO [muorb] SLPI: arg0 = 'manual_control' INFO [muorb] SLPI: arg1 = 'start' INFO [uORB] Advertising remote topic vehicle_land_detected INFO [muorb] SLPI: Ok executing command: manual_control start INFO [qshell] qshell return value timestamp: 1598825243, local time: 1598828079 INFO [uORB] Advertising remote topic manual_control_setpoint INFO [qshell] Send cmd: 'control_allocator start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: control_allocator start INFO [muorb] SLPI: arg0 = 'control_allocator' INFO [muorb] SLPI: arg1 = 'start' INFO [uORB] Advertising remote topic control_allocator_status INFO [uORB] Marking DeviceNode(control_allocator_status) as advertised in process_remote_topic INFO [uORB] Advertising remote topic actuator_motors INFO [uORB] Advertising remote topic actuator_servos INFO [uORB] Advertising remote topic actuator_servos_trim INFO [muorb] SLPI: Ok executing command: control_allocator start INFO [qshell] qshell return value timestamp: 1599211146, local time: 1599212999 INFO [qshell] Send cmd: 'rc_update start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: rc_update start INFO [muorb] SLPI: arg0 = 'rc_update' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: Ok executing command: rc_update start INFO [qshell] qshell return value timestamp: 1599596741, local time: 1599602277 INFO [qshell] Send cmd: 'commander start -h' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: commander start -h INFO [muorb] SLPI: arg0 = 'commander' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-h' INFO [muorb] SLPI: Creating pthread commander INFO [muorb] SLPI: Successfully created px4 task PX4_commander with tid 2097647 INFO [uORB] Advertising remote topic led_control INFO [muorb] SLPI: LED: open /dev/led0 failed (22) INFO [uORB] Advertising remote topic tune_control **INFO [muorb] SLPI: Ok executing command: commander start -h INFO [qshell] qshell return value timestamp: 1599865670, local time: 1599867387 INFO [muorb] SLPI: Preflight Fail: Accel Sensor 0 missing INFO [muorb] SLPI: Preflight Fail: barometer 0 missing INFO [muorb] SLPI: Preflight Fail: ekf2 missing data INFO [muorb] SLPI: Preflight Fail: Gyro Sensor 0 missing** INFO [uORB] Advertising remote topic health_report INFO [uORB] Advertising remote topic failsafe_flags INFO [uORB] Advertising remote topic actuator_armed INFO [uORB] Advertising remote topic vehicle_control_mode INFO [uORB] Advertising remote topic vehicle_status INFO [uORB] Advertising remote topic failure_detector_status INFO [qshell] Send cmd: 'commander mode posctl' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: commander mode posctl INFO [muorb] SLPI: arg0 = 'commander' INFO [muorb] SLPI: arg1 = 'mode' INFO [muorb] SLPI: arg2 = 'posctl' INFO [uORB] Advertising remote topic vehicle_command INFO [muorb] SLPI: Ok executing command: commander mode posctl INFO [qshell] qshell return value timestamp: 1599909239, local time: 1599912144 INFO [uORB] Advertising remote topic vehicle_command_ack INFO [qshell] Send cmd: 'load_mon start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: load_mon start INFO [muorb] SLPI: arg0 = 'load_mon' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: Ok executing command: load_mon start INFO [uORB] Advertising remote topic cpuload INFO [qshell] qshell return value timestamp: 1599943912, local time: 1599946598 INFO [qshell] Send cmd: 'flight_mode_manager start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: flight_mode_manager start INFO [muorb] SLPI: arg0 = 'flight_mode_manager' INFO [muorb] SLPI: arg1 = 'start' INFO [uORB] Marking DeviceNode(vehicle_command) as advertised in process_remote_topic INFO [muorb] SLPI: Ok executing command: flight_mode_manager start INFO [qshell] qshell return value timestamp: 1600088995, local time: 1600091860 INFO [dataman] data manager file '/data/px4/dataman' size is 7866640 bytes INFO [muorb] SLPI: Advertising remote topic transponder_report INFO [muorb] SLPI: Advertising remote topic rtl_time_estimate INFO [muorb] SLPI: Advertising remote topic position_setpoint_triplet INFO [qshell] Send cmd: 'pwm_out_sim start -m hil' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: pwm_out_sim start -m hil INFO [muorb] SLPI: arg0 = 'pwm_out_sim' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-m' INFO [muorb] SLPI: arg3 = 'hil' INFO [uORB] Advertising remote topic actuator_outputs INFO [muorb] SLPI: Ok executing command: pwm_out_sim start -m hil INFO [qshell] qshell return value timestamp: 1601306980, local time: 1601309848 -------------------------------------------------------- -------------------------------------------------------- ------------- RUNNING JUST THE GPS/MAG!!! ------------- INFO [uORB] Advertising remote topic actuator_outputs_sim -------------------------------------------------------- -------------------------------------------------------- INFO [qshell] Send cmd: 'dsp_hitl start -g -m' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: dsp_hitl start -g -m INFO [muorb] SLPI: arg0 = 'dsp_hitl' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-g' INFO [muorb] SLPI: arg3 = '-m' INFO [muorb] SLPI: Creating pthread dsp_hitl__main INFO [muorb] SLPI: Successfully created px4 task PX4_dsp_hitl__main with tid 2097645 INFO [muorb] SLPI: Ok executing command: dsp_hitl start -g -m INFO [muorb] SLPI: DSP HITL Serial Port is open: 0 INFO [uORB] Advertising remote topic sensor_accel INFO [qshell] qshell return value timestamp: 1601353759, local time: 1601354484 INFO [uORB] Advertising remote topic sensor_gyro INFO [muorb] SLPI: Got 5 from orb_subscribe INFO [uORB] Advertising remote topic esc_status INFO [uORB] Advertising remote topic battery_status INFO [uORB] Advertising remote topic sensor_mag INFO [uORB] Advertising remote topic sensor_baro INFO [mavlink] mode: Onboard, data rate: 100000 B/s on udp port 14556 remote port 14557 INFO [muorb] SLPI: Advertising remote topic telemetry_status INFO [uORB] Advertising remote topic vehicle_imu INFO [uORB] Advertising remote topic vehicle_imu_status INFO [uORB] Advertising remote topic vehicle_thrust_setpoint INFO [uORB] Advertising remote topic vehicle_torque_setpoint INFO [uORB] Advertising remote topic vehicle_odometry INFO [uORB] Advertising remote topic vehicle_local_position_setpoint INFO [uORB] Advertising remote topic vehicle_attitude_setpoint INFO [uORB] Advertising remote topic estimator_aid_src_fake_pos INFO [uORB] Advertising remote topic estimator_aid_src_fake_hgt INFO [uORB] Advertising remote topic estimator_aid_src_gravity INFO [uORB] Advertising remote topic ekf2_timestamps INFO [uORB] Advertising remote topic trajectory_setpoint INFO [uORB] Advertising remote topic vehicle_constraints INFO [uORB] Advertising remote topic landing_gear INFO [mavlink] partner IP: 127.0.0.1 INFO [muorb] SLPI: Advertising remote topic obstacle_distance INFO [muorb] SLPI: Advertising remote topic offboard_control_mode INFO [muorb] SLPI: Advertising remote topic timesync_status INFO [uORB] Advertising remote topic sensor_gps INFO [mavlink] mode: Normal, data rate: 100000 B/s on udp port 14558 remote port 14559 INFO [muorb] SLPI: Marking DeviceNode(telemetry_status) as advertised in process_remote_topic INFO [mavlink] partner IP: 127.0.0.1 INFO [uORB] Advertising remote topic vehicle_rates_setpoint INFO [uORB] Advertising remote topic actuator_controls_status_0 INFO [uORB] Advertising remote topic sensors_status_baro INFO [uORB] Advertising remote topic estimator_aid_src_baro_hgt INFO [muorb] SLPI: Advertising remote topic camera_status INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network) INFO [px4] Startup script returned successfully pxh> INFO [muorb] SLPI: Advertising remote topic ping pxh> qshell commander takeoff INFO [qshell] Send cmd: 'commander takeoff' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: commander takeoff INFO [muorb] SLPI: arg0 = 'commander' INFO [muorb] SLPI: arg1 = 'takeoff' INFO [uORB] Marking DeviceNode(vehicle_command) as advertised in process_remote_topic INFO [uORB] Marking DeviceNode(vehicle_command) as advertised in process_remote_topic INFO [muorb] SLPI: Ok executing command: commander takeoff INFO [qshell] qshell return value timestamp: 1681880057, local time: 1681883664 pxh> INFO [muorb] SLPI: Armed by internal command INFO [navigator] Using minimum takeoff altitude: 3.00 m INFO [muorb] SLPI: Marking DeviceNode(mavlink_log) as advertised in process_remote_topic INFO [muorb] SLPI: Advertising remote topic mission_result WARN [mavlink] Event dropped (25, 65527) WARN [mavlink] Event dropped (25, 65527) INFO [muorb] SLPI: Failsafe activated WARN [mavlink] Dropped 65502 events (seq=65527) WARN [mavlink] Dropped 65502 events (seq=65527) WARN [mavlink] Event dropped (65528, 25) WARN [mavlink] Dropped 15 events (seq=25) WARN [mavlink] Event dropped (65528, 25) WARN [mavlink] Dropped 15 events (seq=25)
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Using just -o I get the yaw estimate error all the time
INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error PX4 Exiting... pxh> Exiting NOW. voxl2:/$ export PX4_HOME_LAT=0000.0000 voxl2:/$ export PX4_HOME_LON=0000.0000 voxl2:/$ export PX4_HOME_ALT=0000.0000 voxl2:/$ voxl-px4-hitl Found DSP signature file INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM. INFO [px4] assuming working directory is rootfs, no symlinks needed. INFO [muorb] Got muorb init command Sending initialization request Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete INFO [muorb] SLPI: muorb aggregator thread running INFO [muorb] muorb protobuf initalize method succeeded INFO [muorb] succesfully did ADVERTISE_TEST_TYPE INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097656 INFO [muorb] succesfully did SUBSCRIBE_TEST_TYPE INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097655 INFO [muorb] succesfully did TOPIC_TEST_TYPE INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097654 INFO [muorb] succesfully did UNSUBSCRIBE_TEST_TYPE INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097653 INFO [muorb] muorb test passed ______ __ __ ___ | ___ \ \ \ / / / | | |_/ / \ V / / /| | | __/ / \ / /_| | | | / /^\ \ \___ | \_| \/ \/ |_/ px4 starting. INFO [muorb] SLPI: Advertising remote topic log_message INFO [px4] startup script: /bin/sh /usr/bin/voxl-px4-hitl-start 0 INFO [parameters] Starting param sync THREAD Running on M0054 INFO [muorb] SLPI: Starting param sync THREAD INFO [muorb] SLPI: before starting the qshell_entry task INFO [muorb] SLPI: Creating pthread qshell INFO [muorb] SLPI: qshell entry..... INFO [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 2097652 INFO [muorb] SLPI: Init app map initialized INFO [muorb] SLPI: after starting the qshell_entry task INFO [param] selected parameter default file /data/px4/param/hitl_parameters INFO [muorb] SLPI: Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic INFO [uORB] Marking DeviceNode(parameter_client_reset_response) as advertised in process_remote_topic INFO [muorb] SLPI: Advertising remote topic parameter_update INFO [muorb] SLPI: Marking DeviceNode(parameter_client_set_value_request) as advertised in process_remote_to INFO [uORB] Marking DeviceNode(parameter_server_set_used_request) as advertised in process_remote_topic INFO [muorb] SLPI: Marking DeviceNode(parameter_server_set_used_response) as advertised in process_remote_to INFO [uORB] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic INFO [parameters] BSON document size 4109 bytes, decoded 4109 bytes (INT32:79, FLOAT:114) INFO [logger] logger started (mode=all) INFO [logger] Start file log (type: full) INFO [logger] [logger] /data/px4/log/2024-05-20/15_46_58.ulg INFO [muorb] SLPI: Advertising remote topic mavlink_log INFO [muorb] SLPI: Advertising remote topic event INFO [logger] Opened full log file: /data/px4/log/2024-05-20/15_46_58.ulg INFO [muorb] SLPI: Advertising remote topic logger_status INFO [qshell] Send cmd: 'sensors start -h' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: sensors start -h INFO [muorb] SLPI: arg0 = 'sensors' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-h' INFO [uORB] Advertising remote topic sensor_selection INFO [uORB] Advertising remote topic sensors_status_imu INFO [uORB] Advertising remote topic vehicle_acceleration INFO [uORB] Advertising remote topic vehicle_angular_velocity INFO [uORB] Advertising remote topic sensor_combined INFO [uORB] Advertising remote topic vehicle_air_data INFO [muorb] SLPI: Ok executing command: sensors start -h INFO [uORB] Advertising remote topic qshell_retval INFO [qshell] qshell return value timestamp: 754123932, local time: 754131474 INFO [qshell] Send cmd: 'ekf2 start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: ekf2 start INFO [muorb] SLPI: arg0 = 'ekf2' INFO [muorb] SLPI: arg1 = 'start' INFO [uORB] Advertising remote topic vehicle_attitude INFO [uORB] Advertising remote topic vehicle_local_position INFO [uORB] Advertising remote topic estimator_event_flags INFO [uORB] Advertising remote topic estimator_innovation_test_ratios INFO [uORB] Advertising remote topic estimator_innovation_variances INFO [uORB] Advertising remote topic estimator_innovations INFO [uORB] Advertising remote topic estimator_sensor_bias INFO [uORB] Advertising remote topic estimator_states INFO [uORB] Advertising remote topic estimator_status_flags INFO [uORB] Advertising remote topic estimator_status INFO [muorb] SLPI: Ok executing command: ekf2 start INFO [qshell] qshell return value timestamp: 754536383, local time: 754541063 INFO [qshell] Send cmd: 'mc_pos_control start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mc_pos_control start INFO [muorb] SLPI: arg0 = 'mc_pos_control' INFO [muorb] SLPI: arg1 = 'start' INFO [uORB] Advertising remote topic takeoff_status INFO [muorb] SLPI: Ok executing command: mc_pos_control start INFO [qshell] qshell return value timestamp: 754669164, local time: 754672431 INFO [qshell] Send cmd: 'mc_att_control start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mc_att_control start INFO [muorb] SLPI: arg0 = 'mc_att_control' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: Ok executing command: mc_att_control start INFO [qshell] qshell return value timestamp: 754745299, local time: 754748135 INFO [qshell] Send cmd: 'mc_rate_control start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mc_rate_control start INFO [muorb] SLPI: arg0 = 'mc_rate_control' INFO [muorb] SLPI: arg1 = 'start' INFO [uORB] Advertising remote topic rate_ctrl_status INFO [muorb] SLPI: Ok executing command: mc_rate_control start INFO [qshell] qshell return value timestamp: 754875390, local time: 754878249 INFO [qshell] Send cmd: 'mc_hover_thrust_estimator start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mc_hover_thrust_estimator start INFO [muorb] SLPI: arg0 = 'mc_hover_thrust_estimator' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: Ok executing command: mc_hover_thrust_estimator start INFO [qshell] qshell return value timestamp: 754923562, local time: 754926616 INFO [qshell] Send cmd: 'mc_autotune_attitude_control start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mc_autotune_attitude_control start INFO [muorb] SLPI: arg0 = 'mc_autotune_attitude_control' INFO [muorb] SLPI: arg1 = 'start' INFO [uORB] Advertising remote topic autotune_attitude_control_status INFO [muorb] SLPI: Ok executing command: mc_autotune_attitude_control start INFO [qshell] qshell return value timestamp: 754987805, local time: 754991271 INFO [qshell] Send cmd: 'land_detector start multicopter' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: land_detector start multicopter INFO [muorb] SLPI: arg0 = 'land_detector' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = 'multicopter' INFO [muorb] SLPI: Ok executing command: land_detector start multicopter INFO [qshell] qshell return value timestamp: 755042360, local time: 755044865 INFO [qshell] Send cmd: 'manual_control start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: manual_control start INFO [muorb] SLPI: arg0 = 'manual_control' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: Ok executing command: manual_control start INFO [qshell] qshell return value timestamp: 755087130, local time: 755089796 INFO [uORB] Advertising remote topic manual_control_setpoint INFO [uORB] Advertising remote topic vehicle_land_detected INFO [qshell] Send cmd: 'control_allocator start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: control_allocator start INFO [muorb] SLPI: arg0 = 'control_allocator' INFO [muorb] SLPI: arg1 = 'start' INFO [uORB] Advertising remote topic control_allocator_status INFO [uORB] Marking DeviceNode(control_allocator_status) as advertised in process_remote_topic INFO [uORB] Advertising remote topic actuator_motors INFO [uORB] Advertising remote topic actuator_servos INFO [uORB] Advertising remote topic actuator_servos_trim INFO [muorb] SLPI: Ok executing command: control_allocator start INFO [qshell] qshell return value timestamp: 755468579, local time: 755470589 INFO [qshell] Send cmd: 'rc_update start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: rc_update start INFO [muorb] SLPI: arg0 = 'rc_update' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: Ok executing command: rc_update start INFO [qshell] qshell return value timestamp: 755849262, local time: 755851518 INFO [qshell] Send cmd: 'commander start -h' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: commander start -h INFO [muorb] SLPI: arg0 = 'commander' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-h' INFO [muorb] SLPI: Creating pthread commander INFO [muorb] SLPI: Successfully created px4 task PX4_commander with tid 2097647 INFO [uORB] Advertising remote topic led_control INFO [muorb] SLPI: LED: open /dev/led0 failed (22) INFO [uORB] Advertising remote topic tune_control INFO [muorb] SLPI: Ok executing command: commander start -h INFO [qshell] qshell return value timestamp: 756119900, local time: 756121221 INFO [muorb] SLPI: Preflight Fail: Accel Sensor 0 missing INFO [muorb] SLPI: Preflight Fail: barometer 0 missing INFO [muorb] SLPI: Preflight Fail: ekf2 missing data INFO [muorb] SLPI: Preflight Fail: Gyro Sensor 0 missing INFO [uORB] Advertising remote topic health_report INFO [uORB] Advertising remote topic failsafe_flags INFO [uORB] Advertising remote topic actuator_armed INFO [uORB] Advertising remote topic vehicle_control_mode INFO [uORB] Advertising remote topic vehicle_status INFO [uORB] Advertising remote topic failure_detector_status INFO [qshell] Send cmd: 'commander mode posctl' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: commander mode posctl INFO [muorb] SLPI: arg0 = 'commander' INFO [muorb] SLPI: arg1 = 'mode' INFO [muorb] SLPI: arg2 = 'posctl' INFO [uORB] Advertising remote topic vehicle_command INFO [muorb] SLPI: Ok executing command: commander mode posctl INFO [qshell] qshell return value timestamp: 756161492, local time: 756163381 INFO [uORB] Advertising remote topic vehicle_command_ack INFO [qshell] Send cmd: 'load_mon start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: load_mon start INFO [muorb] SLPI: arg0 = 'load_mon' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: Ok executing command: load_mon start INFO [uORB] Advertising remote topic cpuload INFO [qshell] qshell return value timestamp: 756209650, local time: 756212110 INFO [qshell] Send cmd: 'flight_mode_manager start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: flight_mode_manager start INFO [muorb] SLPI: arg0 = 'flight_mode_manager' INFO [muorb] SLPI: arg1 = 'start' INFO [uORB] Marking DeviceNode(vehicle_command) as advertised in process_remote_topic INFO [muorb] SLPI: Ok executing command: flight_mode_manager start INFO [qshell] qshell return value timestamp: 756337917, local time: 756339906 INFO [dataman] data manager file '/data/px4/dataman' size is 7866640 bytes INFO [muorb] SLPI: Advertising remote topic transponder_report INFO [muorb] SLPI: Advertising remote topic rtl_time_estimate INFO [muorb] SLPI: Advertising remote topic position_setpoint_triplet INFO [qshell] Send cmd: 'pwm_out_sim start -m hil' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: pwm_out_sim start -m hil INFO [muorb] SLPI: arg0 = 'pwm_out_sim' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-m' INFO [muorb] SLPI: arg3 = 'hil' INFO [uORB] Advertising remote topic actuator_outputs INFO [muorb] SLPI: Ok executing command: pwm_out_sim start -m hil INFO [qshell] qshell return value timestamp: 757571489, local time: 757574531 -------------------------------------------------------- -------------------------------------------------------- ------------- RUNNING JUST THE ODOMETRY!!! ------------- -------------------------------------------------------- -------------------------------------------------------- INFO [uORB] Advertising remote topic actuator_outputs_sim INFO [qshell] Send cmd: 'dsp_hitl start -o' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: dsp_hitl start -o INFO [muorb] SLPI: arg0 = 'dsp_hitl' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-o' INFO [muorb] SLPI: Creating pthread dsp_hitl__main INFO [muorb] SLPI: Successfully created px4 task PX4_dsp_hitl__main with tid 2097645 INFO [muorb] SLPI: Ok executing command: dsp_hitl start -o INFO [muorb] SLPI: DSP HITL Serial Port is open: 0 INFO [uORB] Advertising remote topic sensor_accel INFO [qshell] qshell return value timestamp: 757621699, local time: 757622539 INFO [uORB] Advertising remote topic sensor_gyro INFO [muorb] SLPI: Got 5 from orb_subscribe INFO [uORB] Advertising remote topic esc_status INFO [uORB] Advertising remote topic battery_status INFO [uORB] Advertising remote topic vehicle_visual_odometry INFO [uORB] Advertising remote topic sensor_baro INFO [uORB] Advertising remote topic vehicle_imu INFO [uORB] Advertising remote topic vehicle_imu_status INFO [uORB] Advertising remote topic vehicle_thrust_setpoint INFO [uORB] Advertising remote topic vehicle_torque_setpoint INFO [uORB] Advertising remote topic vehicle_odometry INFO [uORB] Advertising remote topic vehicle_local_position_setpoint INFO [uORB] Advertising remote topic vehicle_attitude_setpoint INFO [uORB] Advertising remote topic estimator_aid_src_fake_pos INFO [uORB] Advertising remote topic estimator_aid_src_fake_hgt INFO [uORB] Advertising remote topic estimator_aid_src_ev_hgt INFO [uORB] Advertising remote topic estimator_aid_src_ev_pos INFO [uORB] Advertising remote topic estimator_aid_src_ev_vel INFO [uORB] Advertising remote topic estimator_aid_src_ev_yaw INFO [uORB] Advertising remote topic estimator_aid_src_gravity INFO [uORB] Advertising remote topic ekf2_timestamps INFO [uORB] Advertising remote topic trajectory_setpoint INFO [uORB] Advertising remote topic vehicle_constraints INFO [uORB] Advertising remote topic landing_gear INFO [mavlink] mode: Onboard, data rate: 100000 B/s on udp port 14556 remote port 14557 INFO [muorb] SLPI: Advertising remote topic telemetry_status INFO [mavlink] partner IP: 127.0.0.1 INFO [muorb] SLPI: Advertising remote topic offboard_control_mode INFO [muorb] SLPI: Advertising remote topic obstacle_distance INFO [muorb] SLPI: Advertising remote topic timesync_status INFO [mavlink] mode: Normal, data rate: 100000 B/s on udp port 14558 remote port 14559 INFO [muorb] SLPI: Marking DeviceNode(telemetry_status) as advertised in process_remote_topic INFO [mavlink] partner IP: 127.0.0.1 INFO [uORB] Advertising remote topic vehicle_rates_setpoint INFO [uORB] Advertising remote topic sensors_status_baro INFO [uORB] Advertising remote topic actuator_controls_status_0 INFO [uORB] Advertising remote topic estimator_aid_src_baro_hgt INFO [muorb] SLPI: Advertising remote topic camera_status INFO [uORB] Advertising remote topic estimator_baro_bias INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network) INFO [px4] Startup script returned successfully pxh> INFO [uORB] Advertising remote topic home_position INFO [muorb] SLPI: Advertising remote topic ping INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error pxh> INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error INFO [muorb] SLPI: Preflight Fail: Yaw estimate error
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@Eric-Katzfey both cases I using just mag/gps did not takeoff , and with odometry (with/without mag/gps) did not have stability.
Do have any idea? what are the reasons?
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@leonardo-Andrade-0 How are your SYS_HAS_GPS, SYS_HAS_MAG, and EKF2_MAG_TYPE parameters set for each case?
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@leonardo-Andrade-0 For the case where you are using only GPS and MAG the parameters need to reflect that. SYS_HAS_GPS = 1, SYS_HAS_MAG = 1, EKF2_MAG_TYPE = 0.
