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    Posts made by Tamas Pal 0

    • Voxl-send-command for hires on voxl2 is not working

      I am using VOXL2 Platform 0.9 system iamge on voxl2. I am trying to change the exposure of hires with voxl-send-command. It is not working. The exposure and gain always stays in auto mode. How to fix this ?

      posted in VOXL 2
      Tamas Pal 0T
      Tamas Pal 0
    • RE: Unable to get data on mavros side after upgrading the system from sdk-0.9 to staging version

      @Chad-Sweet @modaltb what should be the fcu url for the updated mavlink server for mavros connection? Please help me to fix this

      posted in ROS
      Tamas Pal 0T
      Tamas Pal 0
    • RE: Voxl2 + flight core in custom frame

      @Steve-Turner Thanks

      posted in VOXL 2
      Tamas Pal 0T
      Tamas Pal 0
    • RE: Unable to get data on mavros side after upgrading the system from sdk-0.9 to staging version 
      voxl2:~$ voxl-mavlink-server 
loading our own config file
=================================================================
Parameters as loaded from config file:
primary_static_gcs_ip:        192.168.1.102
secondary_static_gcs_ip:      192.168.1.101
onboard_port_to_autopilot:    14556
onboard_port_from_autopilot:  14557
gcs_port_to_autopilot:        14558
gcs_port_from_autopilot:      14559
en_external_uart_fc:          1
autopilot_uart_bus:           1
autopilot_uart_baudrate:      921600
udp_mtu:                      512
en_external_ap_timesync:      1
=================================================================
existing instance of voxl-mavlink-server found, attempting to stop it
Successfully opened /dev/ttyHS1
starting qrb5165 external AP receive thread
Adding primary GCS IP address from conf file to list: 192.168.1.102
Added new UDP connection to 192.168.1.102
Adding secondary manual gcs IP address to udp connection list: 192.168.1.101
Added new UDP connection to 192.168.1.101
Init complete, entering main loop
Detected Autopilot Mavlink SYSID 1
detected system time has already been set
failed to send to uart socket: Resource temporarily unavailable
Error, UART write incomplete
CONNECTED to GCS at 192.168.1.101
failed to send to uart socket: Resource temporarily unavailable
Error, UART write incomplete
failed to send to uart socket: Resource temporarily unavailable
Error, UART write incomplete
      posted in ROS
      Tamas Pal 0T
      Tamas Pal 0
    • RE: Unable to get data on mavros side after upgrading the system from sdk-0.9 to staging version 
       * /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: True
 * /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: melodic
 * /rosversion: 1.14.13

NODES
  /
    map_offset_tf (tf/static_transform_publisher)
    mav_viz (mavros_extras/visualization)
    mavros (mavros/mavros_node)
    voxl_mavros_tf (tf/static_transform_publisher)
    voxl_tf_publisher (voxl_ros_utils/tf_publisher.py)
    voxl_voa_reader (voxl_ros_utils/mavros_voa_reader.py)

ROS_MASTER_URI=http://localhost:11311

process[mavros-1]: started with pid [6089]
[ INFO] [1677763594.302371273]: FCU URL: udp://127.0.0.1:14551@:14551
[ INFO] [1677763594.304596586]: udp0: Bind address: 127.0.0.1:14551
[ INFO] [1677763594.304705492]: GCS bridge disabled
[ INFO] [1677763594.316001117]: Plugin 3dr_radio loaded
[ INFO] [1677763594.317788565]: Plugin 3dr_radio initialized
[ INFO] [1677763594.317899659]: Plugin actuator_control loaded
[ INFO] [1677763594.322923930]: Plugin actuator_control initialized
[ INFO] [1677763594.327214815]: Plugin adsb loaded
[ INFO] [1677763594.329652575]: Plugin adsb initialized
[ INFO] [1677763594.329773044]: Plugin altitude loaded
[ INFO] [1677763594.330462367]: Plugin altitude initialized
[ INFO] [1677763594.330551378]: Plugin cam_imu_sync loaded
[ INFO] [1677763594.330938669]: Plugin cam_imu_sync initialized
[ INFO] [1677763594.331021898]: Plugin camera loaded
[ INFO] [1677763594.331399607]: Plugin camera initialized
[ INFO] [1677763594.331478617]: Plugin cellular_status loaded
[ INFO] [1677763594.333044763]: Plugin cellular_status initialized
[ INFO] [1677763594.333180857]: Plugin command loaded
[ INFO] [1677763594.337491742]: Plugin command initialized
[ INFO] [1677763594.337591013]: Plugin companion_process_status loaded
[ INFO] [1677763594.339167523]: Plugin companion_process_status initialized
[ INFO] [1677763594.339257680]: Plugin debug_value loaded
[ INFO] [1677763594.342772315]: Plugin debug_value initialized
[ INFO] [1677763594.342835232]: Plugin distance_sensor blacklisted
[ INFO] [1677763594.342923617]: Plugin esc_status loaded
[ INFO] [1677763594.344182680]: Plugin esc_status initialized
[ INFO] [1677763594.344292159]: Plugin esc_telemetry loaded
[ INFO] [1677763594.344753669]: Plugin esc_telemetry initialized
[ INFO] [1677763594.344872315]: Plugin fake_gps loaded
[ INFO] [1677763594.355347888]: Plugin fake_gps initialized
[ INFO] [1677763594.355509711]: Plugin ftp loaded
[ INFO] [1677763594.360579503]: Plugin ftp initialized
[ INFO] [1677763594.360715805]: Plugin geofence loaded
process[voxl_mavros_tf-2]: started with pid [6090]
[ INFO] [1677763594.363619242]: Plugin geofence initialized
[ INFO] [1677763594.363769867]: Plugin global_position loaded
[ INFO] [1677763594.375597107]: Plugin global_position initialized
[ INFO] [1677763594.375740128]: Plugin gps_input loaded
[ INFO] [1677763594.387234555]: Plugin gps_input initialized
[ INFO] [1677763594.387379346]: Plugin gps_rtk loaded
[ INFO] [1677763594.392507315]: Plugin gps_rtk initialized
[ INFO] [1677763594.392628773]: Plugin gps_status loaded
[ INFO] [1677763594.393872523]: Plugin gps_status initialized
[ INFO] [1677763594.393956794]: Plugin guided_target loaded
[ INFO] [1677763594.396305440]: Plugin guided_target initialized
[ INFO] [1677763594.396399086]: Plugin hil loaded
[ INFO] [1677763594.409695492]: Plugin hil initialized
[ INFO] [1677763594.409840909]: Plugin home_position loaded
[ INFO] [1677763594.412537315]: Plugin home_position initialized
[ INFO] [1677763594.413229242]: Plugin imu loaded
[ INFO] [1677763594.421967055]: Plugin imu initialized
[ INFO] [1677763594.422119138]: Plugin landing_target loaded
[ INFO] [1677763594.432017784]: Plugin landing_target initialized
[ INFO] [1677763594.432172419]: Plugin local_position loaded
[ INFO] [1677763594.436771482]: Plugin local_position initialized
[ INFO] [1677763594.436986794]: Plugin log_transfer loaded
[ INFO] [1677763594.439535596]: Plugin log_transfer initialized
[ INFO] [1677763594.439663825]: Plugin mag_calibration_status loaded
[ INFO] [1677763594.440381273]: Plugin mag_calibration_status initialized
[ INFO] [1677763594.440493930]: Plugin manual_control loaded
[ INFO] [1677763594.442869346]: Plugin manual_control initialized
[ INFO] [1677763594.443015440]: Plugin mocap_pose_estimate loaded
[ INFO] [1677763594.446347055]: Plugin mocap_pose_estimate initialized
[ INFO] [1677763594.446559450]: Plugin mount_control loaded
[ WARN] [1677763594.450517055]: Could not retrive negate_measured_roll parameter value, using default (0)
[ WARN] [1677763594.450822419]: Could not retrive negate_measured_pitch parameter value, using default (0)
[ WARN] [1677763594.451102732]: Could not retrive negate_measured_yaw parameter value, using default (0)
[ WARN] [1677763594.452057211]: Could not retrive debounce_s parameter value, using default (4.000000)
[ WARN] [1677763594.452345336]: Could not retrive err_threshold_deg parameter value, using default (10.000000)
[ INFO] [1677763594.452397732]: Plugin mount_control initialized
[ INFO] [1677763594.452510909]: Plugin nav_controller_output loaded
[ INFO] [1677763594.453355284]: Plugin nav_controller_output initialized
[ INFO] [1677763594.453454190]: Plugin obstacle_distance loaded
[ INFO] [1677763594.455376325]: Plugin obstacle_distance initialized
[ INFO] [1677763594.455496482]: Plugin odom loaded
[ INFO] [1677763594.458727002]: Plugin odom initialized
[ INFO] [1677763594.458867107]: Plugin onboard_computer_status loaded
[ INFO] [1677763594.460823461]: Plugin onboard_computer_status initialized
[ INFO] [1677763594.460943825]: Plugin param loaded
[ INFO] [1677763594.462820127]: Plugin param initialized
[ INFO] [1677763594.462924763]: Plugin play_tune loaded
[ INFO] [1677763594.464443409]: Plugin play_tune initialized
[ INFO] [1677763594.464535023]: Plugin px4flow loaded
[ INFO] [1677763594.468909607]: Plugin px4flow initialized
[ INFO] [1677763594.469017107]: Plugin rallypoint loaded
[ INFO] [1677763594.470877836]: Plugin rallypoint initialized
[ INFO] [1677763594.470928565]: Plugin rangefinder blacklisted
[ INFO] [1677763594.471010909]: Plugin rc_io loaded
[ INFO] [1677763594.474122732]: Plugin rc_io initialized
[ INFO] [1677763594.474175075]: Plugin safety_area blacklisted
[ INFO] [1677763594.474270805]: Plugin setpoint_accel loaded
[ INFO] [1677763594.476241846]: Plugin setpoint_accel initialized
[ INFO] [1677763594.476345596]: Plugin setpoint_attitude loaded
[ INFO] [1677763594.482977107]: Plugin setpoint_attitude initialized
[ INFO] [1677763594.483139607]: Plugin setpoint_position loaded
process[voxl_voa_reader-3]: started with pid [6100]
[ INFO] [1677763594.493485388]: Plugin setpoint_position initialized
[ INFO] [1677763594.493643096]: Plugin setpoint_raw loaded
[ INFO] [1677763594.499962523]: Plugin setpoint_raw initialized
[ INFO] [1677763594.500120909]: Plugin setpoint_trajectory loaded
[ INFO] [1677763594.503701430]: Plugin setpoint_trajectory initialized
[ INFO] [1677763594.503849294]: Plugin setpoint_velocity loaded
[ INFO] [1677763594.507733513]: Plugin setpoint_velocity initialized
[ INFO] [1677763594.507937992]: Plugin sys_status loaded
[ INFO] [1677763594.521397367]: Plugin sys_status initialized
[ INFO] [1677763594.521567888]: Plugin sys_time loaded
[ INFO] [1677763594.524604815]: TM: Timesync mode: MAVLINK
[ INFO] [1677763594.524918096]: TM: Not publishing sim time
[ INFO] [1677763594.525942940]: Plugin sys_time initialized
[ INFO] [1677763594.526064086]: Plugin terrain loaded
[ INFO] [1677763594.526400700]: Plugin terrain initialized
[ INFO] [1677763594.526480075]: Plugin trajectory loaded
[ INFO] [1677763594.529417419]: Plugin trajectory initialized
[ INFO] [1677763594.529524711]: Plugin tunnel loaded
[ INFO] [1677763594.531140232]: Plugin tunnel initialized
[ INFO] [1677763594.531269190]: Plugin vfr_hud loaded
[ INFO] [1677763594.532441534]: Plugin vfr_hud initialized
[ INFO] [1677763594.532513982]: Plugin vibration blacklisted
[ INFO] [1677763594.532608513]: Plugin vision_pose_estimate loaded
[ INFO] [1677763594.537461586]: Plugin vision_pose_estimate initialized
[ INFO] [1677763594.537616846]: Plugin vision_speed_estimate loaded
[ INFO] [1677763594.539960127]: Plugin vision_speed_estimate initialized
[ INFO] [1677763594.540195596]: Plugin waypoint loaded
[ INFO] [1677763594.547666117]: Plugin waypoint initialized
[ INFO] [1677763594.547743044]: Plugin wheel_odometry blacklisted
[ INFO] [1677763594.547857836]: Plugin wind_estimation loaded
[ INFO] [1677763594.548209034]: Plugin wind_estimation initialized
[ INFO] [1677763594.548361377]: Autostarting mavlink via USB on PX4
[ INFO] [1677763594.548394867]: Built-in SIMD instructions: ARM NEON
[ INFO] [1677763594.548407680]: Built-in MAVLink package version: 2022.12.30
[ INFO] [1677763594.548435075]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1677763594.548447523]: MAVROS started. MY ID 1.240, TARGET ID 1.1
process[map_offset_tf-4]: started with pid [6113]
process[voxl_tf_publisher-5]: started with pid [6120]
[INFO] [1677763594.821898]: Starting MavrosObstacleDistanceInterface as obstacle_distance_interface.
process[mav_viz-6]: started with pid [6130]
[INFO] [1677763595.246324]: [VoxlTFPublisher] Starting VoxlTFPublisher as voxl_tf_publisher.
[INFO] [1677763595.248479]: [VoxlTFPublisher] Reading TF data from file...
[INFO] [1677763595.249219]: [VoxlTFPublisher] Loaded extrinsics for Sentinel_V1 airframe
[INFO] [1677763595.249844]: [VoxlTFPublisher] Added TF from parent: imu_px4 to child: imu_apps
[INFO] [1677763595.250559]: [VoxlTFPublisher] Added TF from parent: imu_apps to child: tracking
[INFO] [1677763595.251221]: [VoxlTFPublisher] Added TF from parent: imu_px4 to child: tracking
[INFO] [1677763595.251885]: [VoxlTFPublisher] Added TF from parent: body to child: imu_apps
[INFO] [1677763595.252552]: [VoxlTFPublisher] Added TF from parent: body to child: imu_px4
[INFO] [1677763595.253233]: [VoxlTFPublisher] Added TF from parent: body to child: stereo_front_l
[INFO] [1677763595.253866]: [VoxlTFPublisher] Added TF from parent: body to child: stereo_rear_l
[INFO] [1677763595.254480]: [VoxlTFPublisher] Added TF from parent: body to child: tof
[INFO] [1677763595.255118]: [VoxlTFPublisher] Added TF from parent: body to child: ground

      In this case the data is not received from udp protocol side.
      How to fix this ? I am using voxl-vision-hub_1.6.1_arm64.deb and voxl-mavlink_0.1.0_arm64.deb and flight-core as external flight controller.
      voxl-mavlink-server.conf file:

      {
        "primary_static_gcs_ip":        "192.168.1.102",
        "secondary_static_gcs_ip":      "192.168.1.101",
        "onboard_port_to_autopilot":    14556,
        "onboard_port_from_autopilot":  14557,
        "gcs_port_to_autopilot":        14558,
        "gcs_port_from_autopilot":      14559,
        "en_external_uart_fc":  true,
        "autopilot_uart_bus":   1,
        "autopilot_uart_baudrate":      921600,
        "en_external_ap_timesync":      1,
        "udp_mtu":      512
}
      posted in ROS
      Tamas Pal 0T
      Tamas Pal 0
    • RE: Unable to get data on mavros side after upgrading the system from sdk-0.9 to staging version

      But from udp protocol side, there is no data

      voxl2:/etc/modalai$ roslaunch voxl_autonomy px4.launch
... logging to /home/root/.ros/log/0a864ff8-b8fc-11ed-b6c5-54af97be95ca/roslaunch-m0054-6069.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://m0054:45485/

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /mav_viz/arm_len: 0.25
 * /mav_viz/body_height: 0.075
 * /mav_viz/body_width: 0.075
 * /mav_viz/child_frame_id: base_link
 * /mav_viz/fixed_frame_id: map_offset
 * /mav_viz/marker_scale: 0.75
 * /mav_viz/num_rotors: 4
 * /mav_viz/prop_direction: 1
 * /mavros/camera/frame_id: base_link
 * /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/horizontal_fov_ratio: 1.0
 * /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/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0
 * /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

      continue...

      posted in ROS
      Tamas Pal 0T
      Tamas Pal 0
    • Unable to get data on mavros side after upgrading the system from sdk-0.9 to staging version

      Hi, I have upgraded the voxl2 from sdk-0.9 to staging version from. Now I am trying to run some ros scripts, I am getting some error. It is showing waiting for FCU connections after launching the scripts. I run the same scripts with sdk-0.9 packages, it works well in that.
      Here I am getting data on ros side with fcu_url:=/dev/ttyHS1:921600

      voxl2:/etc/modalai$ roslaunch voxl_autonomy px4.launch fcu_url:=/dev/ttyHS1:921600
... logging to /home/root/.ros/log/0a864ff8-b8fc-11ed-b6c5-54af97be95ca/roslaunch-m0054-5768.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://m0054:39499/

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /mav_viz/arm_len: 0.25
 * /mav_viz/body_height: 0.075
 * /mav_viz/body_width: 0.075
 * /mav_viz/child_frame_id: base_link
 * /mav_viz/fixed_frame_id: map_offset
 * /mav_viz/marker_scale: 0.75
 * /mav_viz/num_rotors: 4
 * /mav_viz/prop_direction: 1
 * /mavros/camera/frame_id: base_link
 * /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/horizontal_fov_ratio: 1.0
 * /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/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0
 * /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: /dev/ttyHS1:921600
 * /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: True
 * /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: melodic
 * /rosversion: 1.14.13

NODES
  /
    map_offset_tf (tf/static_transform_publisher)
    mav_viz (mavros_extras/visualization)
    mavros (mavros/mavros_node)
    voxl_mavros_tf (tf/static_transform_publisher)
    voxl_tf_publisher (voxl_ros_utils/tf_publisher.py)
    voxl_voa_reader (voxl_ros_utils/mavros_voa_reader.py)

ROS_MASTER_URI=http://localhost:11311

process[mavros-1]: started with pid [5791]
[ INFO] [1677763430.831607377]: FCU URL: /dev/ttyHS1:921600
[ INFO] [1677763430.833271075]: serial0: device: /dev/ttyHS1 @ 921600 bps
[ INFO] [1677763430.833363315]: GCS bridge disabled
[ INFO] [1677763430.845173107]: Plugin 3dr_radio loaded
[ INFO] [1677763430.846926284]: Plugin 3dr_radio initialized
[ INFO] [1677763430.847032169]: Plugin actuator_control loaded
[ INFO] [1677763430.849088419]: Plugin actuator_control initialized
[ INFO] [1677763430.852417846]: Plugin adsb loaded
[ INFO] [1677763430.855140242]: Plugin adsb initialized
[ INFO] [1677763430.855253627]: Plugin altitude loaded
[ INFO] [1677763430.855810867]: Plugin altitude initialized
[ INFO] [1677763430.855887742]: Plugin cam_imu_sync loaded
[ INFO] [1677763430.856262742]: Plugin cam_imu_sync initialized
[ INFO] [1677763430.856336336]: Plugin camera loaded
[ INFO] [1677763430.856703732]: Plugin camera initialized
[ INFO] [1677763430.856779044]: Plugin cellular_status loaded
[ INFO] [1677763430.858719721]: Plugin cellular_status initialized
[ INFO] [1677763430.858813471]: Plugin command loaded
[ INFO] [1677763430.866482013]: Plugin command initialized
[ INFO] [1677763430.866609096]: Plugin companion_process_status loaded
[ INFO] [1677763430.868946440]: Plugin companion_process_status initialized
[ INFO] [1677763430.869058888]: Plugin debug_value loaded
[ INFO] [1677763430.874093784]: Plugin debug_value initialized
[ INFO] [1677763430.874144721]: Plugin distance_sensor blacklisted
[ INFO] [1677763430.874250867]: Plugin esc_status loaded
[ INFO] [1677763430.875261284]: Plugin esc_status initialized
[ INFO] [1677763430.875350398]: Plugin esc_telemetry loaded
[ INFO] [1677763430.875799044]: Plugin esc_telemetry initialized
[ INFO] [1677763430.875911909]: Plugin fake_gps loaded
[ INFO] [1677763430.887176232]: Plugin fake_gps initialized
[ INFO] [1677763430.887350971]: Plugin ftp loaded
[ INFO] [1677763430.891942586]: Plugin ftp initialized
[ INFO] [1677763430.892094513]: Plugin geofence loaded
[ INFO] [1677763430.894750763]: Plugin geofence initialized
[ INFO] [1677763430.894882065]: Plugin global_position loaded
[ INFO] [1677763430.906174929]: Plugin global_position initialized
[ INFO] [1677763430.906308263]: Plugin gps_input loaded
[ INFO] [1677763430.908028419]: Plugin gps_input initialized
[ INFO] [1677763430.908118627]: Plugin gps_rtk loaded
[ INFO] [1677763430.909979565]: Plugin gps_rtk initialized
[ INFO] [1677763430.910101388]: Plugin gps_status loaded
[ INFO] [1677763430.911614721]: Plugin gps_status initialized
[ INFO] [1677763430.911758679]: Plugin guided_target loaded
process[voxl_mavros_tf-2]: started with pid [5792]
[ INFO] [1677763430.915063523]: Plugin guided_target initialized
[ INFO] [1677763430.915229669]: Plugin hil loaded
[ INFO] [1677763430.936170346]: Plugin hil initialized
[ INFO] [1677763430.936353888]: Plugin home_position loaded
[ INFO] [1677763430.939015346]: Plugin home_position initialized
[ INFO] [1677763430.939115346]: Plugin imu loaded
[ INFO] [1677763430.946994617]: Plugin imu initialized
[ INFO] [1677763430.947121284]: Plugin landing_target loaded
[ INFO] [1677763430.955133211]: Plugin landing_target initialized
[ INFO] [1677763430.955238523]: Plugin local_position loaded
[ INFO] [1677763430.959009929]: Plugin local_position initialized
[ INFO] [1677763430.959146544]: Plugin log_transfer loaded
[ INFO] [1677763430.960863107]: Plugin log_transfer initialized
[ INFO] [1677763430.960949513]: Plugin mag_calibration_status loaded
[ INFO] [1677763430.962537273]: Plugin mag_calibration_status initialized
[ INFO] [1677763430.962659982]: Plugin manual_control loaded
[ INFO] [1677763430.978493784]: Plugin manual_control initialized
[ INFO] [1677763430.978704825]: Plugin mocap_pose_estimate loaded
[ INFO] [1677763430.985256648]: Plugin mocap_pose_estimate initialized
[ INFO] [1677763430.985474721]: Plugin mount_control loaded
[ WARN] [1677763430.992198784]: Could not retrive negate_measured_roll parameter value, using default (0)
[ WARN] [1677763430.992617325]: Could not retrive negate_measured_pitch parameter value, using default (0)
[ WARN] [1677763430.993028627]: Could not retrive negate_measured_yaw parameter value, using default (0)
[ WARN] [1677763430.994378367]: Could not retrive debounce_s parameter value, using default (4.000000)
[ WARN] [1677763430.994773315]: Could not retrive err_threshold_deg parameter value, using default (10.000000)
[ INFO] [1677763430.994946492]: Plugin mount_control initialized
[ INFO] [1677763430.995337638]: Plugin nav_controller_output loaded
[ INFO] [1677763430.996280086]: Plugin nav_controller_output initialized
[ INFO] [1677763430.996427690]: Plugin obstacle_distance loaded
[ INFO] [1677763430.998864044]: Plugin obstacle_distance initialized
[ INFO] [1677763430.999005398]: Plugin odom loaded
[ INFO] [1677763431.003775815]: Plugin odom initialized
[ INFO] [1677763431.003969096]: Plugin onboard_computer_status loaded
[ INFO] [1677763431.006179982]: Plugin onboard_computer_status initialized
[ INFO] [1677763431.006315971]: Plugin param loaded
[ INFO] [1677763431.009515554]: Plugin param initialized
[ INFO] [1677763431.009629304]: Plugin play_tune loaded
[ INFO] [1677763431.011194096]: Plugin play_tune initialized
[ INFO] [1677763431.011293784]: Plugin px4flow loaded
[ INFO] [1677763431.015689044]: Plugin px4flow initialized
[ INFO] [1677763431.015837325]: Plugin rallypoint loaded
[ INFO] [1677763431.017841440]: Plugin rallypoint initialized
[ INFO] [1677763431.017934721]: Plugin rangefinder blacklisted
[ INFO] [1677763431.018055919]: Plugin rc_io loaded
[ INFO] [1677763431.020993679]: Plugin rc_io initialized
[ INFO] [1677763431.021092950]: Plugin safety_area blacklisted
[ INFO] [1677763431.021259304]: Plugin setpoint_accel loaded
[ INFO] [1677763431.024591388]: Plugin setpoint_accel initialized
[ INFO] [1677763431.024814461]: Plugin setpoint_attitude loaded
[ INFO] [1677763431.031614877]: Plugin setpoint_attitude initialized
[ INFO] [1677763431.031793575]: Plugin setpoint_position loaded
process[voxl_voa_reader-3]: started with pid [5809]
[ INFO] [1677763431.044507742]: Plugin setpoint_position initialized
[ INFO] [1677763431.044661075]: Plugin setpoint_raw loaded
[ INFO] [1677763431.050578107]: Plugin setpoint_raw initialized
[ INFO] [1677763431.050731127]: Plugin setpoint_trajectory loaded
[ INFO] [1677763431.053871804]: Plugin setpoint_trajectory initialized
[ INFO] [1677763431.054018263]: Plugin setpoint_velocity loaded
[ INFO] [1677763431.057861440]: Plugin setpoint_velocity initialized
[ INFO] [1677763431.058059513]: Plugin sys_status loaded
[ INFO] [1677763431.065617429]: Plugin sys_status initialized
[ INFO] [1677763431.065825242]: Plugin sys_time loaded
[ INFO] [1677763431.069884981]: TM: Timesync mode: MAVLINK
[ INFO] [1677763431.070426752]: TM: Not publishing sim time
[ INFO] [1677763431.071475190]: Plugin sys_time initialized
[ INFO] [1677763431.071613002]: Plugin terrain loaded
[ INFO] [1677763431.072069981]: Plugin terrain initialized
[ INFO] [1677763431.072173836]: Plugin trajectory loaded
[ INFO] [1677763431.076089877]: Plugin trajectory initialized
[ INFO] [1677763431.076278211]: Plugin tunnel loaded
[ INFO] [1677763431.078533784]: Plugin tunnel initialized
[ INFO] [1677763431.078687013]: Plugin vfr_hud loaded
[ INFO] [1677763431.079045763]: Plugin vfr_hud initialized
[ INFO] [1677763431.079083575]: Plugin vibration blacklisted
[ INFO] [1677763431.079147690]: Plugin vision_pose_estimate loaded
[ INFO] [1677763431.084122742]: Plugin vision_pose_estimate initialized
[ INFO] [1677763431.084324929]: Plugin vision_speed_estimate loaded
[ INFO] [1677763431.086926752]: Plugin vision_speed_estimate initialized
[ INFO] [1677763431.087115867]: Plugin waypoint loaded
[ INFO] [1677763431.090351440]: Plugin waypoint initialized
[ INFO] [1677763431.090434565]: Plugin wheel_odometry blacklisted
[ INFO] [1677763431.090557273]: Plugin wind_estimation loaded
[ INFO] [1677763431.091855971]: Plugin wind_estimation initialized
[ INFO] [1677763431.092137638]: Autostarting mavlink via USB on PX4
[ INFO] [1677763431.092195242]: Built-in SIMD instructions: ARM NEON
[ INFO] [1677763431.092218784]: Built-in MAVLink package version: 2022.12.30
[ INFO] [1677763431.092264200]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1677763431.092303211]: MAVROS started. MY ID 1.240, TARGET ID 1.1
process[map_offset_tf-4]: started with pid [5815]
[ INFO] [1677763431.158911856]: IMU: Attitude quaternion IMU detected!
[ INFO] [1677763431.229495138]: IMU: High resolution IMU detected!
process[voxl_tf_publisher-5]: started with pid [5828]
[INFO] [1677763431.384036]: Starting MavrosObstacleDistanceInterface as obstacle_distance_interface.
process[mav_viz-6]: started with pid [5832]
[ INFO] [1677763431.433142221]: RC_CHANNELS message detected!
[INFO] [1677763431.787763]: [VoxlTFPublisher] Starting VoxlTFPublisher as voxl_tf_publisher.
[INFO] [1677763431.790942]: [VoxlTFPublisher] Reading TF data from file...
[INFO] [1677763431.793057]: [VoxlTFPublisher] Loaded extrinsics for Sentinel_V1 airframe
[INFO] [1677763431.793786]: [VoxlTFPublisher] Added TF from parent: imu_px4 to child: imu_apps
[INFO] [1677763431.794566]: [VoxlTFPublisher] Added TF from parent: imu_apps to child: tracking
[INFO] [1677763431.795270]: [VoxlTFPublisher] Added TF from parent: imu_px4 to child: tracking
[INFO] [1677763431.795951]: [VoxlTFPublisher] Added TF from parent: body to child: imu_apps
[INFO] [1677763431.796639]: [VoxlTFPublisher] Added TF from parent: body to child: imu_px4
[INFO] [1677763431.797443]: [VoxlTFPublisher] Added TF from parent: body to child: stereo_front_l
[INFO] [1677763431.798124]: [VoxlTFPublisher] Added TF from parent: body to child: stereo_rear_l
[INFO] [1677763431.798811]: [VoxlTFPublisher] Added TF from parent: body to child: tof
[INFO] [1677763431.799492]: [VoxlTFPublisher] Added TF from parent: body to child: ground
[ INFO] [1677763434.558550501]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1677763434.564239824]: IMU: High resolution IMU detected!
[ INFO] [1677763434.791885449]: IMU: Attitude quaternion IMU detected!
[ INFO] [1677763434.833896595]: RC_CHANNELS message detected!
[ INFO] [1677763436.573897531]: GF: Using MISSION_ITEM_INT
[ INFO] [1677763436.574198052]: RP: Using MISSION_ITEM_INT
[ INFO] [1677763436.574439406]: WP: Using MISSION_ITEM_INT
[ INFO] [1677763436.574704563]: VER: 1.1: Capabilities         0x000000000000e4ff
[ INFO] [1677763436.574910500]: VER: 1.1: Flight software:     010d03ff (1c8ab2a0d7000000)
[ INFO] [1677763436.575072479]: VER: 1.1: Middleware software: 010d03ff (1c8ab2a0d7000000)
[ INFO] [1677763436.575226386]: VER: 1.1: OS software:         0b0000ff (4a1dd8680cd29f51)
[ INFO] [1677763436.575387427]: VER: 1.1: Board hardware:      0000a32f
[ INFO] [1677763436.575509667]: VER: 1.1: VID/PID:             0483:a32f
[ INFO] [1677763436.575674042]: VER: 1.1: UID:                 4b56500220393553
[ WARN] [1677763436.576565552]: VER: broadcast request timeout, retries left 4
[ WARN] [1677763436.577700552]: CMD: Unexpected command 520, result 0
[ INFO] [1677763444.562305862]: HP: requesting home position
[ INFO] [1677763446.236356538]: FCU: Armed by RC (switch)
[ WARN] [1677763448.990843308]: PR: request param #0 timeout, retries left 2, and 639 params still missing
[ WARN] [1677763449.570385443]: CMD: Command 410 -- wait ack timeout
[ WARN] [1677763449.991487943]: PR: request param #0 timeout, retries left 1, and 639 params still missing
[ WARN] [1677763450.561055651]: GF: timeout, retries left 2
[ WARN] [1677763450.562976589]: RP: timeout, retries left 2
[ WARN] [1677763450.564789662]: WP: timeout, retries left 2
[ WARN] [1677763450.992359088]: PR: request param #0 timeout, retries left 0, and 639 params still missing
[ WARN] [1677763451.561796015]: GF: timeout, retries left 1
[ WARN] [1677763451.565450963]: RP: timeout, retries left 1
[ WARN] [1677763451.566457942]: WP: timeout, retries left 1
[ERROR] [1677763451.993137057]: PR: request param #0 completely missing.
[ WARN] [1677763451.993528307]: PR: 638 params still missing, trying to request next: #1
[ WARN] [1677763452.562561692]: GF: timeout, retries left 0
[ WARN] [1677763452.566823671]: RP: timeout, retries left 0
[ WARN] [1677763452.567351380]: WP: timeout, retries left 0
[ WARN] [1677763452.993801275]: PR: request param #1 timeout, retries left 2, and 638 params still missing
[ERROR] [1677763453.563330910]: GF: timed out.
[ERROR] [1677763453.567462733]: RP: timed out.
[ERROR] [1677763453.567857577]: WP: timed out.
[ WARN] [1677763453.994526587]: PR: request param #1 timeout, retries left 1, and 638 params still missing
[ INFO] [1677763454.562307420]: HP: requesting home position
[ WARN] [1677763454.995094347]: PR: request param #1 timeout, retries left 0, and 638 params still missing
[ERROR] [1677763455.997440857]: PR: request param #1 completely missing.
[ WARN] [1677763455.997824295]: PR: 637 params still missing, trying to request next: #2
[ WARN] [1677763456.998651065]: PR: request param #2 timeout, retries left 2, and 637 params still missing

      In this case it shows the data is received on the ros side.
      continue...

      posted in ROS
      Tamas Pal 0T
      Tamas Pal 0
    • Uable to install mavros with staging package manager

      Hi, I am trying to install voxl-vision-hub with staging pkg manager. I have done that. now I am trying to install mavros packages. It is showing error. Please fix this

      voxl2:~$ voxl-configure-pkg-manager 

Which repository do you want to use?
stable  - recommended for most users
staging - packages under testing for next sdk release
sdk-X.Y - Specific SDK release
dev     - recommended for ModalAI development team only

1) dev      3) sdk-0.7  5) sdk-0.9  7) staging
2) sdk-0.6  4) sdk-0.8  6) stable
#? 7
Using repo: staging

Done configuring apt sources
run apt update to pull new repository manifest
voxl2:~$ apt update 
Get:1 file:/data/voxl-suite-offline-packages ./ InRelease
Ign:1 file:/data/voxl-suite-offline-packages ./ InRelease
Get:2 file:/data/voxl-suite-offline-packages ./ Release
Ign:2 file:/data/voxl-suite-offline-packages ./ Release
Get:3 file:/data/voxl-suite-offline-packages ./ Packages                                                      
Ign:3 file:/data/voxl-suite-offline-packages ./ Packages                                                      
Get:4 file:/data/voxl-suite-offline-packages ./ Translation-en                                                
Ign:4 file:/data/voxl-suite-offline-packages ./ Translation-en                                                
Get:3 file:/data/voxl-suite-offline-packages ./ Packages                                                      
Ign:3 file:/data/voxl-suite-offline-packages ./ Packages                                                      
Get:4 file:/data/voxl-suite-offline-packages ./ Translation-en                                                
Ign:4 file:/data/voxl-suite-offline-packages ./ Translation-en                                                
Get:3 file:/data/voxl-suite-offline-packages ./ Packages                                                      
Ign:3 file:/data/voxl-suite-offline-packages ./ Packages                                                      
Get:4 file:/data/voxl-suite-offline-packages ./ Translation-en                                                
Ign:4 file:/data/voxl-suite-offline-packages ./ Translation-en                                                
Get:3 file:/data/voxl-suite-offline-packages ./ Packages [8065 B]                                                                              
Get:4 file:/data/voxl-suite-offline-packages ./ Translation-en                                                                                 
Ign:4 file:/data/voxl-suite-offline-packages ./ Translation-en                                                                                 
Get:4 file:/data/voxl-suite-offline-packages ./ Translation-en                                                                                 
Ign:4 file:/data/voxl-suite-offline-packages ./ Translation-en                                                                
Get:4 file:/data/voxl-suite-offline-packages ./ Translation-en                                                                
Ign:4 file:/data/voxl-suite-offline-packages ./ Translation-en                                                                
Get:4 file:/data/voxl-suite-offline-packages ./ Translation-en                                                                
Ign:4 file:/data/voxl-suite-offline-packages ./ Translation-en                                                                                 
Hit:5 https://download.docker.com/linux/ubuntu bionic InRelease                                                                                
Ign:6 http://voxl-packages.modalai.com qrb5165 InRelease                                                                      
Hit:7 http://voxl-packages.modalai.com qrb5165 Release                                         
Hit:8 http://ports.ubuntu.com/ubuntu-ports bionic InRelease         
Hit:9 http://packages.ros.org/ros/ubuntu bionic InRelease                                     
Ign:10 http://voxl-packages.modalai.com qrb5165 Release.gpg                                   
Hit:11 http://ports.ubuntu.com/ubuntu-ports bionic-updates InRelease                          
Hit:12 http://packages.ros.org/ros2/ubuntu bionic InRelease                                   
Get:13 http://voxl-packages.modalai.com qrb5165/staging arm64 Packages [20.3 kB]              
Hit:14 http://ports.ubuntu.com/ubuntu-ports bionic-backports InRelease                
Hit:15 http://ports.ubuntu.com/ubuntu-ports bionic-security InRelease                 
Fetched 20.3 kB in 3s (7675 B/s)                   
Reading package lists... Done
Building dependency tree       
Reading state information... Done
All packages are up to date.
voxl2:~$ apt-get install ros-melodic-mavros ros-melodic-mavros-extras ros-melodic-control-toolbox
Reading package lists... Done
Building dependency tree       
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:

The following packages have unmet dependencies:
 ros-melodic-mavros : Depends: libeigen3-dev but it is not going to be installed
                      Depends: ros-melodic-eigen-conversions but it is not going to be installed
                      Depends: ros-melodic-tf2-eigen but it is not going to be installed
 ros-melodic-mavros-extras : Depends: ros-melodic-tf2-eigen but it is not going to be installed
E: Unable to correct problems, you have held broken packages.
      posted in VOXL 2
      Tamas Pal 0T
      Tamas Pal 0
    • RE: Voxl2 + flight core in custom frame

      @Steve-Turner Which imu should be used for imu_px4 in extrinsics file ? Will it be the same as voxl2's imu_px4 or it will be flight-core's imu?

      posted in VOXL 2
      Tamas Pal 0T
      Tamas Pal 0
    • How to record voxl hires camera video in 4k?

      Re: Voxl flight Camera recording
      Hi
      I want to record hires camera output in 4k in the voxl2 itself. How to do that ?

      posted in VOXL 2
      Tamas Pal 0T
      Tamas Pal 0
    • Loss and gain of altitude of in position mode flight

      I am using flight core as external flight controller with voxl2. Additionally, it has a range finder as primary sensor to augment the altitude data. I have observed that when I move forward with throttle at 50%, it is gaining some altitude and come reverse (along negative x axis w.r.t body frame axis ) it is loosing altitude. The gain and loss of altitude is around +-0.2m. It is not a sensor issue, as during flight the changes in altitude are visible in mavlink inspector in distance sesnor segment and as soon as I stop giving pitch or roll input (throttle always at 50%) it comes back to its correct altitude. This phenomena is only observed when the quad is in motion. I have set the offset parameters with respect to cg for both the flight-core and range finder. But, I am still observing this issue. How to solve it?

      posted in VOXL 2
      Tamas Pal 0T
      Tamas Pal 0
    • Address not mapped

      Re: Address not mapped
      I am having similar issue. Please help me to fix this

      voxl2:/$ voxl-configure-cameras 4
Camera Configuration: 4
enabling and starting voxl-camera-server
Done Configuring Cameras
voxl2:/$ voxl-camera-server -d 0
existing instance of voxl-camera-server found, attempting to stop it
No secondary id found for camera: tracking, assuming mono
No secondary id found for camera: hires, assuming mono
------ voxl-camera-server: Starting camera server
Attempting to open the hal module
SUCCESS: Camera module opened on attempt 0
----------- Number of cameras: 1

Cam idx: 0, Cam slot: 2, Slave Address: 0x00C0, Sensor Id: 0x7750
Successfully found configuration match for camera 0: 640x480
Allocating Buffer: 640x480 : HAL_PIXEL_FORMAT_YCBCR_420_888
Allocating Buffer: 640x480 : HAL_PIXEL_FORMAT_YCBCR_420_888
Allocating Buffer: 640x480 : HAL_PIXEL_FORMAT_YCBCR_420_888
Allocating Buffer: 640x480 : HAL_PIXEL_FORMAT_YCBCR_420_888
Allocating Buffer: 640x480 : HAL_PIXEL_FORMAT_YCBCR_420_888
Allocating Buffer: 640x480 : HAL_PIXEL_FORMAT_YCBCR_420_888
Allocating Buffer: 640x480 : HAL_PIXEL_FORMAT_YCBCR_420_888
Allocating Buffer: 640x480 : HAL_PIXEL_FORMAT_YCBCR_420_888
Allocating Buffer: 640x480 : HAL_PIXEL_FORMAT_YCBCR_420_888
Allocating Buffer: 640x480 : HAL_PIXEL_FORMAT_YCBCR_420_888
Allocating Buffer: 640x480 : HAL_PIXEL_FORMAT_YCBCR_420_888
Allocating Buffer: 640x480 : HAL_PIXEL_FORMAT_YCBCR_420_888
Allocating Buffer: 640x480 : HAL_PIXEL_FORMAT_YCBCR_420_888
Allocating Buffer: 640x480 : HAL_PIXEL_FORMAT_YCBCR_420_888
Allocating Buffer: 640x480 : HAL_PIXEL_FORMAT_YCBCR_420_888
Allocating Buffer: 640x480 : HAL_PIXEL_FORMAT_YCBCR_420_888
Entered thread: cam0-request(tid: 21393)
	Started Camera: tracking
Entered thread: cam0-result(tid: 21394)

Segmentation fault:
Fault thread: voxl-camera-ser(tid: 21362)
Fault address: 0x566016f321
Address not mapped.
Segmentation fault
voxl2:/$ voxl-camera-server -d 0
No secondary id found for camera: tracking, assuming mono
No secondary id found for camera: hires, assuming mono
------ voxl-camera-server: Starting camera server
Attempting to open the hal module
SUCCESS: Camera module opened on attempt 0
----------- Number of cameras: 2

Cam idx: 0, Cam slot: 0, Slave Address: 0x007A, Sensor Id: 0x003D
Cam idx: 1, Cam slot: 2, Slave Address: 0x00C0, Sensor Id: 0x7750
ERROR:   Camera 0 failed to find supported preview config: 640x480
ERROR:   Failed to start camera: tracking, exiting
voxl2:/$ voxl-camera-server -d 0
No secondary id found for camera: tracking, assuming mono
No secondary id found for camera: hires, assuming mono
------ voxl-camera-server: Starting camera server
Attempting to open the hal module
SUCCESS: Camera module opened on attempt 0
----------- Number of cameras: 2

Cam idx: 0, Cam slot: 0, Slave Address: 0x007A, Sensor Id: 0x003D
Cam idx: 1, Cam slot: 2, Slave Address: 0x00C0, Sensor Id: 0x7750
ERROR:   Camera 0 failed to find supported preview config: 640x480
ERROR:   Failed to start camera: tracking, exiting
voxl2:/$
      posted in VOXL 2
      Tamas Pal 0T
      Tamas Pal 0
    • Voxl2 + flight core in custom frame

      I am using voxl2 with flight core in a custom frame with a TOF sensor. I understand that I have to change the coordinates in extrinsics.conf file. Please give me a detailed answer what all changes I have to make in extrinsics.conf file for imu positions (which imu is for qvio and flight-core etc.). Is there anything else that I have to change other than extrinsics and mavlink configuration file for this set up?

      posted in VOXL 2
      Tamas Pal 0T
      Tamas Pal 0
    • Failsafe not working properly

      We were fliying the quad indoors with flight core connected to voxl2. Somehow the RC receiver physically got disconnected (the wire got disconnected). After that ideally it should land. But it generated some random setpoints and started drifting and hit a wall. The failsafe clearly did not work as it should. I am sharing the flight log review of the same. (No virtual joystick was enabled in QGC during the flight)
      https://review.px4.io/plot_app?log=57282b64-96ef-4291-9c69-86fc5a964928
      Why had happened here and how to avoid it ?

      posted in Flight Core
      Tamas Pal 0T
      Tamas Pal 0
    • RE: VOXL2 QVIO recover during flight after failure

      A small observation from my side. While we are flying the quad indoors with compass disabled and using a external optical sensors (in both cases) the qvio recovers itself even after force restarting it using terminal, but the same does not recovers itself outside. For both the cases the exposure and gain of tracking cam was in auto. Can you tell us what might be the issue

      posted in VOXL 2
      Tamas Pal 0T
      Tamas Pal 0
    • RE: Communication problem between VOXL2 and flight core while using MAVROS.

      @modaltb I also have this question

      posted in VOXL 2
      Tamas Pal 0T
      Tamas Pal 0