weixin_39613548
2021-01-10 10:00 阅读 38

Unsupported FCU Error MAVROS

Bug Report The

roslaunch mavros px4.launch
with the adaption for my serial device ttyS0 works well. I get the following outputs after running this:

~/ros_ws$ roslaunch mavros px4.launch 
... logging to /home/ubuntu/.ros/log/9bd7afb2-d0fc-11e7-91d4-b827eb6b9362/roslaunch-ubuntu-2053.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:55070/

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: ROLL_180
 * /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: ROLL_180
 * /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: ROLL_180
 * /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: ROLL_180
 * /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_url: /dev/ttyS0:57600
 * /mavros/gcs_url: 
 * /mavros/global_position/frame_id: map
 * /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: 0.000349065850399
 * /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/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/mocap/use_pose: True
 * /mavros/mocap/use_tf: False
 * /mavros/odometry/estimator_type: 3
 * /mavros/odometry/frame_tf/desired_frame: ned
 * /mavros/plugin_blacklist: ['safety_area', '...
 * /mavros/plugin_whitelist: []
 * /mavros/px4flow/frame_id: px4flow
 * /mavros/px4flow/ranger_fov: 0.118682389136
 * /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/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/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: map
 * /mavros/vision_pose/tf/listen: False
 * /mavros/vision_pose/tf/rate_limit: 10.0
 * /mavros/vision_speed/listen_twist: False
 * /rosdistro: kinetic
 * /rosversion: 1.12.0

NODES
  /
    mavros (mavros/mavros_node)

auto-starting new master
process[master]: started with pid [2064]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 9bd7afb2-d0fc-11e7-91d4-b827eb6b9362
process[rosout-1]: started with pid [2079]
started core service [/rosout]
process[mavros-2]: started with pid [2097]
[ INFO] [1511516907.484055372]: FCU URL: /dev/ttyS0:57600
[ WARN] [1511516907.491611643]: init: message from ASLUAV, MSG-ID 201 ignored! Table has different entry.
[ WARN] [1511516907.494193802]: init: message from autoquad, MSG-ID 150 ignored! Table has different entry.
[ WARN] [1511516907.494738692]: init: message from autoquad, MSG-ID 152 ignored! Table has different entry.
[ WARN] [1511516907.497114343]: init: message from matrixpilot, MSG-ID 150 ignored! Table has different entry.
[ WARN] [1511516907.497651577]: init: message from matrixpilot, MSG-ID 151 ignored! Table has different entry.
[ WARN] [1511516907.498155790]: init: message from matrixpilot, MSG-ID 152 ignored! Table has different entry.
[ WARN] [1511516907.498659326]: init: message from matrixpilot, MSG-ID 153 ignored! Table has different entry.
[ WARN] [1511516907.499170831]: init: message from matrixpilot, MSG-ID 155 ignored! Table has different entry.
[ WARN] [1511516907.499721919]: init: message from matrixpilot, MSG-ID 156 ignored! Table has different entry.
[ WARN] [1511516907.500255454]: init: message from matrixpilot, MSG-ID 157 ignored! Table has different entry.
[ WARN] [1511516907.500763105]: init: message from matrixpilot, MSG-ID 158 ignored! Table has different entry.
[ WARN] [1511516907.501285599]: init: message from matrixpilot, MSG-ID 170 ignored! Table has different entry.
[ WARN] [1511516907.501787729]: init: message from matrixpilot, MSG-ID 171 ignored! Table has different entry.
[ WARN] [1511516907.502265849]: init: message from matrixpilot, MSG-ID 172 ignored! Table has different entry.
[ WARN] [1511516907.502744542]: init: message from matrixpilot, MSG-ID 173 ignored! Table has different entry.
[ WARN] [1511516907.503226255]: init: message from matrixpilot, MSG-ID 174 ignored! Table has different entry.
[ WARN] [1511516907.503702604]: init: message from matrixpilot, MSG-ID 175 ignored! Table has different entry.
[ WARN] [1511516907.504212442]: init: message from matrixpilot, MSG-ID 176 ignored! Table has different entry.
[ WARN] [1511516907.504697333]: init: message from matrixpilot, MSG-ID 177 ignored! Table has different entry.
[ WARN] [1511516907.505173317]: init: message from matrixpilot, MSG-ID 178 ignored! Table has different entry.
[ WARN] [1511516907.505646958]: init: message from matrixpilot, MSG-ID 179 ignored! Table has different entry.
[ WARN] [1511516907.506120859]: init: message from matrixpilot, MSG-ID 180 ignored! Table has different entry.
[ WARN] [1511516907.506594343]: init: message from matrixpilot, MSG-ID 181 ignored! Table has different entry.
[ WARN] [1511516907.507070744]: init: message from matrixpilot, MSG-ID 182 ignored! Table has different entry.
[ WARN] [1511516907.507564801]: init: message from matrixpilot, MSG-ID 183 ignored! Table has different entry.
[ WARN] [1511516907.508038129]: init: message from matrixpilot, MSG-ID 184 ignored! Table has different entry.
[ WARN] [1511516907.508507655]: init: message from matrixpilot, MSG-ID 185 ignored! Table has different entry.
[ WARN] [1511516907.508976244]: init: message from matrixpilot, MSG-ID 186 ignored! Table has different entry.
[ WARN] [1511516907.511406426]: init: message from paparazzi, MSG-ID 180 ignored! Table has different entry.
[ WARN] [1511516907.511934441]: init: message from paparazzi, MSG-ID 181 ignored! Table has different entry.
[ WARN] [1511516907.512420217]: init: message from paparazzi, MSG-ID 182 ignored! Table has different entry.
[ WARN] [1511516907.512901774]: init: message from paparazzi, MSG-ID 183 ignored! Table has different entry.
[ WARN] [1511516907.513375102]: init: message from paparazzi, MSG-ID 184 ignored! Table has different entry.
[ WARN] [1511516907.515718774]: init: message from slugs, MSG-ID 170 ignored! Table has different entry.
[ WARN] [1511516907.516217987]: init: message from slugs, MSG-ID 172 ignored! Table has different entry.
[ WARN] [1511516907.516707305]: init: message from slugs, MSG-ID 173 ignored! Table has different entry.
[ WARN] [1511516907.517202195]: init: message from slugs, MSG-ID 176 ignored! Table has different entry.
[ WARN] [1511516907.517689950]: init: message from slugs, MSG-ID 177 ignored! Table has different entry.
[ WARN] [1511516907.518169841]: init: message from slugs, MSG-ID 179 ignored! Table has different entry.
[ WARN] [1511516907.518659367]: init: message from slugs, MSG-ID 180 ignored! Table has different entry.
[ WARN] [1511516907.519139466]: init: message from slugs, MSG-ID 181 ignored! Table has different entry.
[ WARN] [1511516907.519614669]: init: message from slugs, MSG-ID 184 ignored! Table has different entry.
[ WARN] [1511516907.520171069]: init: message from slugs, MSG-ID 185 ignored! Table has different entry.
[ WARN] [1511516907.520661689]: init: message from slugs, MSG-ID 186 ignored! Table has different entry.
[ WARN] [1511516907.521136110]: init: message from slugs, MSG-ID 188 ignored! Table has different entry.
[ WARN] [1511516907.521627407]: init: message from slugs, MSG-ID 191 ignored! Table has different entry.
[ WARN] [1511516907.522101777]: init: message from slugs, MSG-ID 192 ignored! Table has different entry.
[ WARN] [1511516907.522569272]: init: message from slugs, MSG-ID 193 ignored! Table has different entry.
[ WARN] [1511516907.523034944]: init: message from slugs, MSG-ID 194 ignored! Table has different entry.
[ INFO] [1511516907.528064003]: serial0: device: /dev/ttyS0 @ 57600 bps
[ INFO] [1511516907.529392686]: GCS bridge disabled
[ INFO] [1511516907.995549023]: Plugin 3dr_radio loaded
[ INFO] [1511516908.013257474]: Plugin 3dr_radio initialized
[ INFO] [1511516908.014127777]: Plugin actuator_control loaded
[ INFO] [1511516908.051748250]: Plugin actuator_control initialized
[ INFO] [1511516908.329635667]: Plugin adsb loaded
[ INFO] [1511516908.367722592]: Plugin adsb initialized
[ INFO] [1511516908.369367418]: Plugin altitude loaded
[ INFO] [1511516908.381710043]: Plugin altitude initialized
[ INFO] [1511516908.383103152]: Plugin cam_imu_sync loaded
[ INFO] [1511516908.390321042]: Plugin cam_imu_sync initialized
[ INFO] [1511516908.391562434]: Plugin command loaded
[ INFO] [1511516908.447677235]: Plugin command initialized
[ INFO] [1511516908.449060084]: Plugin debug_value loaded
[ INFO] [1511516908.507476838]: Plugin debug_value initialized
[ INFO] [1511516908.508299746]: Plugin distance_sensor blacklisted
[ INFO] [1511516908.509712543]: Plugin fake_gps loaded
[ INFO] [1511516908.688844742]: Plugin fake_gps initialized
[ INFO] [1511516908.690195405]: Plugin ftp loaded
[ INFO] [1511516908.762790076]: Plugin ftp initialized
[ INFO] [1511516908.764185113]: Plugin global_position loaded
[ INFO] [1511516908.936045101]: Plugin global_position initialized
[ INFO] [1511516908.937222536]: Plugin hil loaded
[ INFO] [1511516909.093092595]: Plugin hil initialized
[ INFO] [1511516909.094320446]: Plugin home_position loaded
[ INFO] [1511516909.136668835]: Plugin home_position initialized
[ INFO] [1511516909.137846843]: Plugin imu loaded
[ INFO] [1511516909.214669490]: Plugin imu initialized
[ INFO] [1511516909.215921872]: Plugin local_position loaded
[ INFO] [1511516909.280190124]: Plugin local_position initialized
[ INFO] [1511516909.281510318]: Plugin manual_control loaded
[ INFO] [1511516909.288468992]: Plugin manual_control initialized
[ INFO] [1511516909.289461689]: Plugin mocap_pose_estimate loaded
[ INFO] [1511516909.337988605]: Plugin mocap_pose_estimate initialized
[ INFO] [1511516909.338995208]: Plugin odom loaded
[ INFO] [1511516909.387069784]: Plugin odom initialized
[ INFO] [1511516909.388357843]: Plugin param loaded
[ INFO] [1511516909.414061155]: Plugin param initialized
[ INFO] [1511516909.415050831]: Plugin px4flow loaded
[ INFO] [1511516909.470057623]: Plugin px4flow initialized
[ INFO] [1511516909.470330745]: Plugin rangefinder blacklisted
[ INFO] [1511516909.471448077]: Plugin rc_io loaded
[ INFO] [1511516909.514083807]: Plugin rc_io initialized
[ INFO] [1511516909.514350575]: Plugin safety_area blacklisted
[ INFO] [1511516909.515558999]: Plugin setpoint_accel loaded
[ INFO] [1511516909.554614716]: Plugin setpoint_accel initialized
[ INFO] [1511516909.556006784]: Plugin setpoint_attitude loaded
[ INFO] [1511516909.669838816]: Plugin setpoint_attitude initialized
[ INFO] [1511516909.671057552]: Plugin setpoint_position loaded
[ INFO] [1511516909.737672029]: Plugin setpoint_position initialized
[ INFO] [1511516909.738916651]: Plugin setpoint_raw loaded
[ INFO] [1511516909.844158204]: Plugin setpoint_raw initialized
[ INFO] [1511516909.845421315]: Plugin setpoint_velocity loaded
[ INFO] [1511516909.903278076]: Plugin setpoint_velocity initialized
[ INFO] [1511516909.904575249]: Plugin sys_status loaded
[ INFO] [1511516909.968727253]: Plugin sys_status initialized
[ INFO] [1511516909.970007760]: Plugin sys_time loaded
[ INFO] [1511516910.007546358]: TM: Timesync mode: MAVLINK
[ INFO] [1511516910.014443054]: Plugin sys_time initialized
[ INFO] [1511516910.015643874]: Plugin vfr_hud loaded
[ INFO] [1511516910.028851646]: Plugin vfr_hud initialized
[ INFO] [1511516910.029142007]: Plugin vibration blacklisted
[ INFO] [1511516910.030127621]: Plugin vision_pose_estimate loaded
[ INFO] [1511516910.123899821]: Plugin vision_pose_estimate initialized
[ INFO] [1511516910.124924029]: Plugin vision_speed_estimate loaded
[ INFO] [1511516910.163371836]: Plugin vision_speed_estimate initialized
[ INFO] [1511516910.164616927]: Plugin waypoint loaded
[ INFO] [1511516910.210899596]: Plugin waypoint initialized
[ INFO] [1511516910.211201051]: Autostarting mavlink via USB on PX4
[ INFO] [1511516910.211519641]: Built-in SIMD instructions: None
[ INFO] [1511516910.211693598]: Built-in MAVLink package version: 2017.10.10
[ INFO] [1511516910.211908022]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1511516910.212083281]: MAVROS started. MY ID 1.240, TARGET ID 1.1

but when I start the px4.launch and my own offboard.launch I get the following outputs with the FCU unsupported error:


~/ros_ws$ roslaunch my package offboard.launch 
... logging to /home/ubuntu/.ros/log/5e857af8-d0fd-11e7-91d4-b827eb6b9362/roslaunch-mypackage-3068.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:53698/

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: ROLL_180
 * /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: ROLL_180
 * /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: ROLL_180
 * /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: ROLL_180
 * /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_url: /dev/ttyS0:57600
 * /mavros/gcs_url: 
 * /mavros/global_position/frame_id: map
 * /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: 0.000349065850399
 * /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/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/mocap/use_pose: True
 * /mavros/mocap/use_tf: False
 * /mavros/odometry/estimator_type: 3
 * /mavros/odometry/frame_tf/desired_frame: ned
 * /mavros/plugin_blacklist: ['safety_area', '...
 * /mavros/plugin_whitelist: []
 * /mavros/px4flow/frame_id: px4flow
 * /mavros/px4flow/ranger_fov: 0.118682389136
 * /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/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/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: map
 * /mavros/vision_pose/tf/listen: False
 * /mavros/vision_pose/tf/rate_limit: 10.0
 * /mavros/vision_speed/listen_twist: False
 * /rosdistro: kinetic
 * /rosversion: 1.12.0

NODES
  /
    mavros (mavros/mavros_node)
    offboard (ubuntu/offboard)

auto-starting new master
process[master]: started with pid [3079]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 5e857af8-d0fd-11e7-91d4-b827eb6b9362
process[rosout-1]: started with pid [3092]
started core service [/rosout]
process[mavros-2]: started with pid [3110]
process[offboard-3]: started with pid [3111]
[ INFO] [1511517234.097323989]: FCU URL: /dev/ttyS0:57600
[ WARN] [1511517234.104517287]: init: message from ASLUAV, MSG-ID 201 ignored! Table has different entry.
[ WARN] [1511517234.106771879]: init: message from autoquad, MSG-ID 150 ignored! Table has different entry.
[ WARN] [1511517234.106970521]: init: message from autoquad, MSG-ID 152 ignored! Table has different entry.
[ WARN] [1511517234.108981576]: init: message from matrixpilot, MSG-ID 150 ignored! Table has different entry.
[ WARN] [1511517234.109172301]: init: message from matrixpilot, MSG-ID 151 ignored! Table has different entry.
[ WARN] [1511517234.109355735]: init: message from matrixpilot, MSG-ID 152 ignored! Table has different entry.
[ WARN] [1511517234.109537034]: init: message from matrixpilot, MSG-ID 153 ignored! Table has different entry.
[ WARN] [1511517234.109793904]: init: message from matrixpilot, MSG-ID 155 ignored! Table has different entry.
[ WARN] [1511517234.109978952]: init: message from matrixpilot, MSG-ID 156 ignored! Table has different entry.
[ WARN] [1511517234.110163220]: init: message from matrixpilot, MSG-ID 157 ignored! Table has different entry.
[ WARN] [1511517234.110343789]: init: message from matrixpilot, MSG-ID 158 ignored! Table has different entry.
[ WARN] [1511517234.110523681]: init: message from matrixpilot, MSG-ID 170 ignored! Table has different entry.
[ WARN] [1511517234.110701126]: init: message from matrixpilot, MSG-ID 171 ignored! Table has different entry.
[ WARN] [1511517234.110881539]: init: message from matrixpilot, MSG-ID 172 ignored! Table has different entry.
[ WARN] [1511517234.111059036]: init: message from matrixpilot, MSG-ID 173 ignored! Table has different entry.
[ WARN] [1511517234.111237157]: init: message from matrixpilot, MSG-ID 174 ignored! Table has different entry.
[ WARN] [1511517234.111414289]: init: message from matrixpilot, MSG-ID 175 ignored! Table has different entry.
[ WARN] [1511517234.111591838]: init: message from matrixpilot, MSG-ID 176 ignored! Table has different entry.
[ WARN] [1511517234.111770949]: init: message from matrixpilot, MSG-ID 177 ignored! Table has different entry.
[ WARN] [1511517234.111950060]: init: message from matrixpilot, MSG-ID 178 ignored! Table has different entry.
[ WARN] [1511517234.112128390]: init: message from matrixpilot, MSG-ID 179 ignored! Table has different entry.
[ WARN] [1511517234.112308022]: init: message from matrixpilot, MSG-ID 180 ignored! Table has different entry.
[ WARN] [1511517234.112487133]: init: message from matrixpilot, MSG-ID 181 ignored! Table has different entry.
[ WARN] [1511517234.112664838]: init: message from matrixpilot, MSG-ID 182 ignored! Table has different entry.
[ WARN] [1511517234.112843220]: init: message from matrixpilot, MSG-ID 183 ignored! Table has different entry.
[ WARN] [1511517234.113022487]: init: message from matrixpilot, MSG-ID 184 ignored! Table has different entry.
[ WARN] [1511517234.113199984]: init: message from matrixpilot, MSG-ID 185 ignored! Table has different entry.
[ WARN] [1511517234.113379668]: init: message from matrixpilot, MSG-ID 186 ignored! Table has different entry.
[ WARN] [1511517234.115385827]: init: message from paparazzi, MSG-ID 180 ignored! Table has different entry.
[ WARN] [1511517234.115570355]: init: message from paparazzi, MSG-ID 181 ignored! Table has different entry.
[ WARN] [1511517234.115749205]: init: message from paparazzi, MSG-ID 182 ignored! Table has different entry.
[ WARN] [1511517234.115927223]: init: message from paparazzi, MSG-ID 183 ignored! Table has different entry.
[ WARN] [1511517234.116107167]: init: message from paparazzi, MSG-ID 184 ignored! Table has different entry.
[ WARN] [1511517234.118062494]: init: message from slugs, MSG-ID 170 ignored! Table has different entry.
[ WARN] [1511517234.118248428]: init: message from slugs, MSG-ID 172 ignored! Table has different entry.
[ WARN] [1511517234.118426497]: init: message from slugs, MSG-ID 173 ignored! Table has different entry.
[ WARN] [1511517234.118604671]: init: message from slugs, MSG-ID 176 ignored! Table has different entry.
[ WARN] [1511517234.118785865]: init: message from slugs, MSG-ID 177 ignored! Table has different entry.
[ WARN] [1511517234.118963987]: init: message from slugs, MSG-ID 179 ignored! Table has different entry.
[ WARN] [1511517234.119141379]: init: message from slugs, MSG-ID 180 ignored! Table has different entry.
[ WARN] [1511517234.119321115]: init: message from slugs, MSG-ID 181 ignored! Table has different entry.
[ WARN] [1511517234.119497935]: init: message from slugs, MSG-ID 184 ignored! Table has different entry.
[ WARN] [1511517234.119740118]: init: message from slugs, MSG-ID 185 ignored! Table has different entry.
[ WARN] [1511517234.119922406]: init: message from slugs, MSG-ID 186 ignored! Table has different entry.
[ WARN] [1511517234.120102402]: init: message from slugs, MSG-ID 188 ignored! Table has different entry.
[ WARN] [1511517234.120301148]: init: message from slugs, MSG-ID 191 ignored! Table has different entry.
[ WARN] [1511517234.120480364]: init: message from slugs, MSG-ID 192 ignored! Table has different entry.
[ WARN] [1511517234.120658173]: init: message from slugs, MSG-ID 193 ignored! Table has different entry.
[ WARN] [1511517234.120835044]: init: message from slugs, MSG-ID 194 ignored! Table has different entry.
[ INFO] [1511517234.125445268]: serial0: device: /dev/ttyS0 @ 57600 bps
[ INFO] [1511517234.126343584]: GCS bridge disabled
[ INFO] [1511517234.480198608]: Plugin 3dr_radio loaded
[ INFO] [1511517234.497602334]: Plugin 3dr_radio initialized
[ INFO] [1511517234.498524139]: Plugin actuator_control loaded
[ INFO] [1511517234.535090358]: Plugin actuator_control initialized
[ INFO] [1511517234.780398422]: Plugin adsb loaded
[ INFO] [1511517234.817118180]: Plugin adsb initialized
[ INFO] [1511517234.818286126]: Plugin altitude loaded
[ INFO] [1511517234.829963921]: Plugin altitude initialized
[ INFO] [1511517234.830931558]: Plugin cam_imu_sync loaded
[ INFO] [1511517234.837830591]: Plugin cam_imu_sync initialized
[ INFO] [1511517234.839305615]: Plugin command loaded
[ INFO] [1511517234.893932943]: Plugin command initialized
[ INFO] [1511517234.894886466]: Plugin debug_value loaded
[ INFO] [1511517234.949072969]: Plugin debug_value initialized
[ INFO] [1511517234.949612334]: Plugin distance_sensor blacklisted
[ INFO] [1511517234.950747676]: Plugin fake_gps loaded
[ INFO] [1511517235.113450780]: Plugin fake_gps initialized
[ INFO] [1511517235.114901221]: Plugin ftp loaded
[ INFO] [1511517235.186713843]: Plugin ftp initialized
[ INFO] [1511517235.188128243]: Plugin global_position loaded
[ INFO] [1511517235.355683026]: Plugin global_position initialized
[ INFO] [1511517235.357118310]: Plugin hil loaded
[ INFO] [1511517235.510048115]: Plugin hil initialized
[ INFO] [1511517235.511499285]: Plugin home_position loaded
[ INFO] [1511517235.556005300]: Plugin home_position initialized
[ INFO] [1511517235.557347722]: Plugin imu loaded
[ INFO] [1511517235.638693962]: Plugin imu initialized
[ INFO] [1511517235.639960605]: Plugin local_position loaded
[ INFO] [1511517235.703932389]: Plugin local_position initialized
[ INFO] [1511517235.705167001]: Plugin manual_control loaded
[ INFO] [1511517235.711776300]: Plugin manual_control initialized
[ INFO] [1511517235.712757219]: Plugin mocap_pose_estimate loaded
[ INFO] [1511517235.759363870]: Plugin mocap_pose_estimate initialized
[ INFO] [1511517235.760438172]: Plugin odom loaded
[ INFO] [1511517235.806959721]: Plugin odom initialized
[ INFO] [1511517235.808185114]: Plugin param loaded
[ INFO] [1511517235.832545372]: Plugin param initialized
[ INFO] [1511517235.833535249]: Plugin px4flow loaded
[ INFO] [1511517235.888096903]: Plugin px4flow initialized
[ INFO] [1511517235.888381012]: Plugin rangefinder blacklisted
[ INFO] [1511517235.889493282]: Plugin rc_io loaded
[ INFO] [1511517235.930046769]: Plugin rc_io initialized
[ INFO] [1511517235.930316347]: Plugin safety_area blacklisted
[ INFO] [1511517235.931436794]: Plugin setpoint_accel loaded
[ INFO] [1511517235.969388561]: Plugin setpoint_accel initialized
[ INFO] [1511517235.970743066]: Plugin setpoint_attitude loaded
[ INFO] [1511517236.083138084]: Plugin setpoint_attitude initialized
[ INFO] [1511517236.084364883]: Plugin setpoint_position loaded
[ INFO] [1511517236.163996940]: Plugin setpoint_position initialized
[ INFO] [1511517236.165200771]: Plugin setpoint_raw loaded
[ INFO] [1511517236.270738214]: Plugin setpoint_raw initialized
[ INFO] [1511517236.272043710]: Plugin setpoint_velocity loaded
[ INFO] [1511517236.329790460]: Plugin setpoint_velocity initialized
[ INFO] [1511517236.331097883]: Plugin sys_status loaded
[ INFO] [1511517236.396989632]: Plugin sys_status initialized
[ INFO] [1511517236.398270649]: Plugin sys_time loaded
[ INFO] [1511517236.435614720]: TM: Timesync mode: MAVLINK
[ INFO] [1511517236.442816196]: Plugin sys_time initialized
[ INFO] [1511517236.443995652]: Plugin vfr_hud loaded
[ INFO] [1511517236.462164156]: Plugin vfr_hud initialized
[ INFO] [1511517236.462472900]: Plugin vibration blacklisted
[ INFO] [1511517236.463393455]: Plugin vision_pose_estimate loaded
[ INFO] [1511517236.560260388]: Plugin vision_pose_estimate initialized
[ INFO] [1511517236.561248650]: Plugin vision_speed_estimate loaded
[ INFO] [1511517236.599968580]: Plugin vision_speed_estimate initialized
[ INFO] [1511517236.601190588]: Plugin waypoint loaded
[ INFO] [1511517236.647842813]: Plugin waypoint initialized
[ INFO] [1511517236.648183744]: Autostarting mavlink via USB on PX4
[ INFO] [1511517236.648478061]: Built-in SIMD instructions: None
[ INFO] [1511517236.648646391]: Built-in MAVLink package version: 2017.10.10
[ INFO] [1511517236.648859408]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1511517236.649032738]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ERROR] [1511517243.676111562]: MODE: Unsupported FCU

header: 
  seq: 0
  stamp: 
    secs: 1511517560
    nsecs: 532773555
  frame_id: ''
status: 
  - 
    level: 0
    name: mavros: FCU connection
    message: Node starting up
    hardware_id: ''
    values: []
---

该提问来源于开源项目:PX4/PX4-Autopilot

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11条回答 默认 最新

  • weixin_39559750 weixin_39559750 2021-01-10 10:00

    What's your flight controller?

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  • weixin_39553653 weixin_39553653 2021-01-10 10:00

    You do not have a connection with FCU. After MAVROS started should be CON: Got HEARTBEAT. Also your offboard node should subscribe to /mavros/state and wait State.connected == true.

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  • weixin_39613548 weixin_39613548 2021-01-10 10:00

    ok so that means even the

    px4.launch
    dose not work properly with my configuration. I'm using a DroPix with the
    px4fmu-v2_default
    Firmware and a Raspberry Pi 3

    I tried to switch the TX and RX pins without success.

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  • weixin_39613548 weixin_39613548 2021-01-10 10:00

    I connected the Telemetry2 from the Pixhawk to the Raspberry Pi

    
    PX RX  Pi TX
    PX TX  Pi RX
    GND  GND
    VCC  VCC
    

    On my raspberry pi I can use

    ttyS0
    or
    serial0
    for the serial device. It is also switched on and its possible to read from. My user got the rights to read and write.

    My Pixhawk is set to 921600 Baud 8N1 and my Raspberry is the same.

    What else do I have to do?

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  • weixin_39553653 weixin_39553653 2021-01-10 10:00

    Do not connect VCC - or power source of Pi or PH may blow. Other pins correct.

    Do you setup Pi3 to disable bluetooth and remap pl011 serial to header pins? Also Pi2 need special lines in config.txt to be able run at 921600, not sure about Pi3.

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  • weixin_39613548 weixin_39613548 2021-01-10 10:00

    ok so because I'm not sure about the configuration of the ttyS0 port I tried to use a FTDI via USB.

    
    Pi -> USB -> FTDI -> GND / RX & TX -> DroPix
    

    I powered the Dropix by a separate USB and the Pi also with a separate USB.

    px4.launch output is

    
    ~/ros_ws$ roslaunch my package px4.launch 
    ... logging to /home/ubuntu/.ros/log/7b70b9d0-d435-11e7-8fdf-b827eb6b9362/roslaunch-mypackage-5183.log
    Checking log directory for disk usage. This may take awhile.
    Press Ctrl-C to interrupt
    Done checking log file disk usage. Usage is <1GB.
    
    started roslaunch server http://ubuntu:39434/
    
    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: ROLL_180
     * /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: ROLL_180
     * /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: ROLL_180
     * /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: ROLL_180
     * /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_url: /dev/ttyUSB0:921600
     * /mavros/gcs_url: udp://:14556....
     * /mavros/global_position/frame_id: map
     * /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: 0.000349065850399
     * /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/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/mocap/use_pose: True
     * /mavros/mocap/use_tf: False
     * /mavros/odometry/estimator_type: 3
     * /mavros/odometry/frame_tf/desired_frame: ned
     * /mavros/plugin_blacklist: ['safety_area', '...
     * /mavros/plugin_whitelist: []
     * /mavros/px4flow/frame_id: px4flow
     * /mavros/px4flow/ranger_fov: 0.118682389136
     * /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/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/startup_px4_usb_quirk: True
     * /mavros/sys/disable_diag: False
     * /mavros/sys/min_voltage: 10.0
     * /mavros/target_component_id: 50
     * /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: map
     * /mavros/vision_pose/tf/listen: False
     * /mavros/vision_pose/tf/rate_limit: 10.0
     * /mavros/vision_speed/listen_twist: False
     * /rosdistro: kinetic
     * /rosversion: 1.12.0
    
    NODES
      /
        mavros (mavros/mavros_node)
    
    auto-starting new master
    process[master]: started with pid [5194]
    ROS_MASTER_URI=http://localhost:11311
    
    setting /run_id to 7b70b9d0-d435-11e7-8fdf-b827eb6b9362
    process[rosout-1]: started with pid [5207]
    started core service [/rosout]
    process[mavros-2]: started with pid [5225]
    [ INFO] [1511871187.887072888]: FCU URL: /dev/ttyUSB0:921600
    [ WARN] [1511871187.894064748]: init: message from ASLUAV, MSG-ID 201 ignored! Table has different entry.
    [ WARN] [1511871187.896340611]: init: message from autoquad, MSG-ID 150 ignored! Table has different entry.
    [ WARN] [1511871187.896576807]: init: message from autoquad, MSG-ID 152 ignored! Table has different entry.
    [ WARN] [1511871187.898733661]: init: message from matrixpilot, MSG-ID 150 ignored! Table has different entry.
    [ WARN] [1511871187.898968086]: init: message from matrixpilot, MSG-ID 151 ignored! Table has different entry.
    [ WARN] [1511871187.899266885]: init: message from matrixpilot, MSG-ID 152 ignored! Table has different entry.
    [ WARN] [1511871187.899449175]: init: message from matrixpilot, MSG-ID 153 ignored! Table has different entry.
    [ WARN] [1511871187.899632298]: init: message from matrixpilot, MSG-ID 155 ignored! Table has different entry.
    [ WARN] [1511871187.899806255]: init: message from matrixpilot, MSG-ID 156 ignored! Table has different entry.
    [ WARN] [1511871187.899980003]: init: message from matrixpilot, MSG-ID 157 ignored! Table has different entry.
    [ WARN] [1511871187.900152085]: init: message from matrixpilot, MSG-ID 158 ignored! Table has different entry.
    [ WARN] [1511871187.900321042]: init: message from matrixpilot, MSG-ID 170 ignored! Table has different entry.
    [ WARN] [1511871187.900489998]: init: message from matrixpilot, MSG-ID 171 ignored! Table has different entry.
    [ WARN] [1511871187.900667497]: init: message from matrixpilot, MSG-ID 172 ignored! Table has different entry.
    [ WARN] [1511871187.900842599]: init: message from matrixpilot, MSG-ID 173 ignored! Table has different entry.
    [ WARN] [1511871187.901013743]: init: message from matrixpilot, MSG-ID 174 ignored! Table has different entry.
    [ WARN] [1511871187.901183742]: init: message from matrixpilot, MSG-ID 175 ignored! Table has different entry.
    [ WARN] [1511871187.901353167]: init: message from matrixpilot, MSG-ID 176 ignored! Table has different entry.
    [ WARN] [1511871187.901529728]: init: message from matrixpilot, MSG-ID 177 ignored! Table has different entry.
    [ WARN] [1511871187.901699205]: init: message from matrixpilot, MSG-ID 178 ignored! Table has different entry.
    [ WARN] [1511871187.901870662]: init: message from matrixpilot, MSG-ID 179 ignored! Table has different entry.
    [ WARN] [1511871187.902040192]: init: message from matrixpilot, MSG-ID 180 ignored! Table has different entry.
    [ WARN] [1511871187.902212221]: init: message from matrixpilot, MSG-ID 181 ignored! Table has different entry.
    [ WARN] [1511871187.902383938]: init: message from matrixpilot, MSG-ID 182 ignored! Table has different entry.
    [ WARN] [1511871187.902554874]: init: message from matrixpilot, MSG-ID 183 ignored! Table has different entry.
    [ WARN] [1511871187.902732789]: init: message from matrixpilot, MSG-ID 184 ignored! Table has different entry.
    [ WARN] [1511871187.902904610]: init: message from matrixpilot, MSG-ID 185 ignored! Table has different entry.
    [ WARN] [1511871187.903098879]: init: message from matrixpilot, MSG-ID 186 ignored! Table has different entry.
    [ WARN] [1511871187.905177505]: init: message from paparazzi, MSG-ID 180 ignored! Table has different entry.
    [ WARN] [1511871187.905419326]: init: message from paparazzi, MSG-ID 181 ignored! Table has different entry.
    [ WARN] [1511871187.905593647]: init: message from paparazzi, MSG-ID 182 ignored! Table has different entry.
    [ WARN] [1511871187.905764114]: init: message from paparazzi, MSG-ID 183 ignored! Table has different entry.
    [ WARN] [1511871187.905935154]: init: message from paparazzi, MSG-ID 184 ignored! Table has different entry.
    [ WARN] [1511871187.908073727]: init: message from slugs, MSG-ID 170 ignored! Table has different entry.
    [ WARN] [1511871187.908579712]: init: message from slugs, MSG-ID 172 ignored! Table has different entry.
    [ WARN] [1511871187.908767106]: init: message from slugs, MSG-ID 173 ignored! Table has different entry.
    [ WARN] [1511871187.908940281]: init: message from slugs, MSG-ID 176 ignored! Table has different entry.
    [ WARN] [1511871187.909198196]: init: message from slugs, MSG-ID 177 ignored! Table has different entry.
    [ WARN] [1511871187.909387829]: init: message from slugs, MSG-ID 179 ignored! Table has different entry.
    [ WARN] [1511871187.909575432]: init: message from slugs, MSG-ID 180 ignored! Table has different entry.
    [ WARN] [1511871187.909746107]: init: message from slugs, MSG-ID 181 ignored! Table has different entry.
    [ WARN] [1511871187.909922355]: init: message from slugs, MSG-ID 184 ignored! Table has different entry.
    [ WARN] [1511871187.910092041]: init: message from slugs, MSG-ID 185 ignored! Table has different entry.
    [ WARN] [1511871187.910262665]: init: message from slugs, MSG-ID 186 ignored! Table has different entry.
    [ WARN] [1511871187.910432402]: init: message from slugs, MSG-ID 188 ignored! Table has different entry.
    [ WARN] [1511871187.910625474]: init: message from slugs, MSG-ID 191 ignored! Table has different entry.
    [ WARN] [1511871187.910800576]: init: message from slugs, MSG-ID 192 ignored! Table has different entry.
    [ WARN] [1511871187.910973960]: init: message from slugs, MSG-ID 193 ignored! Table has different entry.
    [ WARN] [1511871187.911140729]: init: message from slugs, MSG-ID 194 ignored! Table has different entry.
    [ INFO] [1511871187.916034275]: serial0: device: /dev/ttyUSB0 @ 921600 bps
    [ INFO] [1511871187.920283662]: GCS URL: udp://:14556.168.178.5:14550
    [ INFO] [1511871187.923314674]: udp1: Bind address: 0.0.0.0:14556
    [ INFO] [1511871187.923902533]: udp1: Remote address: 192.168.178.5:14550
    [ INFO] [1511871188.282596625]: Plugin 3dr_radio loaded
    [ INFO] [1511871188.301613368]: Plugin 3dr_radio initialized
    [ INFO] [1511871188.302524089]: Plugin actuator_control loaded
    [ INFO] [1511871188.343679369]: Plugin actuator_control initialized
    [ INFO] [1511871188.599997365]: Plugin adsb loaded
    [ INFO] [1511871188.641980085]: Plugin adsb initialized
    [ INFO] [1511871188.643187730]: Plugin altitude loaded
    [ INFO] [1511871188.656252083]: Plugin altitude initialized
    [ INFO] [1511871188.657302593]: Plugin cam_imu_sync loaded
    [ INFO] [1511871188.664779657]: Plugin cam_imu_sync initialized
    [ INFO] [1511871188.666580681]: Plugin command loaded
    [ INFO] [1511871188.728844924]: Plugin command initialized
    [ INFO] [1511871188.730492096]: Plugin debug_value loaded
    [ INFO] [1511871188.790158864]: Plugin debug_value initialized
    [ INFO] [1511871188.790500319]: Plugin distance_sensor blacklisted
    [ INFO] [1511871188.791495830]: Plugin fake_gps loaded
    [ INFO] [1511871188.965688785]: Plugin fake_gps initialized
    [ INFO] [1511871188.966999137]: Plugin ftp loaded
    [ INFO] [1511871189.042793771]: Plugin ftp initialized
    [ INFO] [1511871189.044129174]: Plugin global_position loaded
    [ INFO] [1511871189.222313185]: Plugin global_position initialized
    [ INFO] [1511871189.223589891]: Plugin hil loaded
    [ INFO] [1511871189.385913013]: Plugin hil initialized
    [ INFO] [1511871189.387186855]: Plugin home_position loaded
    [ INFO] [1511871189.430749299]: Plugin home_position initialized
    [ INFO] [1511871189.431987308]: Plugin imu loaded
    [ INFO] [1511871189.484850027]: Plugin imu initialized
    [ INFO] [1511871189.485585280]: Plugin local_position loaded
    [ INFO] [1511871189.524229230]: Plugin local_position initialized
    [ INFO] [1511871189.524959432]: Plugin manual_control loaded
    [ INFO] [1511871189.528830176]: Plugin manual_control initialized
    [ INFO] [1511871189.529461263]: Plugin mocap_pose_estimate loaded
    [ INFO] [1511871189.564520300]: Plugin mocap_pose_estimate initialized
    [ INFO] [1511871189.565589717]: Plugin odom loaded
    [ INFO] [1511871189.615211738]: Plugin odom initialized
    [ INFO] [1511871189.616596256]: Plugin param loaded
    [ INFO] [1511871189.644554841]: Plugin param initialized
    [ INFO] [1511871189.647490541]: Plugin px4flow loaded
    [ INFO] [1511871189.712735954]: Plugin px4flow initialized
    [ INFO] [1511871189.713022253]: Plugin rangefinder blacklisted
    [ INFO] [1511871189.714176877]: Plugin rc_io loaded
    [ INFO] [1511871189.760360442]: Plugin rc_io initialized
    [ INFO] [1511871189.760648564]: Plugin safety_area blacklisted
    [ INFO] [1511871189.761807564]: Plugin setpoint_accel loaded
    [ INFO] [1511871189.804202571]: Plugin setpoint_accel initialized
    [ INFO] [1511871189.805520944]: Plugin setpoint_attitude loaded
    [ INFO] [1511871189.932153525]: Plugin setpoint_attitude initialized
    [ INFO] [1511871189.933441481]: Plugin setpoint_position loaded
    [ INFO] [1511871190.007572901]: Plugin setpoint_position initialized
    [ INFO] [1511871190.008838931]: Plugin setpoint_raw loaded
    [ INFO] [1511871190.125824625]: Plugin setpoint_raw initialized
    [ INFO] [1511871190.127125185]: Plugin setpoint_velocity loaded
    [ INFO] [1511871190.192506898]: Plugin setpoint_velocity initialized
    [ INFO] [1511871190.193853760]: Plugin sys_status loaded
    [ INFO] [1511871190.265217187]: Plugin sys_status initialized
    [ INFO] [1511871190.266466029]: Plugin sys_time loaded
    [ INFO] [1511871190.307360530]: TM: Timesync mode: MAVLINK
    [ INFO] [1511871190.315122695]: Plugin sys_time initialized
    [ INFO] [1511871190.316359974]: Plugin vfr_hud loaded
    [ INFO] [1511871190.331181134]: Plugin vfr_hud initialized
    [ INFO] [1511871190.331470454]: Plugin vibration blacklisted
    [ INFO] [1511871190.332400653]: Plugin vision_pose_estimate loaded
    [ INFO] [1511871190.438018697]: Plugin vision_pose_estimate initialized
    [ INFO] [1511871190.439162384]: Plugin vision_speed_estimate loaded
    [ INFO] [1511871190.482894722]: Plugin vision_speed_estimate initialized
    [ INFO] [1511871190.484180751]: Plugin waypoint loaded
    [ INFO] [1511871190.535862284]: Plugin waypoint initialized
    [ INFO] [1511871190.536223166]: Autostarting mavlink via USB on PX4
    [ INFO] [1511871190.536555767]: Built-in SIMD instructions: None
    [ INFO] [1511871190.536766234]: Built-in MAVLink package version: 2017.10.10
    [ INFO] [1511871190.536977534]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad matrixpilot paparazzi slugs standard uAvionix ualberta
    [ INFO] [1511871190.537179146]: MAVROS started. MY ID 1.240, TARGET ID 1.50
    

    so again no Heartbeat received.

    Is it possible that its a PX4 problem?

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  • weixin_39559750 weixin_39559750 2021-01-10 10:00

    Do you have latest upstream master px4fmuv2_default loaded into the Dropix?

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  • weixin_39613548 weixin_39613548 2021-01-10 10:00

    yes

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  • weixin_39559750 weixin_39559750 2021-01-10 10:00

    What's the value of your SYS_COMPANION parameter currently?

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  • weixin_39613548 weixin_39613548 2021-01-10 10:00

    ISYS_COMPANION is

    Companion Link (921600 baud, 8N1)
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  • weixin_39613548 weixin_39613548 2021-01-10 10:00

    well I again flashed the firmware, calibrated all sensors new, set the

    SYS_COMPANION
    to
    57600
    baud and adapted my launch file also to
    57600
    baud and its working fine now 😂 and , thanks a lot for your help.
    
    [ INFO] [1511876698.657583211]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad matrixpilot paparazzi slugs standard uAvionix ualberta
    [ INFO] [1511876698.657855024]: MAVROS started. MY ID 1.240, TARGET ID 1.50
    [ WARN] [1511876698.674926013]: TM: Clock skew detected (-1511876484.446492434 s). Hard syncing clocks.
    [ INFO] [1511876699.630708587]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
    [ INFO] [1511876699.790941468]: IMU: High resolution IMU detected!
    [ INFO] [1511876700.680052534]: VER: 1.1: Capabilities         0x000000000000e4ef
    [ INFO] [1511876700.680381324]: VER: 1.1: Flight software:     010700c0 (0000000076F2E0A7)
    [ INFO] [1511876700.680577463]: VER: 1.1: Middleware software: 010700c0 (0000000000000001)
    [ INFO] [1511876700.681345769]: VER: 1.1: OS software:         071600ff (0000000000000001)
    [ INFO] [1511876700.681668101]: VER: 1.1: Board hardware:      00000011
    [ INFO] [1511876700.681895229]: VER: 1.1: VID/PID:             26ac:0011
    [ INFO] [1511876700.682076681]: VER: 1.1: UID:                 3334510b32363238
    
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