# Unable to takeoff in hitl simulation in VIO mode Source: https://forum.modalai.com/topic/1316/unable-to-takeoff-in-hitl-simulation-in-vio-mode Category: VOXL 2 and VOXL 2 Mini (https://forum.modalai.com/category/26/voxl-2-and-voxl-2-mini) Tags: voxl-2 Posted: 2022-09-12 11:35:02 UTC by Tamas Pal 0 Replies: 4 · Views: 996 ## Tamas Pal 0 · 2022-09-12 11:35:02 UTC I am trying to run hitl simulation in VIO mode with voxl 2. When I was trying to take off in vio mode it is getting rejected everytime although I can arm it. This is the terminal output for voxl 2 ``` voxl2:/$ voxl-px4-hitl -v Found DSP signature file Setting VIO Parameters for HITL INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM. INFO [px4] assuming working directory is rootfs, no symlinks needed. ______ __ __ ___ | ___ \ \ \ / / / | | |_/ / \ V / / /| | | __/ / \ / /_| | | | / /^\ \ \___ | \_| \/ \/ |_/ px4 starting. INFO [px4] Calling startup script: /bin/sh /etc/modalai/voxl-px4-hitl-vio-parameters.config 0 CBRK_SUPPLY_CHK: curr: 0 -> new: 894281 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CBRK_SUPPLY_CHK COM_DISARM_PRFLT: curr: 10.0000 -> new: -1.0000 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for COM_DISARM_PRFLT COM_RC_IN_MODE: curr: 0 -> new: 1 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for COM_RC_IN_MODE NAV_RCL_ACT: curr: 2 -> new: 0 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for NAV_RCL_ACT EKF2_AID_MASK: curr: 1 -> new: 280 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_AID_MASK SYS_HAS_MAG: curr: 1 -> new: 0 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for SYS_HAS_MAG EKF2_MAG_TYPE: curr: 0 -> new: 5 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_MAG_TYPE EKF2_HGT_MODE: curr: 0 -> new: 3 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_HGT_MODE Exiting NOW. INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM. INFO [px4] assuming working directory is rootfs, no symlinks needed. ______ __ __ ___ | ___ \ \ \ / / / | | |_/ / \ V / / /| | | __/ / \ / /_| | | | / /^\ \ \___ | \_| \/ \/ |_/ px4 starting. INFO [px4] Calling startup script: /bin/sh /etc/modalai/voxl-px4-hitl.config 0 INFO [muorb] SLPI: Creating qurt thread hpwork INFO [muorb] SLPI: Successfully created px4 task PX4_hpwork with tid 83 INFO [muorb] SLPI: Creating qurt thread lpwork INFO [muorb] SLPI: Successfully created px4 task PX4_lpwork with tid 82 INFO [muorb] SLPI: Creating qurt thread wkr_hrt INFO [muorb] SLPI: Successfully created px4 task PX4_wkr_hrt with tid 81 INFO [muorb] SLPI: Creating qurt thread client_sync_thread INFO [muorb] SLPI: Successfully created px4 task PX4_client_sync_thread with tid 80 INFO [muorb] SLPI: Creating qurt thread wq_manager INFO [muorb] SLPI: Successfully created px4 task PX4_wq_manager with tid 79 INFO [muorb] SLPI: Creating qurt thread qshell INFO [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 78 INFO [logger] logger started (mode=all) INFO [logger] Start file log (type: full) INFO [logger] [logger] /data/px4/log/sess004/log001.ulg INFO [logger] Opened full log file: /data/px4/log/sess004/log001.ulg ERROR [logger] No subscriptions added INFO [muorb] SLPI: Advertising remote topic mavlink_log INFO [muorb] SLPI: Advertising remote topic logger_status INFO [qshell] Send cmd: 'icm42688p start -s -h' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: icm42688p start -s -h INFO [muorb] SLPI: Creating qurt thread wq_SPI1 INFO [muorb] SLPI: Successfully created px4 task PX4_wq_SPI1 with tid 77 INFO [muorb] SLPI: *** SPI Device ID 0x26000a 2490378 INFO [muorb] SLPI: on SPI bus 1 INFO [muorb] SLPI: icm42688p #0 on SPI bus 1 (devid=0x0) INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: icm42688p start -s -h INFO [muorb] SLPI: Sending qshell retval with timestamp 643137190, current timestamp 643137191 INFO [uorb] Advertising remote topic qshell_retval INFO [qshell] qshell return value timestamp: 643137190, local time: 643145778 INFO [muorb] SLPI: Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic ERROR [muorb] SLPI: Cannot reset all parameters on client side 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 [dataman] Unknown restart, data manager file '/data/px4/dataman' size is 11798680 bytes 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: Creating qurt thread wq_nav_and_controllers INFO [muorb] SLPI: Successfully created px4 task PX4_wq_nav_and_controllers with tid 76 INFO [muorb] SLPI: Creating qurt thread wq_rate_ctrl INFO [muorb] SLPI: Successfully created px4 task PX4_wq_rate_ctrl with tid 75 INFO [muorb] SLPI: Ok executing command: sensors start -h INFO [muorb] SLPI: Sending qshell retval with timestamp 645460873, current timestamp 645460875 INFO [uorb] Advertising remote topic sensors_status_imu INFO [qshell] qshell return value timestamp: 645460873, local time: 645462858 INFO [commander] LED: open /dev/led0 failed (22) INFO [muorb] SLPI: Advertising remote topic led_control INFO [muorb] SLPI: Advertising remote topic tune_control INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed EKF health preflight check while waiting for filter to settle INFO [muorb] SLPI: Advertising remote topic vehicle_control_mode INFO [muorb] SLPI: Advertising remote topic vehicle_status INFO [muorb] SLPI: Advertising remote topic actuator_armed INFO [PreFlightCheck] Failed barometer preflight check INFO [muorb] SLPI: Advertising remote topic commander_state INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check INFO [muorb] SLPI: Advertising remote topic vehicle_status_flags INFO [muorb] SLPI: Advertising remote topic vehicle_command INFO [commander] Handling Commander command 176 INFO [muorb] SLPI: Advertising remote topic vehicle_command_ack INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [muorb] SLPI: Advertising remote topic position_setpoint_triplet INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check 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: Ok executing command: mc_pos_control start INFO [muorb] SLPI: Sending qshell retval with timestamp 646677913, current timestamp 646677915 INFO [qshell] qshell return value timestamp: 646677913, local time: 646679184 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: Ok executing command: mc_att_control start INFO [muorb] SLPI: Sending qshell retval with timestamp 646755405, current timestamp 646755407 INFO [qshell] qshell return value timestamp: 646755405, local time: 646757219 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: Ok executing command: mc_rate_control start INFO [muorb] SLPI: Sending qshell retval with timestamp 646851157, current timestamp 646851159 INFO [qshell] qshell return value timestamp: 646851157, local time: 646859901 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: Ok executing command: mc_hover_thrust_estimator start INFO [muorb] SLPI: Sending qshell retval with timestamp 646914221, current timestamp 646914223 INFO [qshell] qshell return value timestamp: 646914221, local time: 646914687 INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check 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: Ok executing command: land_detector start multicopter INFO [muorb] SLPI: Sending qshell retval with timestamp 647035223, current timestamp 647035225 INFO [qshell] qshell return value timestamp: 647035223, local time: 647038832 INFO [uorb] Advertising remote topic vehicle_land_detected INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check 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: Creating qurt thread wq_hp_default INFO [muorb] SLPI: Successfully created px4 task PX4_wq_hp_default with tid 74 INFO [uorb] Advertising remote topic test_motor INFO [muorb] SLPI: Ok executing command: pwm_out_sim start -m hil INFO [muorb] SLPI: Sending qshell retval with timestamp 648087744, current timestamp 648087745 INFO [qshell] qshell return value timestamp: 648087744, local time: 648089970 INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [qshell] Send cmd: 'mixer load /dev/pwm_output0 quad_x.main.mix' INFO [muorb] SLPI: qshell gotten: mixer load /dev/pwm_output0 quad_x.main.mix INFO [muorb] SLPI: Ok executing command: mixer load /dev/pwm_output0 quad_x.main.mix INFO [muorb] SLPI: Sending qshell retval with timestamp 648151227, current timestamp 648151229 INFO [qshell] qshell return value timestamp: 648151227, local time: 648156266 INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check 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: Creating qurt thread wq_INS0 INFO [muorb] SLPI: Successfully created px4 task PX4_wq_INS0 with tid 4170 INFO [muorb] SLPI: Ok executing command: ekf2 start INFO [muorb] SLPI: Sending qshell retval with timestamp 649427101, current timestamp 649427103 INFO [qshell] qshell return value timestamp: 649427101, local time: 649429257 INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check INFO [qshell] Send cmd: 'modalai_dsp start -v -p 2 -b 921600' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: modalai_dsp start -v -p 2 -b 921600 INFO [muorb] SLPI: Creating qurt thread modalai_dsp__main INFO [muorb] SLPI: Successfully created px4 task PX4_modalai_dsp__main with tid 73 INFO [muorb] SLPI: Ok executing command: modalai_dsp start -v -p 2 -b 921600 INFO [muorb] SLPI: Sending qshell retval with timestamp 650497255, current timestamp 650497258 ERROR [muorb] SLPI: Port is open: 0 INFO [qshell] qshell return value timestamp: 650497255, local time: 650498945 INFO [uorb] Advertising remote topic sensor_accel INFO [uorb] Advertising remote topic sensor_gyro INFO [muorb] SLPI: Got 5 from orb_subscribe INFO [muorb] SLPI: Got 6 from orb_subscribe INFO [muorb] SLPI: Got 7 from orb_subscribe INFO [muorb] SLPI: Got 8 from orb_subscribe INFO [muorb] SLPI: Heartbeat msg received INFO [uorb] Advertising remote topic battery_status INFO [uorb] Advertising remote topic vehicle_angular_acceleration INFO [uorb] Advertising remote topic vehicle_acceleration INFO [uorb] Advertising remote topic vehicle_angular_velocity INFO [uorb] Advertising remote topic rate_ctrl_status INFO [uorb] Advertising remote topic actuator_controls_0 INFO [uorb] Advertising remote topic actuator_outputs INFO [uorb] Advertising remote topic multirotor_motor_limits INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check INFO [uorb] Advertising remote topic vehicle_imu INFO [uorb] Advertising remote topic vehicle_imu_status INFO [muorb] SLPI: Heartbeat msg received INFO [uorb] Advertising remote topic sensor_baro INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [uorb] Advertising remote topic sensor_selection INFO [uorb] Advertising remote topic sensor_combined INFO [uorb] Advertising remote topic ekf2_timestamps INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [uorb] Advertising remote topic vehicle_air_data INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check INFO [mavlink] mode: Onboard, data rate: 100000 B/s on udp port 14556 remote port 14557 INFO [muorb] SLPI: Marking DeviceNode(vehicle_command) as advertised in process_remote_topic INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check INFO [px4] Startup script returned successfully pxh> 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 [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check INFO [muorb] SLPI: Advertising remote topic obstacle_distance INFO [muorb] SLPI: Advertising remote topic timesync_status INFO [muorb] SLPI: 651882145: reset position to last known position INFO [muorb] SLPI: 651882145: reset velocity to zero INFO [uorb] Marking DeviceNode(vehicle_local_position) as advertised in process_remote_topic INFO [uorb] Advertising remote topic vehicle_odometry INFO [uorb] Advertising remote topic estimator_states INFO [uorb] Advertising remote topic estimator_status INFO [uorb] Advertising remote topic estimator_status_flags INFO [uorb] Advertising remote topic estimator_innovations INFO [uorb] Advertising remote topic estimator_innovation_test_ratios INFO [uorb] Advertising remote topic estimator_innovation_variances INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [uorb] Advertising remote topic estimator_sensor_bias INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: 658056317: EKF aligned, (baro hgt, IMU buf: 19, OBS buf: 14) INFO [uorb] Advertising remote topic vehicle_attitude INFO [uorb] Advertising remote topic vehicle_attitude_setpoint INFO [uorb] Advertising remote topic vehicle_rates_setpoint INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received pxh> commander INFO [muorb] SLPI: Heartbeat msg received pxh> commander armINFO [muorb] SLPI: Heartbeat msg received pxh> INFO [muorb] SLPI: Marking DeviceNode(vehicle_command) as advertised in process_remote_topic INFO [commander] Handling Commander command 400 INFO [commander] Arming reason 3 INFO [commander] Armed by internal command INFO [commander] Armed state changed. Was 0, now 1 INFO [muorb] SLPI: Marking DeviceNode(mavlink_log) as advertised in process_remote_topic INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received pxh> comINFO [muorb] SLPI: Heartbeat msg received pxh> commandINFO [muorb] SLPI: Heartbeat msg received pxh> commandedrINFO [muorb] SLPI: Heartbeat msg received pxh> commandINFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received pxh> commanderINFO [muorb] SLPI: Heartbeat msg received pxh> commander INFO [muorb] SLPI: Heartbeat msg received pxh> commander takeoffINFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Marking DeviceNode(vehicle_command) as advertised in process_remote_topic pxh> INFO [muorb] SLPI: Marking DeviceNode(vehicle_command) as advertised in process_remote_topic INFO [commander] Handling Commander command 22 ERROR [commander] Takeoff denied! Please disarm and retry INFO [commander] Handling Commander command 400 INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received ``` This is the terminal ouput for gazebo ``` ~/Develop/PX4-Autopilot$ gazebo Tools/sitl_gazebo/worlds/hitl_iris.world Opened serial device /dev/ttyUSB0 ../src/intel/isl/isl.c:2220: FINISHME: ../src/intel/isl/isl.c:isl_surf_supports_ccs: CCS for 3D textures is disabled, but a workaround is available. ``` How to solve it ? ## Reply by Zachary Lowell · 2022-09-13 11:40:27 UTC Hi Tamas, what is your setup inside the gazebo world? Are you leveraging the iris_vision inside the world setup? Furthermore, are you leveraging the iris_hitl inside the iris_vision.sdf file? ## Reply by Tamas Pal 0 · 2022-09-14 06:54:28 UTC (in reply to Zachary Lowell) @Zachary-Lowell The vehicle is taking off but it is getting landed everytime without any command. I am giving all the details for the files as well as terminal ouput and the video of the gazebo simulation here. **Gazebo terminal:** ``` ~/Develop/PX4-Autopilot$ gazebo Tools/sitl_gazebo/worlds/hitl_iris.world Opened serial device /dev/ttyUSB0 ../src/intel/isl/isl.c:2220: FINISHME: ../src/intel/isl/isl.c:isl_surf_supports_ccs: CCS for 3D textures is disabled, but a workaround is available. ``` **hitl_iris.world file:** *https://drive.google.com/file/d/1XmbLVB8hupB-iQIu15NqTMwbjZcBds8C/view?usp=sharing* **iris_vision.sdf file** *https://drive.google.com/file/d/1gzevFQDfHWjrVt0asj6yaoXJ5xidLbEE/view?usp=sharing* **iris_hitl.sdf file** *https://drive.google.com/file/d/1TXZl4kGkAtvqfhoLy_pqRjdJQqlDe876/view?usp=sharing* **VOXL 2 terminal :** ``` voxl-px4-hitl -v Found DSP signature file Setting VIO Parameters for HITL INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM. INFO [px4] assuming working directory is rootfs, no symlinks needed. ______ __ __ ___ | ___ \ \ \ / / / | | |_/ / \ V / / /| | | __/ / \ / /_| | | | / /^\ \ \___ | \_| \/ \/ |_/ px4 starting. INFO [px4] Calling startup script: /bin/sh /etc/modalai/voxl-px4-hitl-vio-parameters.config 0 CBRK_SUPPLY_CHK: curr: 0 -> new: 894281 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CBRK_SUPPLY_CHK COM_DISARM_PRFLT: curr: 10.0000 -> new: -1.0000 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for COM_DISARM_PRFLT COM_RC_IN_MODE: curr: 0 -> new: 1 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for COM_RC_IN_MODE NAV_RCL_ACT: curr: 2 -> new: 0 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for NAV_RCL_ACT EKF2_AID_MASK: curr: 1 -> new: 280 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_AID_MASK SYS_HAS_MAG: curr: 1 -> new: 0 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for SYS_HAS_MAG EKF2_MAG_TYPE: curr: 0 -> new: 5 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_MAG_TYPE EKF2_HGT_MODE: curr: 0 -> new: 3 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_HGT_MODE Exiting NOW. INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM. INFO [px4] assuming working directory is rootfs, no symlinks needed. ______ __ __ ___ | ___ \ \ \ / / / | | |_/ / \ V / / /| | | __/ / \ / /_| | | | / /^\ \ \___ | \_| \/ \/ |_/ px4 starting. INFO [px4] Calling startup script: /bin/sh /etc/modalai/voxl-px4-hitl.config 0 INFO [muorb] SLPI: Creating qurt thread hpwork INFO [muorb] SLPI: Successfully created px4 task PX4_hpwork with tid 83 INFO [muorb] SLPI: Creating qurt thread lpwork INFO [muorb] SLPI: Successfully created px4 task PX4_lpwork with tid 82 INFO [muorb] SLPI: Creating qurt thread wkr_hrt INFO [muorb] SLPI: Successfully created px4 task PX4_wkr_hrt with tid 81 INFO [muorb] SLPI: Creating qurt thread client_sync_thread INFO [muorb] SLPI: Successfully created px4 task PX4_client_sync_thread with tid 80 INFO [muorb] SLPI: Creating qurt thread wq_manager INFO [muorb] SLPI: Successfully created px4 task PX4_wq_manager with tid 79 INFO [muorb] SLPI: Creating qurt thread qshell INFO [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 78 INFO [logger] logger started (mode=all) INFO [logger] Start file log (type: full) INFO [logger] [logger] /data/px4/log/sess011/log001.ulg INFO [logger] Opened full log file: /data/px4/log/sess011/log001.ulg INFO [muorb] SLPI: Advertising remote topic mavlink_log ERROR [logger] No subscriptions added INFO [muorb] SLPI: Advertising remote topic logger_status INFO [qshell] Send cmd: 'icm42688p start -s -h' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: icm42688p start -s -h INFO [muorb] SLPI: Creating qurt thread wq_SPI1 INFO [muorb] SLPI: Successfully created px4 task PX4_wq_SPI1 with tid 77 INFO [muorb] SLPI: *** SPI Device ID 0x26000a 2490378 INFO [muorb] SLPI: on SPI bus 1 INFO [muorb] SLPI: icm42688p #0 on SPI bus 1 (devid=0x0) INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: icm42688p start -s -h INFO [muorb] SLPI: Sending qshell retval with timestamp 83649315, current timestamp 83649316 INFO [uorb] Advertising remote topic qshell_retval INFO [qshell] qshell return value timestamp: 83649315, local time: 83651914 INFO [muorb] SLPI: Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic ERROR [muorb] SLPI: Cannot reset all parameters on client side 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 [dataman] Unknown restart, data manager file '/data/px4/dataman' size is 11798680 bytes 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: Creating qurt thread wq_nav_and_controllers INFO [muorb] SLPI: Successfully created px4 task PX4_wq_nav_and_controllers with tid 76 INFO [muorb] SLPI: Creating qurt thread wq_rate_ctrl INFO [muorb] SLPI: Successfully created px4 task PX4_wq_rate_ctrl with tid 75 INFO [muorb] SLPI: Ok executing command: sensors start -h INFO [muorb] SLPI: Sending qshell retval with timestamp 85955877, current timestamp 85955879 INFO [uorb] Advertising remote topic sensors_status_imu INFO [qshell] qshell return value timestamp: 85955877, local time: 85960166 INFO [commander] Mission #2 loaded, 6 WPs, curr: 0 INFO [muorb] SLPI: Advertising remote topic mission INFO [commander] LED: open /dev/led0 failed (22) INFO [muorb] SLPI: Advertising remote topic led_control INFO [PreFlightCheck] Failed barometer preflight check INFO [muorb] SLPI: Advertising remote topic tune_control INFO [PreFlightCheck] Failed EKF health preflight check while waiting for filter to settle INFO [muorb] SLPI: Advertising remote topic vehicle_control_mode INFO [muorb] SLPI: Advertising remote topic vehicle_status INFO [muorb] SLPI: Advertising remote topic actuator_armed INFO [PreFlightCheck] Failed barometer preflight check INFO [muorb] SLPI: Advertising remote topic commander_state INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check INFO [muorb] SLPI: Advertising remote topic vehicle_status_flags INFO [muorb] SLPI: Advertising remote topic vehicle_command INFO [commander] Handling Commander command 176 INFO [muorb] SLPI: Advertising remote topic vehicle_command_ack INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check INFO [muorb] SLPI: Advertising remote topic position_setpoint_triplet INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check 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: Ok executing command: mc_pos_control start INFO [muorb] SLPI: Sending qshell retval with timestamp 87137181, current timestamp 87137183 INFO [qshell] qshell return value timestamp: 87137181, local time: 87150601 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: Ok executing command: mc_att_control start INFO [muorb] SLPI: Sending qshell retval with timestamp 87224721, current timestamp 87224723 INFO [qshell] qshell return value timestamp: 87224721, local time: 87225799 INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [qshell] Send cmd: 'mc_rate_control start' INFO [muorb] SLPI: qshell gotten: mc_rate_control start INFO [muorb] SLPI: Ok executing command: mc_rate_control start INFO [muorb] SLPI: Sending qshell retval with timestamp 87324545, current timestamp 87324547 INFO [qshell] qshell return value timestamp: 87324545, local time: 87325976 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: Ok executing command: mc_hover_thrust_estimator start INFO [muorb] SLPI: Sending qshell retval with timestamp 87381934, current timestamp 87381936 INFO [qshell] qshell return value timestamp: 87381934, local time: 87382996 INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check 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: Ok executing command: land_detector start multicopter INFO [muorb] SLPI: Sending qshell retval with timestamp 87488002, current timestamp 87488004 INFO [qshell] qshell return value timestamp: 87488002, local time: 87489521 INFO [uorb] Advertising remote topic vehicle_land_detected INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check 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: Creating qurt thread wq_hp_default INFO [muorb] SLPI: Successfully created px4 task PX4_wq_hp_default with tid 74 INFO [uorb] Advertising remote topic test_motor INFO [muorb] SLPI: Ok executing command: pwm_out_sim start -m hil INFO [muorb] SLPI: Sending qshell retval with timestamp 88531571, current timestamp 88531573 INFO [qshell] qshell return value timestamp: 88531571, local time: 88533242 INFO [qshell] Send cmd: 'mixer load /dev/pwm_output0 quad_x.main.mix' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mixer load /dev/pwm_output0 quad_x.main.mix INFO [muorb] SLPI: Ok executing command: mixer load /dev/pwm_output0 quad_x.main.mix INFO [muorb] SLPI: Sending qshell retval with timestamp 88596133, current timestamp 88596135 INFO [qshell] qshell return value timestamp: 88596133, local time: 88596950 INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check 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: Creating qurt thread wq_INS0 INFO [muorb] SLPI: Successfully created px4 task PX4_wq_INS0 with tid 4170 INFO [muorb] SLPI: Ok executing command: ekf2 start INFO [muorb] SLPI: Sending qshell retval with timestamp 89876494, current timestamp 89876496 INFO [qshell] qshell return value timestamp: 89876494, local time: 89880326 INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check INFO [qshell] Send cmd: 'modalai_dsp start -v -p 2 -b 921600' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: modalai_dsp start -v -p 2 -b 921600 INFO [muorb] SLPI: Creating qurt thread modalai_dsp__main INFO [muorb] SLPI: Successfully created px4 task PX4_modalai_dsp__main with tid 73 INFO [muorb] SLPI: Ok executing command: modalai_dsp start -v -p 2 -b 921600 INFO [muorb] SLPI: Sending qshell retval with timestamp 90931967, current timestamp 90931969 ERROR [muorb] SLPI: Port is open: 0 INFO [uorb] Advertising remote topic sensor_accel INFO [qshell] qshell return value timestamp: 90931967, local time: 90933817 INFO [uorb] Advertising remote topic sensor_gyro INFO [muorb] SLPI: Got 5 from orb_subscribe INFO [muorb] SLPI: Got 6 from orb_subscribe INFO [muorb] SLPI: Got 7 from orb_subscribe INFO [muorb] SLPI: Got 8 from orb_subscribe INFO [muorb] SLPI: Heartbeat msg received INFO [uorb] Advertising remote topic sensor_baro INFO [uorb] Advertising remote topic battery_status INFO [uorb] Advertising remote topic vehicle_angular_acceleration INFO [uorb] Advertising remote topic vehicle_angular_velocity INFO [uorb] Advertising remote topic vehicle_acceleration INFO [uorb] Advertising remote topic rate_ctrl_status INFO [uorb] Advertising remote topic actuator_controls_0 INFO [uorb] Advertising remote topic actuator_outputs INFO [uorb] Advertising remote topic multirotor_motor_limits INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [uorb] Advertising remote topic vehicle_visual_odometry INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check INFO [muorb] SLPI: Heartbeat msg received INFO [mavlink] mode: Onboard, data rate: 100000 B/s on udp port 14556 remote port 14557 INFO [muorb] SLPI: Marking DeviceNode(vehicle_command) as advertised in process_remote_topic INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check INFO [muorb] SLPI: Heartbeat msg receivedINFO [muorb] SLPI: Heartbeat msg received INFO [px4] Startup script returned successfully pxh> INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Advertising remote topic telemetry_status INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: 91928958: reset position to last known position INFO [muorb] SLPI: 91928958: reset velocity to zero INFO [uorb] Marking DeviceNode(vehicle_local_position) as advertised in process_remote_topic INFO [uorb] Advertising remote topic vehicle_odometry INFO [uorb] Advertising remote topic estimator_states INFO [uorb] Advertising remote topic estimator_status INFO [uorb] Advertising remote topic estimator_status_flags INFO [uorb] Advertising remote topic estimator_innovations INFO [uorb] Advertising remote topic estimator_innovation_test_ratios INFO [uorb] Advertising remote topic estimator_innovation_variances INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [mavlink] partner IP: 127.0.0.1 INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Advertising remote topic offboard_control_mode INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Advertising remote topic obstacle_distance INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [uorb] Advertising remote topic estimator_sensor_bias INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Advertising remote topic timesync_status INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 35 -> 37 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 53 -> 55 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 72 -> 74 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 74 -> 76 INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 158 -> 160 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 179 -> 181 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 194 -> 196 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 196 -> 198 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 211 -> 213 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 230 -> 232 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 246 -> 248 INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: 98115057: EKF aligned, (ev hgt, IMU buf: 19, OBS buf: 14) INFO [uorb] Advertising remote topic vehicle_attitude INFO [uorb] Advertising remote topic vehicle_attitude_setpoint INFO [uorb] Advertising remote topic vehicle_rates_setpoint INFO [muorb] SLPI: 98146494: starting vision yaw fusion INFO [muorb] SLPI: 98178823: reset position to ev position INFO [muorb] SLPI: 98178823: starting vision pos fusion INFO [muorb] SLPI: 98178823: reset to vision velocity INFO [muorb] SLPI: 98178823: starting vision vel fusion ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 268 -> 270 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 283 -> 285 INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Advertising remote topic home_position ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 324 -> 326 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 336 -> 338 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 409 -> 411 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 430 -> 432 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 449 -> 451 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 451 -> 453 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 488 -> 490 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 509 -> 511 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 546 -> 548 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 548 -> 550 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 550 -> 552 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 566 -> 568 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 583 -> 585 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 586 -> 588 INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 671 -> 673 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 715 -> 717 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 730 -> 732 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 732 -> 734 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 761 -> 763 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 798 -> 800 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 851 -> 853 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 853 -> 855 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 885 -> 887 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 905 -> 907 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 929 -> 931 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 947 -> 949 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 953 -> 955 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 969 -> 971 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1004 -> 1006 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1041 -> 1043 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1081 -> 1083 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1118 -> 1120 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1122 -> 1124 ``` ***Continued...*** ## Reply by Tamas Pal 0 · 2022-09-14 06:56:42 UTC (in reply to Tamas Pal 0) ``` INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1149 -> 1151 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1194 -> 1196 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1197 -> 1199 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1235 -> 1237 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1237 -> 1239 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1253 -> 1255 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1294 -> 1296 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1351 -> 1353 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1353 -> 1355 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1375 -> 1377 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1393 -> 1395 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1444 -> 1446 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1446 -> 1448 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1460 -> 1462 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1476 -> 1478 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1497 -> 1499 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1547 -> 1549 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1567 -> 1569 INFO [muorb] SLPI: Heartbeat msg received pxh> coINFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1616 -> 1618 pxh> comERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1618 -> 1620 pxh> commanINFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1652 -> 1654 pxh> commandERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1654 -> 1656 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1656 -> 1658 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1662 -> 1664 pxh> commander INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1723 -> 1725 pxh> commander arINFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1742 -> 1744 pxh> commander armINFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1777 -> 1779 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1779 -> 1781 pxh> INFO [muorb] SLPI: Marking DeviceNode(vehicle_command) as advertised in process_remote_topic INFO [commander] Handling Commander command 400 INFO [commander] Arming reason 3 INFO [commander] Armed by internal command INFO [muorb] SLPI: Marking DeviceNode(mavlink_log) as advertised in process_remote_topic INFO [commander] Armed state changed. Was 0, now 1 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1819 -> 1821 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1858 -> 1860 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1871 -> 1873 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1901 -> 1903 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1917 -> 1919 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1934 -> 1936 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1936 -> 1938 INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 1990 -> 1992 pxh> cINFO [muorb] SLPI: Heartbeat msg received pxh> commanINFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2067 -> 2069 pxh> commandERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2071 -> 2073 pxh> commander taINFO [muorb] SLPI: Heartbeat msg received pxh> commander takeERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2174 -> 2176 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2183 -> 2185 INFO [muorb] SLPI: Heartbeat msg received pxh> commander takeofERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2202 -> 2204 pxh> commander takeoffINFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2228 -> 2230 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2238 -> 2240 INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2355 -> 2357 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2419 -> 2421 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2421 -> 2423 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2456 -> 2458 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2462 -> 2464 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2545 -> 2547 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2547 -> 2549 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2564 -> 2566 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2569 -> 2571 INFO [muorb] SLPI: Marking DeviceNode(vehicle_command) as advertised in process_remote_topic pxh> INFO [muorb] SLPI: Marking DeviceNode(vehicle_command) as advertised in process_remote_topic INFO [commander] Handling Commander command 22 INFO [commander] Handling Commander command 400 INFO [navigator] Using minimum takeoff altitude: 2.50 m INFO [muorb] SLPI: Marking DeviceNode(mavlink_log) as advertised in process_remote_topic INFO [muorb] SLPI: Advertising remote topic mission_result INFO [muorb] SLPI: Advertising remote topic trajectory_setpoint INFO [muorb] SLPI: Advertising remote topic vehicle_constraints INFO [muorb] SLPI: Advertising remote topic takeoff_status INFO [muorb] SLPI: Advertising remote topic landing_gear INFO [uorb] Advertising remote topic vehicle_local_position_setpoint INFO [uorb] Marking DeviceNode(vehicle_attitude_setpoint) as advertised in process_remote_topic INFO [commander] Takeoff detected INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2600 -> 2602 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2626 -> 2628 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2677 -> 2679 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2710 -> 2712 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2712 -> 2714 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2714 -> 2716 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2733 -> 2735 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2737 -> 2739 ERROR [commander] Critical navigation failure! Check sensor calibration ERROR [commander] Failsafe enabled: no local position INFO [commander] Failsafe mode activated INFO [commander] Failsafe mode activated INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2824 -> 2826 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2843 -> 2845 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2866 -> 2868 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2878 -> 2880 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2885 -> 2887 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2903 -> 2905 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2922 -> 2924 INFO [muorb] SLPI: Heartbeat msg received INFO [uorb] Advertising remote topic hover_thrust_estimate ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2964 -> 2966 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2966 -> 2968 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 2999 -> 3001 pxh> commINFO [commander] Landing detected pxh> commanINFO [muorb] SLPI: Heartbeat msg received pxh> commandERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 3074 -> 3076 pxh> commanderERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 3094 -> 3096 pxh> commander INFO [muorb] SLPI: Heartbeat msg received pxh> commander taINFO [commander] Disarming reason 7 INFO [commander] Disarmed by landing INFO [commander] Armed state changed. Was 1, now 0 INFO [commander] Failsafe mode deactivated INFO [commander] Failsafe mode deactivated INFO [muorb] SLPI: *** Setting LND_FLIGHT_T_LO to 12861942 *** INFO [uorb] Marking DeviceNode(parameter_server_set_value_request) as advertised in process_remote_topic INFO [muorb] SLPI: Waiting for parameter_server_set_value_response for LND_FLIGHT_T_LO INFO [parameters] Got parameter_server_set_value_request for LND_FLIGHT_T_LO INFO [PreFlightCheck] Failed EKF health preflight check INFO [muorb] SLPI: Marking DeviceNode(parameter_server_set_value_response) as advertised in process_remote_t INFO [PreFlightCheck] Failed EKF health preflight check INFO [muorb] SLPI: Got parameter_server_set_value_response for LND_FLIGHT_T_LO ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 3130 -> 3132 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 3132 -> 3134 pxh> commander takeINFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 3154 -> 3156 pxh> commander takeoINFO [logger] closed logfile, bytes written: 2258769 INFO [PreFlightCheck] Failed EKF health preflight check pxh> commander takeofINFO [muorb] SLPI: Heartbeat msg received pxh> commander takeoff INFO [muorb] SLPI: Marking DeviceNode(vehicle_command) as advertised in process_remote_topic INFO [commander] Handling Commander command 22 pxh> INFO [muorb] SLPI: Marking DeviceNode(vehicle_command) as advertised in process_remote_topic INFO [commander] Handling Commander command 400 INFO [commander] Arming reason 3 INFO [commander] Armed by internal command INFO [commander] Armed state changed. Was 0, now 1 INFO [navigator] Using minimum takeoff altitude: 2.50 m INFO [logger] Start file log (type: full) INFO [logger] [logger] /data/px4/log/sess011/log002.ulg INFO [logger] Opened full log file: /data/px4/log/sess011/log002.ulg INFO [muorb] SLPI: Heartbeat msg received INFO [commander] Takeoff detected ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 3279 -> 3281 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 3283 -> 3285 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 3343 -> 3345 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 3379 -> 3381 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 3382 -> 3384 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 3395 -> 3397 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 3399 -> 3401 INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 3457 -> 3459 ERROR [commander] Critical navigation failure! Check sensor calibration ERROR [commander] Failsafe enabled: no local position INFO [commander] Failsafe mode activated INFO [commander] Failsafe mode activated INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 3582 -> 3584 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 3593 -> 3595 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 3612 -> 3614 INFO [muorb] SLPI: Heartbeat msg received INFO [commander] Landing detected INFO [muorb] SLPI: Heartbeat msg received pxh> commander takeoffERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 3704 -> 3706 INFO [muorb] SLPI: Heartbeat msg received INFO [commander] Disarming reason 7 INFO [commander] Disarmed by landing INFO [commander] Armed state changed. Was 1, now 0 INFO [commander] Failsafe mode deactivated INFO [commander] Failsafe mode deactivated INFO [muorb] SLPI: *** Setting LND_FLIGHT_T_LO to 23966079 *** INFO [muorb] SLPI: Waiting for parameter_server_set_value_response for LND_FLIGHT_T_LO INFO [parameters] Got parameter_server_set_value_request for LND_FLIGHT_T_LO INFO [muorb] SLPI: Got parameter_server_set_value_response for LND_FLIGHT_T_LO INFO [PreFlightCheck] Failed EKF health preflight check ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 3739 -> 3741 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 3747 -> 3749 INFO [muorb] SLPI: Marking DeviceNode(vehicle_command) as advertised in process_remote_topic pxh> INFO [muorb] SLPI: Marking DeviceNode(vehicle_command) as advertised in process_remote_topic INFO [commander] Handling Commander command 22 INFO [commander] Handling Commander command 400 INFO [commander] Arming reason 3 INFO [commander] Armed by internal command INFO [commander] Armed state changed. Was 0, now 1 ERROR [commander] Failsafe enabled: no local position INFO [commander] Failsafe mode activated INFO [commander] Failsafe mode activated INFO [logger] Start file log (type: full) INFO [logger] [logger] /data/px4/log/sess011/log003.ulg INFO [logger] closed logfile, bytes written: 508353 INFO [logger] Opened full log file: /data/px4/log/sess011/log003.ulg INFO [muorb] SLPI: Heartbeat msg received INFO [commander] Failsafe mode deactivated INFO [commander] Failsafe mode deactivated INFO [navigator] Using minimum takeoff altitude: 2.50 m ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 3776 -> 3778 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 3821 -> 3823 INFO [commander] Takeoff detected ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 3843 -> 3845 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 3877 -> 3879 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 3880 -> 3882 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 3901 -> 3903 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 3919 -> 3921 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 3921 -> 3923 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 3928 -> 3930 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 3932 -> 3934 INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 3987 -> 3989 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 3990 -> 3992 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 3993 -> 3995 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 4007 -> 4009 INFO [muorb] SLPI: Heartbeat msg received ERROR [commander] Critical navigation failure! Check sensor calibration ERROR [commander] Failsafe enabled: no local position INFO [commander] Failsafe mode activated INFO [commander] Failsafe mode activated ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 4042 -> 4044 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 4065 -> 4067 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 4069 -> 4071 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 4105 -> 4107 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 4155 -> 4157 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 4179 -> 4181 INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 4196 -> 4198 INFO [muorb] SLPI: Heartbeat msg received INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 4264 -> 4266 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 4286 -> 4288 INFO [commander] Landing detected INFO [muorb] SLPI: Heartbeat msg received ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 4319 -> 4321 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 4337 -> 4339 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 4339 -> 4341 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 4348 -> 4350 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 4353 -> 4355 ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 4355 -> 4357 INFO [commander] Disarming reason 7 INFO [commander] Disarmed by landing INFO [commander] Armed state changed. Was 1, now 0 INFO [commander] Failsafe mode deactivated INFO [commander] Failsafe mode deactivated INFO [muorb] SLPI: *** Setting LND_FLIGHT_T_LO to 36946710 *** INFO [muorb] SLPI: Waiting for parameter_server_set_value_response for LND_FLIGHT_T_LO INFO [parameters] Got parameter_server_set_value_request for LND_FLIGHT_T_LO INFO [muorb] SLPI: Got parameter_server_set_value_response for LND_FLIGHT_T_LO INFO [muorb] SLPI: Heartbeat msg received INFO [PreFlightCheck] Failed EKF health preflight check ERROR [muorb] SLPI: 0 - vehicle_visual_odometry lost, generation 4387 -> 4389 INFO [logger] closed logfile, bytes written: 547275 INFO [muorb] SLPI: Heartbeat msg received INFO [PreFlightCheck] Failed EKF health preflight check PX4 Exiting... ``` **Link for the gazebo simulation video:** *https://drive.google.com/file/d/1FT72ZRFp_BoLFyg9e005A3ltwK-s3kOA/view?usp=sharing* Why the odometry lost message is there ? How to fix this landing issue? ## Reply by Guangyu Yang · 2023-05-12 06:39:52 UTC Hi Tamas, did you solve the problem? I have the same issue.