how to set home position with mavros / no GPS?



  • hi dev,

    My voxl is running on mavros without GPS.

    please look at below log,

    roskinetic:mavros_test$ ./run_mavros_test.sh 
    ... logging to /root/.ros/log/bd6cd59a-1283-11ec-8c7e-ec5c68cd25a1/roslaunch-apq8096-69.log
    Checking log directory for disk usage. This may take awhile.
    Press Ctrl-C to interrupt
    Done checking log file disk usage. Usage is <1GB.
    
    started roslaunch server http://192.168.168.100:53481/
    
    SUMMARY
    ========
    
    CLEAR PARAMETERS
     * /mavros/
    
    PARAMETERS
     * /mavros/cmd/use_comp_id_system_control: False
     * /mavros/conn/heartbeat_rate: 1.0
     * /mavros/conn/system_time_rate: 1.0
     * /mavros/conn/timeout: 10.0
     * /mavros/conn/timesync_rate: 10.0
     * /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
     * /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
     * /mavros/distance_sensor/hrlv_ez4_pub/id: 0
     * /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
     * /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
     * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
     * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
     * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
     * /mavros/distance_sensor/laser_1_sub/id: 3
     * /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
     * /mavros/distance_sensor/laser_1_sub/subscriber: True
     * /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
     * /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
     * /mavros/distance_sensor/lidarlite_pub/id: 1
     * /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
     * /mavros/distance_sensor/lidarlite_pub/send_tf: True
     * /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
     * /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
     * /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
     * /mavros/distance_sensor/sonar_1_sub/id: 2
     * /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
     * /mavros/distance_sensor/sonar_1_sub/subscriber: True
     * /mavros/fake_gps/eph: 2.0
     * /mavros/fake_gps/epv: 2.0
     * /mavros/fake_gps/fix_type: 3
     * /mavros/fake_gps/geo_origin/alt: 408.0
     * /mavros/fake_gps/geo_origin/lat: 47.3667
     * /mavros/fake_gps/geo_origin/lon: 8.55
     * /mavros/fake_gps/gps_rate: 5.0
     * /mavros/fake_gps/mocap_transform: True
     * /mavros/fake_gps/satellites_visible: 5
     * /mavros/fake_gps/tf/child_frame_id: fix
     * /mavros/fake_gps/tf/frame_id: map
     * /mavros/fake_gps/tf/listen: False
     * /mavros/fake_gps/tf/rate_limit: 10.0
     * /mavros/fake_gps/tf/send: False
     * /mavros/fake_gps/use_mocap: True
     * /mavros/fake_gps/use_vision: False
     * /mavros/fcu_protocol: v2.0
     * /mavros/fcu_url: udp://127.0.0.1:1...
     * /mavros/gcs_url: 
     * /mavros/global_position/child_frame_id: base_link
     * /mavros/global_position/frame_id: map
     * /mavros/global_position/gps_uere: 1.0
     * /mavros/global_position/rot_covariance: 99999.0
     * /mavros/global_position/tf/child_frame_id: base_link
     * /mavros/global_position/tf/frame_id: map
     * /mavros/global_position/tf/global_frame_id: earth
     * /mavros/global_position/tf/send: False
     * /mavros/global_position/use_relative_alt: True
     * /mavros/image/frame_id: px4flow
     * /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
     * /mavros/imu/frame_id: base_link
     * /mavros/imu/linear_acceleration_stdev: 0.0003
     * /mavros/imu/magnetic_stdev: 0.0
     * /mavros/imu/orientation_stdev: 1.0
     * /mavros/landing_target/camera/fov_x: 2.0071286398
     * /mavros/landing_target/camera/fov_y: 2.0071286398
     * /mavros/landing_target/image/height: 480
     * /mavros/landing_target/image/width: 640
     * /mavros/landing_target/land_target_type: VISION_FIDUCIAL
     * /mavros/landing_target/listen_lt: False
     * /mavros/landing_target/mav_frame: LOCAL_NED
     * /mavros/landing_target/target_size/x: 0.3
     * /mavros/landing_target/target_size/y: 0.3
     * /mavros/landing_target/tf/child_frame_id: camera_center
     * /mavros/landing_target/tf/frame_id: landing_target
     * /mavros/landing_target/tf/listen: False
     * /mavros/landing_target/tf/rate_limit: 10.0
     * /mavros/landing_target/tf/send: True
     * /mavros/local_position/frame_id: map
     * /mavros/local_position/tf/child_frame_id: base_link
     * /mavros/local_position/tf/frame_id: map
     * /mavros/local_position/tf/send: False
     * /mavros/local_position/tf/send_fcu: False
     * /mavros/mission/pull_after_gcs: True
     * /mavros/mission/use_mission_item_int: True
     * /mavros/mocap/use_pose: True
     * /mavros/mocap/use_tf: False
     * /mavros/odometry/fcu/odom_child_id_des: base_link
     * /mavros/odometry/fcu/odom_parent_id_des: map
     * /mavros/plugin_blacklist: ['safety_area', '...
     * /mavros/plugin_whitelist: []
     * /mavros/px4flow/frame_id: px4flow
     * /mavros/px4flow/ranger_fov: 0.118682
     * /mavros/px4flow/ranger_max_range: 5.0
     * /mavros/px4flow/ranger_min_range: 0.3
     * /mavros/safety_area/p1/x: 1.0
     * /mavros/safety_area/p1/y: 1.0
     * /mavros/safety_area/p1/z: 1.0
     * /mavros/safety_area/p2/x: -1.0
     * /mavros/safety_area/p2/y: -1.0
     * /mavros/safety_area/p2/z: -1.0
     * /mavros/setpoint_accel/send_force: False
     * /mavros/setpoint_attitude/reverse_thrust: False
     * /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
     * /mavros/setpoint_attitude/tf/frame_id: map
     * /mavros/setpoint_attitude/tf/listen: False
     * /mavros/setpoint_attitude/tf/rate_limit: 50.0
     * /mavros/setpoint_attitude/use_quaternion: False
     * /mavros/setpoint_position/mav_frame: LOCAL_NED
     * /mavros/setpoint_position/tf/child_frame_id: target_position
     * /mavros/setpoint_position/tf/frame_id: map
     * /mavros/setpoint_position/tf/listen: False
     * /mavros/setpoint_position/tf/rate_limit: 50.0
     * /mavros/setpoint_raw/thrust_scaling: 1.0
     * /mavros/setpoint_velocity/mav_frame: LOCAL_NED
     * /mavros/startup_px4_usb_quirk: True
     * /mavros/sys/disable_diag: False
     * /mavros/sys/min_voltage: 10.0
     * /mavros/target_component_id: 1
     * /mavros/target_system_id: 1
     * /mavros/tdr_radio/low_rssi: 40
     * /mavros/time/time_ref_source: fcu
     * /mavros/time/timesync_avg_alpha: 0.6
     * /mavros/time/timesync_mode: MAVLINK
     * /mavros/vibration/frame_id: base_link
     * /mavros/vision_pose/tf/child_frame_id: vision_estimate
     * /mavros/vision_pose/tf/frame_id: odom
     * /mavros/vision_pose/tf/listen: False
     * /mavros/vision_pose/tf/rate_limit: 10.0
     * /mavros/vision_speed/listen_twist: True
     * /mavros/vision_speed/twist_cov: True
     * /mavros/wheel_odometry/child_frame_id: base_link
     * /mavros/wheel_odometry/count: 2
     * /mavros/wheel_odometry/frame_id: odom
     * /mavros/wheel_odometry/send_raw: True
     * /mavros/wheel_odometry/send_twist: False
     * /mavros/wheel_odometry/tf/child_frame_id: base_link
     * /mavros/wheel_odometry/tf/frame_id: odom
     * /mavros/wheel_odometry/tf/send: False
     * /mavros/wheel_odometry/use_rpm: False
     * /mavros/wheel_odometry/vel_error: 0.1
     * /mavros/wheel_odometry/wheel0/radius: 0.05
     * /mavros/wheel_odometry/wheel0/x: 0.0
     * /mavros/wheel_odometry/wheel0/y: -0.15
     * /mavros/wheel_odometry/wheel1/radius: 0.05
     * /mavros/wheel_odometry/wheel1/x: 0.0
     * /mavros/wheel_odometry/wheel1/y: 0.15
     * /rosdistro: kinetic
     * /rosversion: 1.12.17
    
    NODES
      /
        mavros (mavros/mavros_node)
        mavros_test_node (mavros_test/mavros_test_node)
    
    auto-starting new master
    process[master]: started with pid [79]
    ROS_MASTER_URI=http://192.168.168.100:11311/
    
    setting /run_id to bd6cd59a-1283-11ec-8c7e-ec5c68cd25a1
    process[rosout-1]: started with pid [92]
    started core service [/rosout]
    process[mavros-2]: started with pid [110]
    process[mavros_test_node-3]: started with pid [111]
    x:  0.000 y:  0.000 yaw:   45.0
    x:  0.020 y:  0.020 yaw:   44.9
    x:  0.039 y:  0.039 yaw:   44.7
    x:  0.059 y:  0.059 yaw:   44.4
    x:  0.079 y:  0.078 yaw:   43.9
    x:  0.099 y:  0.098 yaw:   43.3
    x:  0.120 y:  0.117 yaw:   42.6
    x:  0.141 y:  0.136 yaw:   41.7
    x:  0.162 y:  0.154 yaw:   40.7
    x:  0.184 y:  0.173 yaw:   39.5
    x:  0.206 y:  0.191 yaw:   38.2
    x:  0.229 y:  0.208 yaw:   36.7
    x:  0.253 y:  0.225 yaw:   35.1
    x:  0.277 y:  0.242 yaw:   33.3
    x:  0.303 y:  0.258 yaw:   31.4
    x:  0.328 y:  0.273 yaw:   29.2
    x:  0.355 y:  0.287 yaw:   26.9
    x:  0.383 y:  0.301 yaw:   24.4
    x:  0.412 y:  0.313 yaw:   21.7
    x:  0.441 y:  0.324 yaw:   18.9
    x:  0.471 y:  0.333 yaw:   15.8
    x:  0.503 y:  0.341 yaw:   12.5
    x:  0.535 y:  0.347 yaw:    9.0
    x:  0.568 y:  0.351 yaw:    5.3
    x:  0.601 y:  0.353 yaw:    1.3
    x:  0.635 y:  0.353 yaw:   -2.8
    x:  0.670 y:  0.350 yaw:   -7.2
    x:  0.704 y:  0.344 yaw:  -11.9
    x:  0.739 y:  0.335 yaw:  -16.7
    x:  0.773 y:  0.324 yaw:  -21.8
    x:  0.806 y:  0.308 yaw:  -27.2
    x:  0.838 y:  0.290 yaw:  -32.7
    x:  0.868 y:  0.268 yaw:  -38.5
    x:  0.896 y:  0.243 yaw:  -44.4
    x:  0.922 y:  0.215 yaw:  -50.6
    x:  0.945 y:  0.184 yaw:  -56.9
    x:  0.964 y:  0.151 yaw:  -63.3
    x:  0.980 y:  0.115 yaw:  -69.9
    x:  0.991 y:  0.078 yaw:  -76.5
    x:  0.998 y:  0.039 yaw:  -83.3
    x:  1.000 y: -0.000 yaw:  270.0
    x:  0.998 y: -0.039 yaw:  263.3
    x:  0.991 y: -0.078 yaw:  256.5
    x:  0.980 y: -0.115 yaw:  249.9
    x:  0.964 y: -0.151 yaw:  243.3
    x:  0.945 y: -0.184 yaw:  236.9
    x:  0.922 y: -0.215 yaw:  230.6
    x:  0.896 y: -0.243 yaw:  224.4
    x:  0.868 y: -0.268 yaw:  218.5
    x:  0.838 y: -0.290 yaw:  212.7
    x:  0.806 y: -0.308 yaw:  207.2
    x:  0.773 y: -0.324 yaw:  201.8
    x:  0.739 y: -0.335 yaw:  196.7
    x:  0.704 y: -0.344 yaw:  191.9
    x:  0.670 y: -0.350 yaw:  187.2
    x:  0.635 y: -0.353 yaw:  182.8
    x:  0.601 y: -0.353 yaw:  178.7
    x:  0.568 y: -0.351 yaw:  174.7
    x:  0.535 y: -0.347 yaw:  171.0
    x:  0.503 y: -0.341 yaw:  167.5
    x:  0.471 y: -0.333 yaw:  164.2
    x:  0.441 y: -0.324 yaw:  161.1
    x:  0.412 y: -0.313 yaw:  158.3
    x:  0.383 y: -0.301 yaw:  155.6
    x:  0.355 y: -0.287 yaw:  153.1
    x:  0.328 y: -0.273 yaw:  150.8
    x:  0.303 y: -0.258 yaw:  148.6
    x:  0.277 y: -0.242 yaw:  146.7
    x:  0.253 y: -0.225 yaw:  144.9
    x:  0.229 y: -0.208 yaw:  143.3
    x:  0.206 y: -0.191 yaw:  141.8
    x:  0.184 y: -0.173 yaw:  140.5
    x:  0.162 y: -0.154 yaw:  139.3
    x:  0.141 y: -0.136 yaw:  138.3
    x:  0.120 y: -0.117 yaw:  137.4
    x:  0.099 y: -0.098 yaw:  136.7
    x:  0.079 y: -0.078 yaw:  136.1
    x:  0.059 y: -0.059 yaw:  135.6
    x:  0.039 y: -0.039 yaw:  135.3
    x:  0.020 y: -0.020 yaw:  135.1
    x:  0.000 y: -0.000 yaw:  135.0
    x: -0.020 y:  0.020 yaw:  135.1
    x: -0.039 y:  0.039 yaw:  135.3
    x: -0.059 y:  0.059 yaw:  135.6
    x: -0.079 y:  0.078 yaw:  136.1
    x: -0.099 y:  0.098 yaw:  136.7
    x: -0.120 y:  0.117 yaw:  137.4
    x: -0.141 y:  0.136 yaw:  138.3
    x: -0.162 y:  0.154 yaw:  139.3
    x: -0.184 y:  0.173 yaw:  140.5
    x: -0.206 y:  0.191 yaw:  141.8
    x: -0.229 y:  0.208 yaw:  143.3
    x: -0.253 y:  0.225 yaw:  144.9
    x: -0.277 y:  0.242 yaw:  146.7
    x: -0.303 y:  0.258 yaw:  148.6
    x: -0.328 y:  0.273 yaw:  150.8
    x: -0.355 y:  0.287 yaw:  153.1
    x: -0.383 y:  0.301 yaw:  155.6
    x: -0.412 y:  0.313 yaw:  158.3
    x: -0.441 y:  0.324 yaw:  161.1
    x: -0.471 y:  0.333 yaw:  164.2
    x: -0.503 y:  0.341 yaw:  167.5
    x: -0.535 y:  0.347 yaw:  171.0
    x: -0.568 y:  0.351 yaw:  174.7
    x: -0.601 y:  0.353 yaw:  178.7
    x: -0.635 y:  0.353 yaw:  182.8
    x: -0.670 y:  0.350 yaw:  187.2
    x: -0.704 y:  0.344 yaw:  191.9
    x: -0.739 y:  0.335 yaw:  196.7
    x: -0.773 y:  0.324 yaw:  201.8
    x: -0.806 y:  0.308 yaw:  207.2
    x: -0.838 y:  0.290 yaw:  212.7
    x: -0.868 y:  0.268 yaw:  218.5
    x: -0.896 y:  0.243 yaw:  224.4
    x: -0.922 y:  0.215 yaw:  230.6
    x: -0.945 y:  0.184 yaw:  236.9
    x: -0.964 y:  0.151 yaw:  243.3
    x: -0.980 y:  0.115 yaw:  249.9
    x: -0.991 y:  0.078 yaw:  256.5
    x: -0.998 y:  0.039 yaw:  263.3
    x: -1.000 y:  0.000 yaw:  270.0
    x: -0.998 y: -0.039 yaw:  -83.3
    x: -0.991 y: -0.078 yaw:  -76.5
    x: -0.980 y: -0.115 yaw:  -69.9
    x: -0.964 y: -0.151 yaw:  -63.3
    x: -0.945 y: -0.184 yaw:  -56.9
    x: -0.922 y: -0.215 yaw:  -50.6
    x: -0.896 y: -0.243 yaw:  -44.4
    x: -0.868 y: -0.268 yaw:  -38.5
    x: -0.838 y: -0.290 yaw:  -32.7
    x: -0.806 y: -0.308 yaw:  -27.2
    x: -0.773 y: -0.324 yaw:  -21.8
    x: -0.739 y: -0.335 yaw:  -16.7
    x: -0.704 y: -0.344 yaw:  -11.9
    x: -0.670 y: -0.350 yaw:   -7.2
    x: -0.635 y: -0.353 yaw:   -2.8
    x: -0.601 y: -0.353 yaw:    1.3
    x: -0.568 y: -0.351 yaw:    5.3
    x: -0.535 y: -0.347 yaw:    9.0
    x: -0.503 y: -0.341 yaw:   12.5
    x: -0.471 y: -0.333 yaw:   15.8
    x: -0.441 y: -0.324 yaw:   18.9
    x: -0.412 y: -0.313 yaw:   21.7
    x: -0.383 y: -0.301 yaw:   24.4
    x: -0.355 y: -0.287 yaw:   26.9
    x: -0.328 y: -0.273 yaw:   29.2
    x: -0.303 y: -0.258 yaw:   31.4
    x: -0.277 y: -0.242 yaw:   33.3
    x: -0.253 y: -0.225 yaw:   35.1
    x: -0.229 y: -0.208 yaw:   36.7
    x: -0.206 y: -0.191 yaw:   38.2
    x: -0.184 y: -0.173 yaw:   39.5
    x: -0.162 y: -0.154 yaw:   40.7
    x: -0.141 y: -0.136 yaw:   41.7
    x: -0.120 y: -0.117 yaw:   42.6
    x: -0.099 y: -0.098 yaw:   43.3
    x: -0.079 y: -0.078 yaw:   43.9
    x: -0.059 y: -0.059 yaw:   44.4
    x: -0.039 y: -0.039 yaw:   44.7
    x: -0.020 y: -0.020 yaw:   44.9
    [ INFO] [1631311759.388793603]: FCU URL: udp://127.0.0.1:14551@:14551
    [ INFO] [1631311759.396783070]: udp0: Bind address: 127.0.0.1:14551
    [ INFO] [1631311759.397976982]: GCS bridge disabled
    [ INFO] [1631311759.400245795]: udp0: Remote address: 127.0.0.1:56806
    [ INFO] [1631311759.447812595]: Plugin 3dr_radio loaded
    [ INFO] [1631311759.455343049]: Plugin 3dr_radio initialized
    [ INFO] [1631311759.455714561]: Plugin actuator_control loaded
    [ INFO] [1631311759.471968184]: Plugin actuator_control initialized
    [ INFO] [1631311759.472289071]: Plugin altitude loaded
    [ INFO] [1631311759.477115397]: Plugin altitude initialized
    [ INFO] [1631311759.477494201]: Plugin command loaded
    [ INFO] [1631311759.510242697]: Plugin command initialized
    [ INFO] [1631311759.510686710]: Plugin ftp loaded
    [ INFO] [1631311759.550411179]: Plugin ftp initialized
    [ INFO] [1631311759.552109312]: Plugin global_position loaded
    [ INFO] [1631311759.685369351]: Plugin global_position initialized
    [ INFO] [1631311759.685913364]: Plugin hil loaded
    [ INFO] [1631311759.813216915]: Plugin hil initialized
    [ INFO] [1631311759.816774121]: Plugin home_position loaded
    [ INFO] [1631311759.845911922]: Plugin home_position initialized
    [ INFO] [1631311759.848653811]: Plugin imu loaded
    [ INFO] [1631311759.913209132]: Plugin imu initialized
    [ INFO] [1631311759.916826546]: Plugin local_position loaded
    [ INFO] [1631311759.970901399]: Plugin local_position initialized
    [ INFO] [1631311759.971396141]: Plugin manual_control loaded
    [ INFO] [1631311759.993519845]: Plugin manual_control initialized
    [ INFO] [1631311759.994084223]: Plugin param loaded
    [ INFO] [1631311760.014276407]: Plugin param initialized
    [ INFO] [1631311760.017012514]: Plugin rc_io loaded
    [ INFO] [1631311760.041773471]: Plugin rc_io initialized
    [ INFO] [1631311760.043022904]: Plugin safety_area blacklisted
    [ INFO] [1631311760.046509067]: Plugin setpoint_accel loaded
    [ INFO] [1631311760.074815250]: Plugin setpoint_accel initialized
    [ INFO] [1631311760.075271398]: Plugin setpoint_attitude loaded
    [ INFO] [1631311760.144847734]: Plugin setpoint_attitude initialized
    [ INFO] [1631311760.146022480]: Plugin setpoint_position loaded
    [ INFO] [1631311760.275279478]: Plugin setpoint_position initialized
    [ INFO] [1631311760.275659896]: Plugin setpoint_raw loaded
    [ INFO] [1631311760.341442620]: Plugin setpoint_raw initialized
    [ INFO] [1631311760.342054550]: Plugin setpoint_trajectory loaded
    [ INFO] [1631311760.379593123]: Plugin setpoint_trajectory initialized
    [ INFO] [1631311760.380600315]: Plugin setpoint_velocity loaded
    [ INFO] [1631311760.427143880]: Plugin setpoint_velocity initialized
    [ INFO] [1631311760.430494782]: Plugin sys_status loaded
    [ INFO] [1631311760.519124391]: Plugin sys_status initialized
    [ INFO] [1631311760.521015025]: Plugin sys_time loaded
    [ INFO] [1631311760.565975978]: TM: Timesync mode: MAVLINK
    [ INFO] [1631311760.579198961]: Plugin sys_time initialized
    [ INFO] [1631311760.583767786]: Plugin vfr_hud loaded
    [ INFO] [1631311760.589396408]: Plugin vfr_hud initialized
    [ INFO] [1631311760.590035838]: Plugin waypoint loaded
    [ INFO] [1631311760.629887703]: Plugin waypoint initialized
    [ INFO] [1631311760.632079329]: Plugin wind_estimation loaded
    [ INFO] [1631311760.635810285]: Plugin wind_estimation initialized
    [ INFO] [1631311760.636696799]: Autostarting mavlink via USB on PX4
    [ INFO] [1631311760.638840873]: Built-in SIMD instructions: ARM NEON
    [ INFO] [1631311760.639629314]: Built-in MAVLink package version: 2021.3.3
    [ INFO] [1631311760.640208692]: Known MAVLink dialects: common ardupilotmega ASLUAV all autoquad icarous matrixpilot paparazzi standard uAvionix ualberta
    [ INFO] [1631311760.640389526]: MAVROS started. MY ID 1.240, TARGET ID 1.1
    [ INFO] [1631311760.648647849]: IMU: High resolution IMU detected!
    [ INFO] [1631311760.656519502]: IMU: Attitude quaternion IMU detected!
    [ INFO] [1631311761.215702236]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
    [ INFO] [1631311761.230725019]: IMU: High resolution IMU detected!
    [ INFO] [1631311761.231438721]: IMU: Attitude quaternion IMU detected!
    [ INFO] [1631311762.230214739]: WP: Using MISSION_ITEM_INT
    [ INFO] [1631311762.230674168]: VER: 1.1: Capabilities         0x000000000000e4ef
    [ INFO] [1631311762.232728918]: VER: 1.1: Flight software:     010b03ff (ce719e0511000005)
    [ INFO] [1631311762.233295952]: VER: 1.1: Middleware software: 010b03ff (ce719e0511000000)
    [ INFO] [1631311762.233867934]: VER: 1.1: OS software:         080200ff (ec20f2e6c5cc35b2)
    [ INFO] [1631311762.234381114]: VER: 1.1: Board hardware:      0000a32f
    [ INFO] [1631311762.235505494]: VER: 1.1: VID/PID:             0483:a32f
    [ INFO] [1631311762.235855600]: VER: 1.1: UID:                 3438510a39303535
    [ WARN] [1631311762.236558312]: CMD: Unexpected command 520, result 0
    [ INFO] [1631311764.156329648]: waiting for offboard mode
    [ INFO] [1631311771.216674825]: HP: requesting home position
    [ INFO] [1631311776.228601254]: WP: item #0* F: C: 22 p: 0 0 0 nan x: 371699104 y: 1271139145 z: 50
    [ INFO] [1631311776.229194590]: WP: mission received
    [ INFO] [1631311781.218118457]: HP: requesting home position
    [ INFO] [1631311791.216390876]: HP: requesting home position
    [ WARN] [1631311797.217363066]: CMD: Unexpected command 176, result 1
    [ INFO] [1631311801.216690857]: HP: requesting home position
    [ INFO] [1631311811.216691357]: HP: requesting home position
    [ INFO] [1631311821.217165245]: HP: requesting home position
    [ INFO] [1631311831.217288715]: HP: requesting home position
    [ INFO] [1631311841.216430044]: HP: requesting home position
    

    mavros require home position. but, I have no GPS mode.

    I wanna set local origin to home position for indoor flight.

    could you please let me know how to set home position for indoor flight?


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