weixin_39882623
2020-12-27 03:56 阅读 27

mavros connecting error between Jetson Nano and Pixhawk

Issue details

Hi, I'm using Jetson Nano as a companion computer for Pixhawk .

I followed the instruction https://dev.px4.io/master/en/companion_computer/pixhawk_companion.html#companion-computer-for-pixhawk-series

I made the same configuration as I did on rasberrypi which works fine, but I got the following warnings and errors. I can't use offboard mode at all.

Can anyone tell me what's wrong in my logs and diagnostic? Or what's the probable cause to these errors and warnings. I am new to this.

Thanks in advance.

MAVROS version and platform

Mavros: 1.2.0 ROS: Melodic Ubuntu: 18.04

Autopilot type and version

[ ] PX4

Version: 1.10.1

Node logs


... logging to /home/amov/.ros/log/dc5a537e-c50e-11ea-9339-d6828bb119a5/roslaunch-amov-12836.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://amov:41377/

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/ttyTHS1:921600
 * /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: 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: 6
 * /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: 1.14.6

NODES
  /
    mavros (mavros/mavros_node)

auto-starting new master
process[master]: started with pid [12860]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to dc5a537e-c50e-11ea-9339-d6828bb119a5
process[rosout-1]: started with pid [12871]
started core service [/rosout]
process[mavros-2]: started with pid [12879]
[ INFO] [1594647824.828459533]: FCU URL: /dev/ttyTHS1:921600
[ INFO] [1594647824.835614725]: serial0: device: /dev/ttyTHS1 @ 921600 bps
[ INFO] [1594647824.836623511]: GCS bridge disabled
[ INFO] [1594647824.892050703]: Plugin 3dr_radio loaded
[ INFO] [1594647824.898352684]: Plugin 3dr_radio initialized
[ INFO] [1594647824.898660810]: Plugin actuator_control loaded
[ INFO] [1594647824.911242822]: Plugin actuator_control initialized
[ INFO] [1594647824.925473854]: Plugin adsb loaded
[ INFO] [1594647824.943532581]: Plugin adsb initialized
[ INFO] [1594647824.943986532]: Plugin altitude loaded
[ INFO] [1594647824.948758103]: Plugin altitude initialized
[ INFO] [1594647824.949134736]: Plugin cam_imu_sync loaded
[ INFO] [1594647824.951955573]: Plugin cam_imu_sync initialized
[ INFO] [1594647824.953155178]: Plugin command loaded
[ INFO] [1594647824.978212584]: Plugin command initialized
[ INFO] [1594647824.978974243]: Plugin companion_process_status loaded
[ INFO] [1594647824.987590087]: Plugin companion_process_status initialized
[ INFO] [1594647824.987973081]: Plugin debug_value loaded
[ INFO] [1594647825.005195175]: Plugin debug_value initialized
[ INFO] [1594647825.005352667]: Plugin distance_sensor blacklisted
[ INFO] [1594647825.005760864]: Plugin fake_gps loaded
[ INFO] [1594647825.052836224]: Plugin fake_gps initialized
[ INFO] [1594647825.053340885]: Plugin ftp loaded
[ INFO] [1594647825.077888927]: Plugin ftp initialized
[ INFO] [1594647825.078348335]: Plugin global_position loaded
[ INFO] [1594647825.135012193]: Plugin global_position initialized
[ INFO] [1594647825.135698855]: Plugin gps_rtk loaded
[ INFO] [1594647825.144046715]: Plugin gps_rtk initialized
[ INFO] [1594647825.144828678]: Plugin hil loaded
[ INFO] [1594647825.193798337]: Plugin hil initialized
[ INFO] [1594647825.194224483]: Plugin home_position loaded
[ INFO] [1594647825.206151107]: Plugin home_position initialized
[ INFO] [1594647825.206576889]: Plugin imu loaded
[ INFO] [1594647825.241723223]: Plugin imu initialized
[ INFO] [1594647825.242174863]: Plugin landing_target loaded
[ INFO] [1594647825.294214089]: Plugin landing_target initialized
[ INFO] [1594647825.294995219]: Plugin local_position loaded
[ INFO] [1594647825.320804235]: Plugin local_position initialized
[ INFO] [1594647825.321322972]: Plugin log_transfer loaded
[ INFO] [1594647825.332838516]: Plugin log_transfer initialized
[ INFO] [1594647825.333503907]: Plugin manual_control loaded
[ INFO] [1594647825.345742242]: Plugin manual_control initialized
[ INFO] [1594647825.346197532]: Plugin mocap_pose_estimate loaded
[ INFO] [1594647825.361276252]: Plugin mocap_pose_estimate initialized
[ INFO] [1594647825.361826582]: Plugin mount_control loaded
[ INFO] [1594647825.375974964]: Plugin mount_control initialized
[ INFO] [1594647825.377189747]: Plugin obstacle_distance loaded
[ INFO] [1594647825.386871048]: Plugin obstacle_distance initialized
[ INFO] [1594647825.387355220]: Plugin odom loaded
[ INFO] [1594647825.406182714]: Plugin odom initialized
[ INFO] [1594647825.407413294]: Plugin onboard_computer_status loaded
[ INFO] [1594647825.415838208]: Plugin onboard_computer_status initialized
[ INFO] [1594647825.416818960]: Plugin param loaded
[ INFO] [1594647825.434384124]: Plugin param initialized
[ INFO] [1594647825.434804953]: Plugin px4flow loaded
[ INFO] [1594647825.460152111]: Plugin px4flow initialized
[ INFO] [1594647825.460445992]: Plugin rangefinder blacklisted
[ INFO] [1594647825.461059510]: Plugin rc_io loaded
[ INFO] [1594647825.476597794]: Plugin rc_io initialized
[ INFO] [1594647825.477550081]: Plugin safety_area blacklisted
[ INFO] [1594647825.478224856]: Plugin setpoint_accel loaded
[ INFO] [1594647825.489847380]: Plugin setpoint_accel initialized
[ INFO] [1594647825.490500154]: Plugin setpoint_attitude loaded
[ INFO] [1594647825.526240038]: Plugin setpoint_attitude initialized
[ INFO] [1594647825.526948336]: Plugin setpoint_position loaded
[ INFO] [1594647825.584462088]: Plugin setpoint_position initialized
[ INFO] [1594647825.585585010]: Plugin setpoint_raw loaded
[ INFO] [1594647825.620251448]: Plugin setpoint_raw initialized
[ INFO] [1594647825.621619558]: Plugin setpoint_trajectory loaded
[ INFO] [1594647825.640832065]: Plugin setpoint_trajectory initialized
[ INFO] [1594647825.643043552]: Plugin setpoint_velocity loaded
[ INFO] [1594647825.667894913]: Plugin setpoint_velocity initialized
[ INFO] [1594647825.668836772]: Plugin sys_status loaded
[ INFO] [1594647825.709399920]: Plugin sys_status initialized
[ INFO] [1594647825.711300948]: Plugin sys_time loaded
[ INFO] [1594647825.732294416]: TM: Timesync mode: MAVLINK
[ INFO] [1594647825.738079976]: Plugin sys_time initialized
[ INFO] [1594647825.738517331]: Plugin trajectory loaded
[ INFO] [1594647825.758356389]: Plugin trajectory initialized
[ INFO] [1594647825.758831958]: Plugin vfr_hud loaded
[ INFO] [1594647825.761321322]: Plugin vfr_hud initialized
[ INFO] [1594647825.761729743]: Plugin vibration blacklisted
[ INFO] [1594647825.762744591]: Plugin vision_pose_estimate loaded
[ INFO] [1594647825.792850105]: Plugin vision_pose_estimate initialized
[ INFO] [1594647825.793411383]: Plugin vision_speed_estimate loaded
[ INFO] [1594647825.807664191]: Plugin vision_speed_estimate initialized
[ INFO] [1594647825.808557044]: Plugin waypoint loaded
[ INFO] [1594647825.828929280]: Plugin waypoint initialized
[ INFO] [1594647825.829236977]: Plugin wheel_odometry blacklisted
[ INFO] [1594647825.829629027]: Plugin wind_estimation loaded
[ INFO] [1594647825.832063546]: Plugin wind_estimation initialized
[ INFO] [1594647825.832248206]: Autostarting mavlink via USB on PX4
[ INFO] [1594647825.832410761]: Built-in SIMD instructions: ARM NEON
[ INFO] [1594647825.832653968]: Built-in MAVLink package version: 2020.6.6
[ INFO] [1594647825.832750833]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1594647825.832865164]: MAVROS started. MY ID 1.240, TARGET ID 6.1
[ INFO] [1594647825.840702211]: IMU: High resolution IMU detected!
[ INFO] [1594647825.848839083]: IMU: Attitude quaternion IMU detected!
[ INFO] [1594647826.147730560]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1594647826.167577543]: IMU: High resolution IMU detected!
[ INFO] [1594647826.168079579]: IMU: Attitude quaternion IMU detected!
[ INFO] [1594647827.174791861]: WP: Using MISSION_ITEM_INT
[ INFO] [1594647827.178171905]: VER: 6.1: Capabilities         0x000000000000e4ef
[ INFO] [1594647827.179491800]: VER: 6.1: Flight software:     010a01ff (e0f016c2b3000000)
[ INFO] [1594647827.180239301]: VER: 6.1: Middleware software: 010a01ff (e0f016c2b3000000)
[ INFO] [1594647827.181305059]: VER: 6.1: OS software:         071d00ff (427238133be2b0ec)
[ INFO] [1594647827.182030821]: VER: 6.1: Board hardware:      00000011
[ INFO] [1594647827.182759555]: VER: 6.1: VID/PID:             26ac:0011
[ INFO] [1594647827.183248071]: VER: 6.1: UID:                 3438510135383135
[ WARN] [1594647827.183873065]: CMD: Unexpected command 520, result 0
[ INFO] [1594647836.150774963]: HP: requesting home position
[ WARN] [1594647837.151777345]: PR: request list timeout, retries left 2
[ WARN] [1594647841.163960368]: CMD: Command 410 -- wait ack timeout
[ WARN] [1594647841.519582427]: PR: request param #0 timeout, retries left 1, and 141 params still missing
[ WARN] [1594647842.151426064]: WP: timeout, retries left 2
[ WARN] [1594647842.539134523]: PR: request param #6 timeout, retries left 2, and 138 params still missing
[ WARN] [1594647843.152548819]: WP: timeout, retries left 1
[ INFO] [1594647843.157580914]: WP: mission received
[ WARN] [1594647843.540133617]: PR: request param #6 timeout, retries left 1, and 138 params still missing
[ WARN] [1594647844.541374902]: PR: request param #6 timeout, retries left 0, and 138 params still missing
[ERROR] [1594647845.542590971]: PR: request param #6 completely missing.
[ WARN] [1594647845.543221449]: PR: 137 params still missing, trying to request next: #7
[ INFO] [1594647846.149945159]: HP: requesting home position
[ WARN] [1594647846.543337003]: PR: request param #7 timeout, retries left 2, and 137 params still missing
[ WARN] [1594647847.544197836]: PR: request param #7 timeout, retries left 1, and 137 params still missing
[ WARN] [1594647848.544916055]: PR: request param #7 timeout, retries left 0, and 137 params still missing
[ERROR] [1594647849.545752460]: PR: request param #7 completely missing.
[ WARN] [1594647849.546773446]: PR: 136 params still missing, trying to request next: #8
[ WARN] [1594647850.560214471]: PR: request param #47 timeout, retries left 2, and 134 params still missing
[ WARN] [1594647851.155502257]: CMD: Command 410 -- wait ack timeout
[ WARN] [1594647851.561621690]: PR: request param #47 timeout, retries left 1, and 134 params still missing
[ WARN] [1594647852.589723647]: PR: request param #64 timeout, retries left 2, and 130 params still missing
[ WARN] [1594647853.607191182]: PR: request param #71 timeout, retries left 2, and 128 params still missing
[ WARN] [1594647854.616918813]: PR: request param #84 timeout, retries left 2, and 127 params still missing
[ WARN] [1594647855.638722381]: PR: request param #97 timeout, retries left 2, and 124 params still missing
[ INFO] [1594647856.150679631]: HP: requesting home position
[ WARN] [1594647856.647624671]: PR: request param #99 timeout, retries left 2, and 123 params still missing
[ WARN] [1594647857.140007874]: CMD: Unexpected command 176, result 0
[ WARN] [1594647857.663774148]: PR: request param #111 timeout, retries left 2, and 121 params still missing
[ WARN] [1594647858.666696566]: PR: request param #111 timeout, retries left 1, and 121 params still missing
[ WARN] [1594647859.668336938]: PR: request param #111 timeout, retries left 0, and 121 params still missing
[ WARN] [1594647860.677643050]: PR: request param #116 timeout, retries left 2, and 120 params still missing
[ WARN] [1594647861.161901409]: CMD: Command 410 -- wait ack timeout
[ WARN] [1594647861.679057067]: PR: request param #116 timeout, retries left 1, and 120 params still missing
[ WARN] [1594647862.683176800]: PR: request param #116 timeout, retries left 0, and 120 params still missing
[ WARN] [1594647863.699731928]: PR: request param #139 timeout, retries left 2, and 118 params still missing
[ WARN] [1594647864.700754580]: PR: request param #139 timeout, retries left 1, and 118 params still missing
[ WARN] [1594647865.702338530]: PR: request param #139 timeout, retries left 0, and 118 params still missing
[ INFO] [1594647866.150215463]: HP: requesting home position
[ERROR] [1594647866.705077643]: PR: request param #139 completely missing.
[ WARN] [1594647866.707262394]: PR: 117 params still missing, trying to request next: #141
[ WARN] [1594647867.707687798]: PR: request param #141 timeout, retries left 2, and 117 params still missing
[ WARN] [1594647868.710130256]: PR: request param #141 timeout, retries left 1, and 117 params still missing
[ WARN] [1594647869.711227478]: PR: request param #141 timeout, retries left 0, and 117 params still missing
[ERROR] [1594647870.711920711]: PR: request param #141 completely missing.
[ WARN] [1594647870.712936632]: PR: 116 params still missing, trying to request next: #142
[ WARN] [1594647871.713693218]: PR: request param #142 timeout, retries left 2, and 116 params still missing
[ WARN] [1594647872.722976040]: PR: request param #144 timeout, retries left 2, and 115 params still missing
[ WARN] [1594647873.723898837]: PR: request param #144 timeout, retries left 1, and 115 params still missing
[ WARN] [1594647874.744208368]: PR: request param #149 timeout, retries left 2, and 113 params still missing
[ WARN] [1594647875.752197037]: PR: request param #150 timeout, retries left 2, and 112 params still missing
[ INFO] [1594647876.150354512]: HP: requesting home position
[ WARN] [1594647876.752860810]: PR: request param #150 timeout, retries left 1, and 112 params still missing
[ WARN] [1594647877.770135567]: PR: request param #186 timeout, retries left 2, and 109 params still missing
[ WARN] [1594647878.789868736]: PR: request param #216 timeout, retries left 2, and 105 params still missing
[ WARN] [1594647879.790500614]: PR: request param #216 timeout, retries left 1, and 105 params still missing
[ WARN] [1594647880.798518870]: PR: request param #219 timeout, retries left 2, and 104 params still missing
[ WARN] [1594647881.811298920]: PR: request param #222 timeout, retries left 2, and 102 params still missing
[ WARN] [1594647882.812169338]: PR: request param #222 timeout, retries left 1, and 102 params still missing
[ WARN] [1594647883.812650026]: PR: request param #222 timeout, retries left 0, and 102 params still missing
[ERROR] [1594647884.813054178]: PR: request param #222 completely missing.
[ WARN] [1594647884.813278290]: PR: 101 params still missing, trying to request next: #223
[ WARN] [1594647885.813573894]: PR: request param #223 timeout, retries left 2, and 101 params still missing
[ INFO] [1594647886.150663600]: HP: requesting home position
[ WARN] [1594647886.824808713]: PR: request param #226 timeout, retries left 2, and 100 params still missing
[ WARN] [1594647887.826208968]: PR: request param #226 timeout, retries left 1, and 100 params still missing
[ WARN] [1594647888.833413376]: PR: request param #238 timeout, retries left 2, and 99 params still missing
[ WARN] [1594647889.835429344]: PR: request param #238 timeout, retries left 1, and 99 params still missing
[ WARN] [1594647890.836948205]: PR: request param #238 timeout, retries left 0, and 99 params still missing
[ERROR] [1594647891.838031108]: PR: request param #238 completely missing.

Diagnostics



rostopic echo -n1 /diagnostics

header:
  seq: 99
  stamp:
    secs: 1594647952
    nsecs: 834375673
  frame_id: ''
status:
  -
    level: 0
    name: "mavros: FCU connection"
    message: "connected"
    hardware_id: "/dev/ttyTHS1:921600"
    values:
      -
        key: "Received packets:"
        value: "30721"
      -
        key: "Dropped packets:"
        value: "0"
      -
        key: "Buffer overruns:"
        value: "0"
      -
        key: "Parse errors:"
        value: "0"
      -
        key: "Rx sequence number:"
        value: "231"
      -
        key: "Tx sequence number:"
        value: "0"
      -
        key: "Rx total bytes:"
        value: "2743593"
      -
        key: "Tx total bytes:"
        value: "207212"
      -
        key: "Rx speed:"
        value: "31728.000000"
      -
        key: "Tx speed:"
        value: "2771.000000"
  -
    level: 0
    name: "mavros: GPS"
    message: "3D fix"
    hardware_id: "/dev/ttyTHS1:921600"
    values:
      -
        key: "Satellites visible"
        value: "5"
      -
        key: "Fix type"
        value: "3"
      -
        key: "EPH (m)"
        value: "2.59"
      -
        key: "EPV (m)"
        value: "2.22"
  -
    level: 0
    name: "mavros: Heartbeat"
    message: "Normal"
    hardware_id: "/dev/ttyTHS1:921600"
    values:
      -
        key: "Heartbeats since startup"
        value: "108"
      -
        key: "Frequency (Hz)"
        value: "0.714252"
      -
        key: "Vehicle type"
        value: "Quadrotor"
      -
        key: "Autopilot type"
        value: "PX4 Autopilot"
      -
        key: "Mode"
        value: "ALTCTL"
      -
        key: "System status"
        value: "Standby"
  -
    level: 2
    name: "mavros: System"
    message: "Sensor health"
    hardware_id: "/dev/ttyTHS1:921600"
    values:
      -
        key: "Sensor present"
        value: "0x0007002F"
      -
        key: "Sensor enabled"
        value: "0x0021002F"
      -
        key: "Sensor health"
        value: "0x0007002F"
      -
        key: "3D gyro"
        value: "Ok"
      -
        key: "3D accelerometer"
        value: "Ok"
      -
        key: "3D magnetometer"
        value: "Ok"
      -
        key: "absolute pressure"
        value: "Ok"
      -
        key: "GPS"
        value: "Ok"
      -
        key: "rc receiver"
        value: "Ok"
      -
        key: "AHRS subsystem health"
        value: "Fail"
      -
        key: "CPU Load (%)"
        value: "70.6"
      -
        key: "Drop rate (%)"
        value: "0.0"
      -
        key: "Errors comm"
        value: "0"
      -
        key: "Errors count #1"
        value: "0"
      -
        key: "Errors count #2"
        value: "0"
      -
        key: "Errors count #3"
        value: "0"
      -
        key: "Errors count #4"
        value: "0"
  -
    level: 0
    name: "mavros: Battery"
    message: "Normal"
    hardware_id: "/dev/ttyTHS1:921600"
    values:
      -
        key: "Voltage"
        value: "16.44"
      -
        key: "Current"
        value: "0.0"
      -
        key: "Remaining"
        value: "88.0"
  -
    level: 0
    name: "mavros: Time Sync"
    message: "Normal"
    hardware_id: "/dev/ttyTHS1:921600"
    values:
      -
        key: "Timesyncs since startup"
        value: "552"
      -
        key: "Frequency (Hz)"
        value: "3.285532"
      -
        key: "Last RTT (ms)"
        value: "4.223838"
      -
        key: "Mean RTT (ms)"
        value: "4.415285"
      -
        key: "Last remote time (s)"
        value: "153.807372000"
      -
        key: "Estimated time offset (s)"
        value: "1594647798.934571981"

Check ID


rosrun mavros checkid
OK. I got messages from 6:1.

---
Received 4727 messages, from 76 addresses
sys:comp   list of messages
 16:6     84737
 80:80    13109260
 99:6     84737
  6:6     84737
  0:141   54
 122:224   11485744
 10:6     84737
  6:255   105
 236:6     26881
 206:6     84737
 130:6     84737
 80:6     84737
 60:0     0
 20:148   10289409
 80:144   14943236, 8127492
 238:6     26881
 201:6     257
 124:6     84737
 224:119   186
 222:6     84737
 116:93    166
 145:6     84737
 30:0     0
 80:31    9900048
 165:6     84737
 208:4     552122
  1:36    12517376
  1:111   0
 237:6     84737
 57:6     84737
 190:74    114
  0:37    77
 212:6     84737
 131:6     84737
  1:141   16580608
 97:6     84737
  1:32    240, 10158080
 188:181   135
  1:1     7740877
  1:105   16056320, 11927552
 253:6     84737
 208:6     26881, 84737
  0:0     0, 5257728, 67, 395264, 135, 104, 67305, 211, 447488, 67072, 250, 59, 191
 19:6     28417
 62:128   223
 147:6     26881
 140:130   225
 62:116   34
 121:6     84737
  6:0     6255616, 6409728, 32, 105, 141, 30, 31
 91:6     84737
  6:30    5439488
 80:16    526348
 35:6     84737
 111:9     62
 213:6     84737
  1:75    14417921, 1245185
 107:6     84737
  1:31    11403264, 7536640
  0:1     32, 30, 31
 162:6     7681, 84737
 35:15    187
 35:93    183
 191:32    51
  6:1     0, 1, 2, 4, 3080222, 140, 141, 16, 323, 24, 14303748, 15204382, 31, 32, 36, 7405599, 7581983, 30, 8519711, 4784160, 331, 74, 65611, 76, 14221453, 75, 340, 4915230, 12293924, 6785566, 335, 97, 230, 105, 111, 241, 147, 245, 254, 255
  6:31    6160384
 213:109   12
 215:167   185
  0:75    9633793
  0:64    4915462
 148:6     84737
 67:6     7681
 28:0     0
  1:74    0
  1:30    7536640, 11730944, 2752512, 4259840, 9371648
 71:6     84737

该提问来源于开源项目:mavlink/mavros

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6条回答 默认 最新

  • weixin_39553653 weixin_39553653 2020-12-27 03:56

    Hello,

    Check IDs result looks unusual to me. Did you connect directly FCU and Jetson? That high message ids are too big. Either you have very noisy uart connection, or you have a problem with software. Warnings from param plugin also indicates that some of the messages lost.

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  • weixin_39882623 weixin_39882623 2020-12-27 03:56

    thanks for your comment. YES, I directly connect FCU Telem2 port and Jetson Nano UART port with wires.

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  • weixin_39553653 weixin_39553653 2020-12-27 03:56
    1. Check your wiring, and that they away from power wired to motors
    2. Try to use something like ser2net and QGC to see if it works
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  • weixin_39882623 weixin_39882623 2020-12-27 03:56

    thanks for your suggestion but it didn't work. Probably there's something wrong with Linux environment setup on Jetson Nano . I will try to re-install system later. I will update when I fix my problem

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  • weixin_39553653 weixin_39553653 2020-12-27 03:56

    to check wiring problem also possible to use USB, just to be sure that this isn't a software problem. USB has it's own additional protection against transmission errors.

    Your results a bit confusing, because mavlink itself have crc16 protection, which is more than enough for 256-byte long frames. Potentially there may be a problem in mine c++11 mavlink decoder part, but i didn't any seen errors before. And it's worked fine on raspberry, so probably source, unaligned memory access is not the case. But newer compillers complains about it.

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  • weixin_39882623 weixin_39882623 2020-12-27 03:56

    Appreciate your help! I think I've found the reason why Jetson Nano didn't work well. I used USB to connected to PX4 as you mentioned, it worked without missing param. I made a stupid mistake that GND pins were not connect!!!! Thank you again!

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