Unable to takeoff in hitl simulation in VIO mode

[Tamas Pal 0]

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 ?

[Zachary Lowell]

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?

[Tamas Pal 0]

@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...

[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?

[Guangyu Yang]

Hi Tamas, did you solve the problem? I have the same issue.