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    U
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    Posts made by umlr

    • RE: issue with voxl streamer not reconnecting

      It would be nice to have at least the service failing when this happens, so we can detect the issue and restart the service.

      posted in Qualcomm Flight RB5 5G Drone
      U
      umlr
    • GPIO on RB5 drone

      Hello,

      I would need to use GPIO to attach a payload to the drone. I could not find much information on if GPIO are present or usable.

      The documentation mentions some connectors being GPIO (J3 & J5) but they do not seem to be accessible and seem to be already used internally.

      posted in Qualcomm Flight RB5 5G Drone
      U
      umlr
    • Offboard mode and figure 8

      I was trying to fly in offboard mode and I had a very weird behavior. I'm wondering if the drone is not trying to do a figure 8 when switched to offboard like by default with the VOXL.

      I tried sending a zero velocity command with MAVROS but the drone is still moving. Looking at the log I see a position setpoint for x,y,z (while I'm only sending velocity). I can also see the zero velocity setpoint (for vx, vy, vz) fighting with some other setpoint value.

      I also want to add that I set the PX4 parameters according to documentation and that position flight mode is working fine and very stable.

      Is the RB5 also doing a figure 8 when switching to offboard and how to deactivate it to use input from MAVROS instead? It doesn't have an equivalent to voxl-vision-px4 configuration file.

      posted in Qualcomm Flight RB5 5G Drone
      U
      umlr
    • RE: Streaming stopping after running once

      @Hector-Nevarez Thanks for the quick reply. If the camera server are disabled I guess VIO can not work?

      posted in Qualcomm Flight RB5 5G Drone
      U
      umlr
    • Streaming stopping after running once

      Hello,

      I got some issue with the Hi-Res streaming. I've setup the streaming service according to the documentation (https://docs.modalai.com/Qualcomm-Flight-RB5-streamer/).

      Using either ffplay or VLC, I'm able to see the stream properly on rtsp://VEHICLE_IP:8554/camera3. However if I stop looking at the stream from ffplay (and/or VLC) and start looking again I cannot get anything.

      Restarting the rb5-streamer or the camera service has no impact either. Streaming is only working again after restarting the whole drone.

      posted in Qualcomm Flight RB5 5G Drone
      U
      umlr
    • RE: Camera Calibration

      @Jeremy-Schmidt
      Ah you are right they are all here, I thought I erased everything when flashing the new image.

      posted in Qualcomm Flight RB5 5G Drone
      U
      umlr
    • RE: MAVROS integration & FCU URL

      Another update that could be useful to someone:

      I needed to have a high enough frequency on the local position feedback (ROS topic /mavros/local_position/pose) but I was only receiving at 1hz. Usual solution with most FCU is to set the parameter MAV_1_MODE to Onboard but this parameter is not available on the RB5.

      Instead I added the line mavlink stream -u 14558 -s LOCAL_POSITION_NED -r 100 in /etc/modalai/full-m0052.config to set the stream rate. The end of my file looks like that.

      # Configure a second mavlink instance for onboard messages (e.g. VIO and VOA)
mavlink start -u 14556 -t 127.0.0.1 -n lo -m custom
mavlink start -x -o 14540 -u 14558 -n lo

sleep 1

mavlink stream -u 14557 -s HIGHRES_IMU -r 5
mavlink stream -u 14557 -s ATTITUDE -r 5
mavlink stream -u 14557 -s RC_CHANNELS -r 20
mavlink stream -u 14558 -s LOCAL_POSITION_NED -r 100

sleep 1

# Start up the IMU server to support VIO
imu_server start

      And this way I managed to get a frequency of around 55hz on /mavros/local_position/pose.

      posted in Qualcomm Flight RB5 5G Drone
      U
      umlr
    • RE: QGroundControl USB connection for sensor calibration

      @umlr said in QGroundControl USB connection for sensor calibration:

      Performing sensor calibration over a WiFi connection is known to be unreliable. You should disconnect and perform calibration using a direct USB connection instead.

      Alright good to know that calibrating over WiFi is fine.

      Yes WiFi connection with QGroundControl worked pretty much out-of-the-box.

      posted in Qualcomm Flight RB5 5G Drone
      U
      umlr
    • QGroundControl USB connection for sensor calibration

      It's not mentioned anywhere in the documentation how to connect to the RB5 by USB with QGroundControl and simply plugging the drone doesn't work (neither does trying to set the serial connection manually in QGroundControl).

      I ask this because when calibrating the sensors in QGroundControl over WiFi I get the error message "Performing sensor calibration over a WiFi connection is known to be unreliable. You should disconnect and perform calibration using a direct USB connection instead."

      Do I need to setup a new MAVLINK instance as it was needed for MAVROS (https://forum.modalai.com/topic/725/mavros-integration-fcu-url)? Or the sensor calibration over WiFi is fine?

      posted in Qualcomm Flight RB5 5G Drone
      U
      umlr
    • RE: Camera Calibration

      Any timeline on when it will be available?

      In the meantime here are the 2 SN we need the camera calibration files of:

      • M2100000C2P
      • M210000098D
      posted in Qualcomm Flight RB5 5G Drone
      U
      umlr
    • Camera Calibration

      I know the RB5 comes pre-calibrated, but in the case the calibration of the cameras needs to be performed again (after flashing, bad performances...), is there a similar tool as the one existing for VOXL? (https://docs.modalai.com/calibrate-cameras/) I cannot find anything like this in the RB5 documentation.

      posted in Qualcomm Flight RB5 5G Drone
      U
      umlr
    • RE: MAVROS integration & FCU URL

      @Eric-Katzfey Thanks for your help! I added the mavlink instance as you suggested and it works.

      To recap for anyone with the same issue.

      1. Add mavlink start -x -o 14540 -u 14558 -n lo in /etc/modalai/full-m0052.config after the line mavlink start -u 14556 -t 127.0.0.1 -n lo -m custom

      2. Run MAVROS locally using the following (adapt tgt_system to your target system ID)

      roslaunch mavros px4.launch fcu_url:=udp://127.0.0.1:14540@:14558 tgt_system:=1
      posted in Qualcomm Flight RB5 5G Drone
      U
      umlr
    • RE: MAVROS integration & FCU URL

      An update:

      I managed to get some kind of connection working on ttyUSB0 but I still got a lot of issues.

      I added a mavlink serial stream in /etc/modalai/full-m0052.config by adding the following line (tried with different baud rates).

      mavlink start -d /dev/ttyUSB0 -b 57600 -r 20000 -m onboard

      Launching mavros using:

      roslaunch mavros px4.launch fcu_url:=/dev/ttyUSB0:57600 tgt_system:=140

      Will give the following errors:

      started roslaunch server http://127.0.0.1:35521/

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: /dev/ttyUSB0:57600
 * /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: 140
 * /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: noetic
 * /rosversion: 1.15.14

NODES
  /
    mavros (mavros/mavros_node)

auto-starting new master
process[master]: started with pid [128]
ROS_MASTER_URI=http://127.0.0.1:11311

setting /run_id to b5ae965e-8a6f-11ec-b8b7-00037f12fd78
process[rosout-1]: started with pid [138]
started core service [/rosout]
process[mavros-2]: started with pid [146]
[ INFO] [1644497294.714175814]: FCU URL: /dev/ttyUSB0:57600
[ INFO] [1644497294.716806765]: serial0: device: /dev/ttyUSB0 @ 57600 bps
[ INFO] [1644497294.718143109]: GCS bridge disabled
[ INFO] [1644497294.736680394]: Plugin 3dr_radio loaded
[ INFO] [1644497294.744110305]: Plugin 3dr_radio initialized
[ INFO] [1644497294.744244695]: Plugin actuator_control loaded
[ INFO] [1644497294.747218942]: Plugin actuator_control initialized
[ INFO] [1644497294.752170375]: Plugin adsb loaded
[ INFO] [1644497294.755233416]: Plugin adsb initialized
[ INFO] [1644497294.755420958]: Plugin altitude loaded
[ INFO] [1644497294.756526875]: Plugin altitude initialized
[ INFO] [1644497294.756649228]: Plugin cam_imu_sync loaded
[ INFO] [1644497294.757191634]: Plugin cam_imu_sync initialized
[ INFO] [1644497294.757365471]: Plugin command loaded
[ INFO] [1644497294.762948053]: Plugin command initialized
[ INFO] [1644497294.763087654]: Plugin companion_process_status loaded
[ INFO] [1644497294.764991939]: Plugin companion_process_status initialized
[ INFO] [1644497294.767453065]: Plugin debug_value loaded
[ INFO] [1644497294.771286022]: Plugin debug_value initialized
[ INFO] [1644497294.771344697]: Plugin distance_sensor blacklisted
[ INFO] [1644497294.771509884]: Plugin fake_gps loaded
[ INFO] [1644497294.781571527]: Plugin fake_gps initialized
[ INFO] [1644497294.781784967]: Plugin ftp loaded
[ INFO] [1644497294.788256117]: Plugin ftp initialized
[ INFO] [1644497294.788456009]: Plugin global_position loaded
[ INFO] [1644497294.799789810]: Plugin global_position initialized
[ INFO] [1644497294.799951245]: Plugin gps_rtk loaded
[ INFO] [1644497294.801789820]: Plugin gps_rtk initialized
[ INFO] [1644497294.801950317]: Plugin hil loaded
[ INFO] [1644497294.811865532]: Plugin hil initialized
[ INFO] [1644497294.812071677]: Plugin home_position loaded
[ INFO] [1644497294.815328096]: Plugin home_position initialized
[ INFO] [1644497294.815564308]: Plugin imu loaded
[ INFO] [1644497294.820583066]: Plugin imu initialized
[ INFO] [1644497294.820723136]: Plugin landing_target loaded
[ INFO] [1644497294.831767353]: Plugin landing_target initialized
[ INFO] [1644497294.831906068]: Plugin local_position loaded
[ INFO] [1644497294.837216378]: Plugin local_position initialized
[ INFO] [1644497294.837338418]: Plugin log_transfer loaded
[ INFO] [1644497294.842142955]: Plugin log_transfer initialized
[ INFO] [1644497294.842299491]: Plugin manual_control loaded
[ INFO] [1644497294.848333705]: Plugin manual_control initialized
[ INFO] [1644497294.848478309]: Plugin mocap_pose_estimate loaded
[ INFO] [1644497294.850915620]: Plugin mocap_pose_estimate initialized
[ INFO] [1644497294.851052512]: Plugin mount_control loaded
[ INFO] [1644497294.855169569]: Plugin mount_control initialized
[ INFO] [1644497294.855311619]: Plugin obstacle_distance loaded
[ INFO] [1644497294.859459734]: Plugin obstacle_distance initialized
[ INFO] [1644497294.859597303]: Plugin odom loaded
[ INFO] [1644497294.863852346]: Plugin odom initialized
[ INFO] [1644497294.863983297]: Plugin onboard_computer_status loaded
[ INFO] [1644497294.865691286]: Plugin onboard_computer_status initialized
[ INFO] [1644497294.865915564]: Plugin param loaded
[ INFO] [1644497294.869083450]: Plugin param initialized
[ INFO] [1644497294.869244155]: Plugin px4flow loaded
[ INFO] [1644497294.876249427]: Plugin px4flow initialized
[ INFO] [1644497294.876290124]: Plugin rangefinder blacklisted
[ INFO] [1644497294.876493351]: Plugin rc_io loaded
[ INFO] [1644497294.879109606]: Plugin rc_io initialized
[ INFO] [1644497294.879156192]: Plugin safety_area blacklisted
[ INFO] [1644497294.879273438]: Plugin setpoint_accel loaded
[ INFO] [1644497294.882430849]: Plugin setpoint_accel initialized
[ INFO] [1644497294.882702495]: Plugin setpoint_attitude loaded
[ INFO] [1644497294.893776207]: Plugin setpoint_attitude initialized
[ INFO] [1644497294.894115751]: Plugin setpoint_position loaded
[ INFO] [1644497294.903744834]: Plugin setpoint_position initialized
[ INFO] [1644497294.904512510]: Plugin setpoint_raw loaded
[ INFO] [1644497294.913539886]: Plugin setpoint_raw initialized
[ INFO] [1644497294.913738735]: Plugin setpoint_trajectory loaded
[ INFO] [1644497294.929639963]: Plugin setpoint_trajectory initialized
[ INFO] [1644497294.929829849]: Plugin setpoint_velocity loaded
[ INFO] [1644497294.934190935]: Plugin setpoint_velocity initialized
[ INFO] [1644497294.934582068]: Plugin sys_status loaded
[ INFO] [1644497294.946098500]: Plugin sys_status initialized
[ INFO] [1644497294.946281561]: Plugin sys_time loaded
[ INFO] [1644497294.953763737]: TM: Timesync mode: MAVLINK
[ INFO] [1644497294.954854282]: Plugin sys_time initialized
[ INFO] [1644497294.955021814]: Plugin trajectory loaded
[ INFO] [1644497294.959519999]: Plugin trajectory initialized
[ INFO] [1644497294.959697953]: Plugin vfr_hud loaded
[ INFO] [1644497294.962785381]: Plugin vfr_hud initialized
[ INFO] [1644497294.962844473]: Plugin vibration blacklisted
[ INFO] [1644497294.962985273]: Plugin vision_pose_estimate loaded
[ INFO] [1644497294.969410359]: Plugin vision_pose_estimate initialized
[ INFO] [1644497294.969568354]: Plugin vision_speed_estimate loaded
[ INFO] [1644497294.972662818]: Plugin vision_speed_estimate initialized
[ INFO] [1644497294.972857081]: Plugin waypoint loaded
[ INFO] [1644497294.979514836]: Plugin waypoint initialized
[ INFO] [1644497294.979571739]: Plugin wheel_odometry blacklisted
[ INFO] [1644497294.979705504]: Plugin wind_estimation loaded
[ INFO] [1644497294.980244940]: Plugin wind_estimation initialized
[ INFO] [1644497294.980320811]: Autostarting mavlink via USB on PX4
[ INFO] [1644497294.980513824]: Built-in SIMD instructions: ARM NEON
[ INFO] [1644497294.980561296]: Built-in MAVLink package version: 2020.6.6
[ INFO] [1644497294.980583912]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1644497294.980598919]: MAVROS started. MY ID 1.240, TARGET ID 140.1
[ INFO] [1644497295.440938800]: IMU: Attitude quaternion IMU detected!
[ INFO] [1644497301.933338907]: IMU: High resolution IMU detected!
[ WARN] [1644497327.169825716]: TM : RTT too high for timesync: 1644496290819.24 ms.
[ WARN] [1644497327.172690387]: CMD: Unexpected command 200, result 4
[ WARN] [1644497337.591434803]: TM : RTT too high for timesync: 1644496290541.59 ms.
[ WARN] [1644497344.210049731]: CMD: Unexpected command 200, result 4
[ WARN] [1644497344.808649428]: TM : RTT too high for timesync: 253.45 ms.
[ WARN] [1644497354.378344512]: TM : RTT too high for timesync: 118.36 ms.
[ WARN] [1644497365.156384473]: TM : RTT too high for timesync: 1644496290605.98 ms.
[ INFO] [1644497373.358340297]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1644497373.403917305]: IMU: Attitude quaternion IMU detected!
[ WARN] [1644497375.373903108]: VER: broadcast request timeout, retries left 4
[ WARN] [1644497376.374285764]: VER: broadcast request timeout, retries left 3
[ WARN] [1644497382.378677965]: VER: unicast request timeout, retries left 2
[ INFO] [1644497383.362510985]: HP: requesting home position
[ WARN] [1644497383.364569045]: CON: Lost connection, HEARTBEAT timed out.
[ INFO] [1644497383.549022387]: IMU: Attitude quaternion IMU detected!
[ WARN] [1644497387.398762128]: CMD: Command 520 -- wait ack timeout
[ WARN] [1644497387.404753274]: PR: request param #0 timeout, retries left 2, and 609 params still missing
[ WARN] [1644497388.373647222]: CMD: Command 410 -- wait ack timeout
[ WARN] [1644497388.406444188]: PR: request param #0 timeout, retries left 1, and 609 params still missing
[ WARN] [1644497388.859446485]: TM : RTT too high for timesync: 156.31 ms.
[ WARN] [1644497389.408527120]: PR: request param #0 timeout, retries left 0, and 609 params still missing
[ERROR] [1644497390.409564636]: PR: request param #0 completely missing.
[ WARN] [1644497390.411134535]: PR: 608 params still missing, trying to request next: #1
[ WARN] [1644497391.411360578]: PR: request param #1 timeout, retries left 2, and 608 params still missing
[ WARN] [1644497392.403711901]: PR: request param #1 timeout, retries left 1, and 608 params still missing
[ WARN] [1644497393.405928494]: PR: request param #1 timeout, retries left 0, and 608 params still missing
[ERROR] [1644497394.407300447]: PR: request param #1 completely missing.
[ WARN] [1644497394.408432158]: PR: 607 params still missing, trying to request next: #2
[ WARN] [1644497395.408714817]: PR: request param #2 timeout, retries left 2, and 607 params still missing
[ INFO] [1644497395.503135963]: IMU: High resolution IMU detected!
[ WARN] [1644497396.503682815]: PR: request param #3 timeout, retries left 2, and 606 params still missing
[ WARN] [1644497397.505073527]: PR: request param #3 timeout, retries left 1, and 606 params still missing
[ WARN] [1644497398.506513898]: PR: request param #3 timeout, retries left 0, and 606 params still missing
[ WARN] [1644497398.632140494]: TM : RTT too high for timesync: 30.71 ms.
[ERROR] [1644497399.508405695]: PR: request param #3 completely missing.
[ WARN] [1644497399.509034343]: PR: 605 params still missing, trying to request next: #4
[ WARN] [1644497400.509314187]: PR: request param #4 timeout, retries left 2, and 605 params still missing
[ WARN] [1644497401.510247586]: PR: request param #4 timeout, retries left 1, and 605 params still missing
[ WARN] [1644497402.511594944]: PR: request param #4 timeout, retries left 0, and 605 params still missing
[ERROR] [1644497403.512411879]: PR: request param #4 completely missing.
[ WARN] [1644497403.513780219]: PR: 604 params still missing, trying to request next: #5
[ WARN] [1644497403.853859468]: CMD: Unexpected command 200, result 4
[ WARN] [1644497404.514771981]: PR: request param #5 timeout, retries left 2, and 604 params still missing
[ WARN] [1644497405.516676804]: PR: request param #5 timeout, retries left 1, and 604 params still missing
[ WARN] [1644497406.519431322]: PR: request param #5 timeout, retries left 0, and 604 params still missing
[ERROR] [1644497407.520202507]: PR: request param #5 completely missing.
[ WARN] [1644497407.521118381]: PR: 603 params still missing, trying to request next: #6
[ WARN] [1644497408.521594938]: PR: request param #6 timeout, retries left 2, and 603 params still missing
[ WARN] [1644497409.523688501]: PR: request param #6 timeout, retries left 1, and 603 params still missing
[ WARN] [1644497410.525578474]: PR: request param #6 timeout, retries left 0, and 603 params still missing
[ERROR] [1644497411.527071634]: PR: request param #6 completely missing.
[ WARN] [1644497411.528027320]: PR: 602 params still missing, trying to request next: #7
[ WARN] [1644497412.528616746]: PR: request param #7 timeout, retries left 2, and 602 params still missing
[ WARN] [1644497413.529532430]: PR: request param #7 timeout, retries left 1, and 602 params still missing
[ WARN] [1644497414.530423568]: PR: request param #7 timeout, retries left 0, and 602 params still missing
[ERROR] [1644497415.531906046]: PR: request param #7 completely missing.
[ WARN] [1644497415.532438812]: PR: 601 params still missing, trying to request next: #8

      Connection is working partially and it's possible to get some message on some topics intermittently.

      posted in Qualcomm Flight RB5 5G Drone
      U
      umlr
    • MAVROS integration & FCU URL

      Hello,

      I could find any information or example code for running MAVROS on the RB5 (like it exists for the VOXL here: https://docs.modalai.com/mavros/). Is there any documentation around?

      I tried running MAVROS on the RB5 (from a docker container running ROS noetic and MAVROS) but it is unable to connect to the FCU. I'm not sure of the address of the FCU and what port to use, and using the default address (localhost) and port did not work:

      roslaunch mavros px4.launch fcu_url:=udp://127.0.0.1:14551@:14551
      posted in Qualcomm Flight RB5 5G Drone
      U
      umlr