@shlee853

Great!

I resolved this problem as you mentioned.

yocto:/$ rm /data/network/files/local-kv.db
yocto:/$ voxl-configure-docker-support.sh 
Stopping original docker service
Enabling our own services docker-start & docker-prepare
starting docker-start.service
loading hello-world docker image
successfully loaded hello-world
starting docker-prepare service
Created symlink from /etc/systemd/system/default.target.wants/docker-autorun.service to /etc/systemd/system/docker-autorun.service.

done configuring voxl-docker-support

@PawelJ Maybe. I couldn't test VOA and apriltag function with version 0.3.4.

I updated my m500 with System Image 4.0(ver 0.9).
But, I cannot see the installed voxl-mapper.

Can I need to install voxl-mapper manually? and need to install something else?

Thanks,

Setting up /etc/opkg/opkg.conf
[INFO] updating opkg package list
Downloading file:///data/voxl-suite-offline-packages/Packages.gz.
Updated source 'local'.
[INFO] installing voxl-suite
Downloading file:///data/voxl-suite-offline-packages/voxl-suite_0.9.4.ipk.
Installing voxl-suite (0.9.4) on root.
Installing apq8096-dfs-server (0.3.1) on root.
Downloading file:///data/voxl-suite-offline-packages/apq8096-dfs-server_0.3.1.ipk.
Installing libmodal-pipe (2.6.0) on root.
Downloading file:///data/voxl-suite-offline-packages/libmodal-pipe_2.6.0.ipk.
Installing libmodal-json (0.4.3) on root.
Downloading file:///data/voxl-suite-offline-packages/libmodal-json_0.4.3.ipk.
Installing voxl-opencv (4.5.5-1) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-opencv_4.5.5-1.ipk.
Installing apq8096-imu-server (1.0.3) on root.
Downloading file:///data/voxl-suite-offline-packages/apq8096-imu-server_1.0.3.ipk.
Installing libapq8096-io (0.6.0) on root.
Downloading file:///data/voxl-suite-offline-packages/libapq8096-io_0.6.0.ipk.
Installing librc-math (1.3.0) on root.
Downloading file:///data/voxl-suite-offline-packages/librc-math_1.3.0.ipk.
Installing voxl-cpu-monitor (0.3.0) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-cpu-monitor_0.3.0.ipk.
Installing apq8096-tflite (2.8.3-1) on root.
Downloading file:///data/voxl-suite-offline-packages/apq8096-tflite_2.8.3-1.ipk.
Installing libmodal-cv (0.2.3) on root.
Downloading file:///data/voxl-suite-offline-packages/libmodal-cv_0.2.3.ipk.
Installing libmodal-exposure (0.0.7) on root.
Downloading file:///data/voxl-suite-offline-packages/libmodal-exposure_0.0.7.ipk.
Installing libmodal-journal (0.2.1) on root.
Downloading file:///data/voxl-suite-offline-packages/libmodal-journal_0.2.1.ipk.
Installing libvoxl-cutils (0.1.1) on root.
Downloading file:///data/voxl-suite-offline-packages/libvoxl-cutils_0.1.1.ipk.
Installing mavlink-camera-manager (0.1.0) on root.
Downloading file:///data/voxl-suite-offline-packages/mavlink-camera-manager_0.1.0.ipk.
Installing voxl-mavlink (0.1.0) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-mavlink_0.1.0.ipk.
Installing voxl-camera-calibration (0.2.3) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-camera-calibration_0.2.3.ipk.
Installing voxl-camera-server (1.3.5) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-camera-server_1.3.5.ipk.
Installing libvoxl-cci-direct (0.1.5) on root.
Downloading file:///data/voxl-suite-offline-packages/libvoxl-cci-direct_0.1.5.ipk.
Installing voxl-docker-support (1.2.4) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-docker-support_1.2.4.ipk.
Installing voxl-gphoto2-server (0.0.10) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-gphoto2-server_0.0.10.ipk.
Installing voxl-libgphoto2 (0.0.4) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-libgphoto2_0.0.4.ipk.
Installing voxl-libuvc (1.0.7) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-libuvc_1.0.7.ipk.
Installing voxl-logger (0.3.4) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-logger_0.3.4.ipk.
Installing voxl-jpeg-turbo (2.1.3-4) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-jpeg-turbo_2.1.3-4.ipk.
Installing apq8096-libpng (1.6.38-1) on root.
Downloading file:///data/voxl-suite-offline-packages/apq8096-libpng_1.6.38-1.ipk.
Installing voxl-mavlink-server (0.2.0) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-mavlink-server_0.2.0.ipk.
Installing voxl-modem (0.16.1) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-modem_0.16.1.ipk.
Installing voxl-mpa-to-ros (0.3.6) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-mpa-to-ros_0.3.6.ipk.
Installing voxl-mpa-tools (0.7.6) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-mpa-tools_0.7.6.ipk.
Installing voxl-portal (0.4.2) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-portal_0.4.2.ipk.
Installing voxl-mongoose (7.7.0-1) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-mongoose_7.7.0-1.ipk.
Installing voxl-qvio-server (0.8.2) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-qvio-server_0.8.2.ipk.
Installing voxl-streamer (0.4.1) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-streamer_0.4.1.ipk.
Installing voxl-tag-detector (0.0.4) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-tag-detector_0.0.4.ipk.
Installing voxl-tflite-server (0.3.1) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-tflite-server_0.3.1.ipk.
Installing voxl-utils (1.2.2) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-utils_1.2.2.ipk.
Upgrading apq8096-system-tweaks from 0.1.1 to 0.1.3 on root.
Downloading file:///data/voxl-suite-offline-packages/apq8096-system-tweaks_0.1.3.ipk.
Installing voxl-uvc-server (0.1.3) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-uvc-server_0.1.3.ipk.
Installing voxl-vision-px4 (1.4.0) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-vision-px4_1.4.0.ipk.
Installing voxl-vpn (0.0.6) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-vpn_0.0.6.ipk.
voxl-suite installer detected system image 4.0.0
Configuring apq8096-libpng.
Configuring voxl-opencv.
Configuring libmodal-json.
Configuring libmodal-pipe.
Configuring apq8096-tflite.
Configuring voxl-tflite-server.
Configuring librc-math.
Configuring voxl-mpa-tools.
Configuring voxl-mpa-to-ros.
Configuring voxl-docker-support.
Configuring apq8096-dfs-server.
Configuring apq8096-system-tweaks.
Configuring voxl-mavlink.
Configuring mavlink-camera-manager.
Configuring voxl-jpeg-turbo.
Configuring voxl-logger.
Configuring voxl-qvio-server.
Configuring libmodal-cv.
Configuring voxl-vpn.
Configuring voxl-mavlink-server.
Configuring voxl-vision-px4.
Configuring voxl-libuvc.
Configuring voxl-uvc-server.
Configuring libmodal-journal.
Configuring libvoxl-cci-direct.
Configuring libvoxl-cutils.
Configuring voxl-camera-calibration.
Configuring voxl-streamer.
Configuring libmodal-exposure.
Configuring voxl-cpu-monitor.
Configuring voxl-libgphoto2.
Configuring voxl-gphoto2-server.
Configuring voxl-mongoose.
Configuring voxl-portal.
Configuring voxl-camera-server.
Configuring voxl-modem.
Configuring voxl-utils.
Created symlink from /etc/systemd/system/default.target.wants/voxl-wait-for-fs.service to /etc/systemd/system/voxl-wait-for-fs.service.
Configuring libapq8096-io.
Configuring apq8096-imu-server.
Configuring voxl-tag-detector.
Configuring voxl-suite.

===================================================== 
|            Done installing voxl-suite             |
|                                                   |
|         Please visit our online guides at         |
|             https://docs.modalai.com/             |
|                                                   |
|      To configure Modal Pipe Architecture (MPA)   |
|       services, please run voxl-configure-mpa     |
|                                                   |
| To see what MPA services are enabled and running, |
|           please run voxl-inspect-services        |
|                                                   |
|   To see a list of MPA utilities available, adb   |
|      or ssh into VOXL and type voxl{TAB}{TAB}     |
===================================================== 

[INFO] Pointing to correct repo
Using repo: sdk-0.9

Done configuring opkg
run opkg update to pull new repository manifest
[INFO] Done installing voxl-suite
----Installation Completed----

@Alex-Gardner Voxl-Vision-PX4 is already running on background.

voxl:~$ voxl-inspect-services 
 Service Name         |  Enabled  |   Running   |  CPU Usage
---------------------------------------------------------------
 docker-autorun       | Disabled  | Not Running |  
 docker-daemon        | Disabled  | Not Running |  
 modallink-relink     | Disabled  | Not Running |  
 voxl-camera-server   |  Enabled  |   Running   |    19.1
 voxl-cpu-monitor     |  Enabled  |   Running   |     0.0
 voxl-dfs-server      |  Enabled  | Not Running |  
 voxl-imu-server      |  Enabled  |   Running   |     0.0
 voxl-mavlink-server  |  Enabled  |   Running   |     2.1
 voxl-modem           | Disabled  | Not Running |  
 voxl-portal          |  Enabled  |   Running   |     0.0
 voxl-qvio-server     |  Enabled  |   Running   |     2.1
 voxl-streamer        | Disabled  | Not Running |  
 voxl-tag-detector    | Disabled  | Not Running |  
 voxl-tflite-server   | Disabled  | Not Running |  
 voxl-time-sync       | Disabled  | Not Running |  
 voxl-vision-px4      |  Enabled  |   Running   |     4.2
 voxl-wait-for-fs     |  Enabled  |  Completed  |  
voxl:~$

Hi,

I wanna check collision prevention function using TOF sensor.
My m 500 flight was set up with TOF + stereo cam + Tracking cam.
I checked VOA function in debug mode of voxl-vision-px4 as below.

 index:  0  dist: none back
 index:  1  dist: none
 index:  2  dist: none
 index:  3  dist: none
 index:  4  dist: none
 index:  5  dist: none
 index:  6  dist: none
 index:  7  dist: none
 index:  8  dist: none
 index:  9  dist: none left
 index: 10  dist: none
 index: 11  dist: none
 index: 12  dist: none
 index: 13  dist: 1.82m
 index: 14  dist: 2.11m
 index: 15  dist: 1.83m
 index: 16  dist: 1.66m
 index: 17  dist: 1.52m
 index: 18  dist: 1.04m forward
 index: 19  dist: 1.00m
 index: 20  dist: 0.83m
 index: 21  dist: 0.86m
 index: 22  dist: 0.42m
 index: 23  dist: 1.35m
 index: 24  dist: none
 index: 25  dist: none
 index: 26  dist: none
 index: 27  dist: none right
 index: 28  dist: none
 index: 29  dist: none
 index: 30  dist: none
 index: 31  dist: none
 index: 32  dist: none
 index: 33  dist: none
 index: 34  dist: none
 index: 35  dist: none
 index: 36  dist: none

Also, I enable collision prevention with 1.5m distance in QGC.

But, when I switch to Position mode, I got a message "avoidance/collision prevention Error" as below

This is my voxl-vision-px4 config file.

        "config_file_version":  1,                          
        "qgc_ip":       "192.168.219.164",                                   
        "en_secondary_qgc":     false,                                       
        "secondary_qgc_ip":     "192.168.1.214",                      
        "qgc_udp_port_number":  14550,                                        
        "udp_mtu":      512,                                                         
        "en_localhost_mavlink_udp":     true,                                          
        "localhost_udp_port_number":    14551,                            
        "en_vio":       true,                                         
        "en_voa":       true,                                                 
        "en_send_vio_to_qgc":   false,                                           
        "en_send_voa_to_qgc":   false,                                          
        "voa_upper_bound_m":    -0.15000000596046448,                              
        "voa_lower_bound_m":    0.15000000596046448,                               
        "en_set_clock_from_gps":        true,                                   
        "en_force_onboard_mav1_mode":   true,                                     
        "en_reset_px4_on_error":        true,             
        "qvio_auto_reset_quality":      0.00050000002374872565,                  
        "horizon_cal_tolerance":        0.300000011920929,                         
        "offboard_mode":        "trajectory",                                      
        "follow_tag_id":        0,                                                   
        "figure_eight_move_home":       true,                                   
        "en_tag_fixed_frame":   false,                                          
        "fixed_frame_filter_len":       5,                                       
        "en_transform_mavlink_pos_setpoints_from_fixed_frame":  false     

Could you please let me know the reason?

One more question, I already check TOF VOA, TOF PC, but, cannot see any mapping result on voxl-portal.

How can I get map result?

Thanks,

Hey you guy,

Did you solve this problem?

Thanks,

Hi,

I'm using VOXL flight deck and installed stereo cam + TPF sensor + tracking cam.

As I know, stereo camera of VOA feature are used to enable mapping and planning using voxl-portal.

But, can I use TOF sensor instead of stereo cam for mapping and planning?

Thanks,

Stereo camera is not running of my m500 drone after updating firmware.

I think physical connection is fine and sensors are ok. also, camera server is working. but I cannot get stereo image on VOXL-portal. and when I use voxl-streamer -c stereo, camera server fall FATAL error.

could you please check my log when I run voxl-streamer for stereo?

voxl:/$ voxl-camera-server
------ voxl-camera-server: Starting camera server
Started Camera: tracking
Started Camera: hires
Started Camera: stereo

------ voxl-camera-server: Camera server is now running
INFO: Camera stereo recieved much newer child than master (51), discarding master and trying again
INFO: Camera stereo recieved much newer child than master (146505), discarding master and trying again
INFO: Camera stereo recieved much newer child than master (146472), discarding master and trying again

voxl-camera-server FATAL: Recieved Fatal error from camera: stereo
	Error sending request 7, ErrorCode: -ENODEV
------ voxl-camera-server WARNING: Thread: tracking result thread recieved ESTOP
------ voxl-camera-server WARNING: Thread: stereo request thread recieved ESTOP
------ voxl-camera-server WARNING: Thread: stereo result thread recieved ESTOP
------ voxl-camera-server WARNING: Thread: stereo_child result thread recieved ESTOP
------ voxl-camera-server WARNING: Thread: stereo_child request thread recieved ESTOP
------ voxl-camera-server WARNING: Thread: hires result thread recieved ESTOP
------ voxl-camera-server WARNING: Thread: tracking request thread recieved ESTOP
------ voxl-camera-server WARNING: Thread: hires request thread recieved ESTOP

------ voxl-camera-server INFO: Camera server is now stopping
WARNING: Deleting buffers: 4 of 16 still in use
	Stopped Camera: tracking
WARNING: Deleting buffers: 4 of 16 still in use
	Stopped Camera: hires
WARNING: Deleting buffers: 3 of 16 still in use
	Stopped Camera: stereo

------ voxl-camera-server INFO: Camera server exited gracefully

this is my firmware

voxl:/$ voxl-version 
--------------------------------------------------------------------------------
system-image: 3.8.0
kernel:       #1 SMP PREEMPT Tue Apr 26 18:08:39 UTC 2022 3.18.71-perf
--------------------------------------------------------------------------------
hw version:   VOXL
--------------------------------------------------------------------------------
voxl-suite:   0.8.0
--------------------------------------------------------------------------------
voxl:/$

I wonder CSI ports(J2,3,4) in VOXL is standard pin configuration or not.

If it's user defined pin out, how can I use commercial image sensor that not produced by modal AI.

I want to use another image sensor for tracking and stereo camera. So, I'm asking you about compatibility for commercial image sensor and connection.

Thanks,

Hi,

I'm compiling voxl-open-vins-server.

I got a clone form git and just noted need to install extra library for libeigen3 and libboost.

I got library libeigen3 from apt-get install but, I compiled source code and build x64 for libboost.

when I build code, I found an error as bellow

/usr/local/lib/libboost_system.so: error adding symbols: File in wrong format
collect2: error: ld returned 1 exit status

I think this error message relatives with compiler(not x64 , but aarch64) for libboost.

am I right? If I'm right, could you please let me know how to compile libboost for aarch64 architecture.

(I already got installed voxl-dependences)

voxl-cross:~$ ls
3rd_party       boost_1_77_0         build64       config.json            ipk                run.sh
CMakeLists.txt  boost_1_77_0.tar.gz  build_x86.sh  install_build_deps.sh  make_package.sh    server
README.md       build.sh             clean.sh      install_on_voxl.sh     push_to_voxl.bash  service
voxl-cross:~$ ./clean.sh 
voxl-cross:~$ ./build.sh
-- The C compiler identification is GNU 4.9.3
-- The CXX compiler identification is GNU 4.9.3
-- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc-4.9
-- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc-4.9 -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/aarch64-linux-gnu-g++-4.9
-- Check for working CXX compiler: /usr/bin/aarch64-linux-gnu-g++-4.9 -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Boost version: 1.77.0
-- Setting up BOOST
--  Includes - /usr/local/include
--  Library  - /usr/local/lib
CMake Warning at /usr/share/cmake-3.5/Modules/FindBoost.cmake:725 (message):
  Imported targets not available for Boost version 107700
Call Stack (most recent call first):
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:763 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:1332 (_Boost_MISSING_DEPENDENCIES)
  3rd_party/open_vins/ov_core/CMakeLists.txt:17 (find_package)


CMake Warning at /usr/share/cmake-3.5/Modules/FindBoost.cmake:725 (message):
  Imported targets not available for Boost version 107700
Call Stack (most recent call first):
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:763 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:1332 (_Boost_MISSING_DEPENDENCIES)
  3rd_party/open_vins/ov_core/CMakeLists.txt:17 (find_package)


CMake Warning at /usr/share/cmake-3.5/Modules/FindBoost.cmake:725 (message):
  Imported targets not available for Boost version 107700
Call Stack (most recent call first):
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:763 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:1332 (_Boost_MISSING_DEPENDENCIES)
  3rd_party/open_vins/ov_core/CMakeLists.txt:17 (find_package)


CMake Warning at /usr/share/cmake-3.5/Modules/FindBoost.cmake:725 (message):
  Imported targets not available for Boost version 107700
Call Stack (most recent call first):
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:763 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:1332 (_Boost_MISSING_DEPENDENCIES)
  3rd_party/open_vins/ov_core/CMakeLists.txt:17 (find_package)


-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Boost version: 1.77.0
-- Found the following Boost libraries:
--   system
--   filesystem
--   thread
--   date_time
CMake Warning at 3rd_party/open_vins/ov_core/CMakeLists.txt:20 (message):
  OPENCV VERSION: 4.5.2


CMake Warning at 3rd_party/open_vins/ov_core/CMakeLists.txt:21 (message):
  BOOST VERSION: 107700


CMake Warning at 3rd_party/open_vins/ov_core/CMakeLists.txt:27 (message):
  DISABLING ARUCOTAG TRACKING!


CMake Warning at 3rd_party/open_vins/ov_core/CMakeLists.txt:43 (message):
  BUILDING WITHOUT ROS!


-- Performing Test COMPILER_SUPPORTS_CXX11
-- Performing Test COMPILER_SUPPORTS_CXX11 - Success
-- Performing Test COMPILER_SUPPORTS_CXX0X
-- Performing Test COMPILER_SUPPORTS_CXX0X - Success
CMake Warning at /usr/share/cmake-3.5/Modules/FindBoost.cmake:725 (message):
  Imported targets not available for Boost version 107700
Call Stack (most recent call first):
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:763 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:1332 (_Boost_MISSING_DEPENDENCIES)
  3rd_party/open_vins/ov_msckf/CMakeLists.txt:20 (find_package)


CMake Warning at /usr/share/cmake-3.5/Modules/FindBoost.cmake:725 (message):
  Imported targets not available for Boost version 107700
Call Stack (most recent call first):
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:763 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:1332 (_Boost_MISSING_DEPENDENCIES)
  3rd_party/open_vins/ov_msckf/CMakeLists.txt:20 (find_package)


CMake Warning at /usr/share/cmake-3.5/Modules/FindBoost.cmake:725 (message):
  Imported targets not available for Boost version 107700
Call Stack (most recent call first):
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:763 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:1332 (_Boost_MISSING_DEPENDENCIES)
  3rd_party/open_vins/ov_msckf/CMakeLists.txt:20 (find_package)


CMake Warning at /usr/share/cmake-3.5/Modules/FindBoost.cmake:725 (message):
  Imported targets not available for Boost version 107700
Call Stack (most recent call first):
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:763 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:1332 (_Boost_MISSING_DEPENDENCIES)
  3rd_party/open_vins/ov_msckf/CMakeLists.txt:20 (find_package)


-- Boost version: 1.77.0
-- Found the following Boost libraries:
--   system
--   filesystem
--   thread
--   date_time
CMake Warning at 3rd_party/open_vins/ov_msckf/CMakeLists.txt:23 (message):
  OPENCV VERSION: 4.5.2


CMake Warning at 3rd_party/open_vins/ov_msckf/CMakeLists.txt:24 (message):
  BOOST VERSION: 107700


CMake Warning at 3rd_party/open_vins/ov_msckf/CMakeLists.txt:30 (message):
  DISABLING ARUCOTAG TRACKING!


CMake Warning at 3rd_party/open_vins/ov_msckf/CMakeLists.txt:46 (message):
  BUILDING WITHOUT ROS!


CMake Warning at 3rd_party/open_vins/ov_msckf/CMakeLists.txt:87 (message):
  MANUALLY LINKING TO OV_CORE LIBRARY....


-- Boost version: 1.77.0
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voxl-cross:~$

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?

@shlee853 I found a v3.5.6 on the github.

I'll try on this version.

https://github.com/mavlink/qgroundcontrol/releases/tag/v3.5.6

Thannks,