LPE version in 1.6.1 does not work

PX4 Autopilot Multicopter 🛸
1

We are working on visual hovering indoor using 6 optitrack cameras. However, it does not work with the following configuration.

Issue details

I can see the data stream in the mocap node and the data was received by the mavros correctly.

[ INFO] [1495755189.973277609]: FCU: [lpe] mocap position init: 0.11, 0.18, 0.20 m
[ INFO] [1495755190.162792328]: FCU: [lpe] mocap timeout

However, the terminal kept sending timeout during the flight and posctrl was rejected. The drone doesnot fly correctly.

MAVROS version and platform, Autopilot type and version

Odroid side: 14.04+mavros+mocap_optitrack+wifi;

Flight controller side: px4 stack 1.6.1 lpe+921600@telem2+Lpe_fusion is set to use vision position and vision yaw and othersare unchecked + ATT_EXT_HDG_M is set to motion capture;

PC side: motive tracker is broadcasting the rigid body frames through wired ethernet connection.

References

  1. External Position Estimation (Vision/Motion based) · PX4 Developer Guide
  2. https://gitter.im/mavlink/mavros
2

Does the pixhawk emit a sound (restart) when the timeout appears?

3

I am doing a similar project and the timeout disappeared changhing air speed of my 3dr telemetri radio.

I am not using companion computer.

Regards!!

4

No. Nothing visual signal appears in the FC side.

5

Do you see something like this? @Sand

Captura de pantalla de 2017-06-09 10-50-21.png1600Ă—900 318 KB

6

Yes! Exactly same.
Will you get rejected when you switch to posctrl?

7

Hello! @Sand

I think it will not be rejected, maybe the Quadcopter will have oscillating movements.

Have you been flying the quadcioter while appear the message “timeout”?

have you been sending position setpoints to pixhawk?

Regards!!

8

What do you mean by “oscillating movements”? Does the “rejected” response relate to the movement controller?

The message always appears during flight.
I have not sent setpoints offboard cmd to px4.

9

Oscillating movements = the movement is not stable, I think that the first step that you have to do is to fix the “timeout” maybe your mocap frequency is very high. @Sand

10

average rate: 110.930
min: 0.000s max: 0.124s std dev: 0.02129s window: 6337
average rate: 111.096
min: 0.000s max: 0.124s std dev: 0.02113s window: 6467
average rate: 110.913
min: 0.000s max: 0.124s std dev: 0.02108s window: 6563
average rate: 110.871
min: 0.000s max: 0.124s std dev: 0.02110s window: 6674
average rate: 110.941
min: 0.000s max: 0.124s std dev: 0.02104s window: 6790
average rate: 110.969
min: 0.000s max: 0.124s std dev: 0.02109s window: 6907
average rate: 110.956
min: 0.000s max: 0.124s std dev: 0.02115s window: 7018
average rate: 110.925
min: 0.000s max: 0.124s std dev: 0.02116s window: 7127
average rate: 110.638
min: 0.000s max: 0.124s std dev: 0.02117s window: 7215
average rate: 110.437
min: 0.000s max: 0.124s std dev: 0.02123s window: 7315
average rate: 110.324
min: 0.000s max: 0.124s std dev: 0.02128s window: 7420
average rate: 110.095
min: 0.000s max: 0.124s std dev: 0.02135s window: 7517
average rate: 110.055
min: 0.000s max: 0.124s std dev: 0.02139s window: 7628
average rate: 109.947
min: 0.000s max: 0.124s std dev: 0.02143s window: 7732
average rate: 109.813
min: 0.000s max: 0.124s std dev: 0.02143s window: 7828
average rate: 109.329
min: 0.000s max: 0.124s std dev: 0.02151s window: 7902
average rate: 108.966
min: 0.000s max: 0.124s std dev: 0.02160s window: 7986
average rate: 108.623
min: 0.000s max: 0.124s std dev: 0.02167s window: 8072
average rate: 108.469
min: 0.000s max: 0.124s std dev: 0.02174s window: 8172
average rate: 108.200
min: 0.000s max: 0.124s std dev: 0.02182s window: 8262
average rate: 108.161
min: 0.000s max: 0.124s std dev: 0.02176s window: 8371
average rate: 108.040
min: 0.000s max: 0.124s std dev: 0.02178s window: 8471
average rate: 108.120
min: 0.000s max: 0.124s std dev: 0.02180s window: 8586
average rate: 108.110
min: 0.000s max: 0.124s std dev: 0.02184s window: 8687
average rate: 108.191
min: 0.000s max: 0.124s std dev: 0.02188s window: 8804
average rate: 108.010
min: 0.000s max: 0.124s std dev: 0.02186s window: 8900
average rate: 108.140
min: 0.000s max: 0.124s std dev: 0.02189s window: 9021
average rate: 108.139
min: 0.000s max: 0.124s std dev: 0.02194s window: 9132
average rate: 108.178
min: 0.000s max: 0.124s std dev: 0.02190s window: 9246
average rate: 108.262
min: 0.000s max: 0.124s std dev: 0.02194s window: 9364
average rate: 108.264
min: 0.000s max: 0.124s std dev: 0.02198s window: 9474
average rate: 108.327
min: 0.000s max: 0.124s std dev: 0.02201s window: 9580
average rate: 108.237
min: 0.000s max: 0.124s std dev: 0.02206s window: 9683
average rate: 108.310
min: 0.000s max: 0.124s std dev: 0.02209s window: 9800
average rate: 108.406
min: 0.000s max: 0.124s std dev: 0.02213s window: 9920
average rate: 108.482
min: 0.000s max: 0.124s std dev: 0.02216s window: 10038
average rate: 108.423
min: 0.000s max: 0.124s std dev: 0.02220s window: 10144
average rate: 108.249
min: 0.000s max: 0.124s std dev: 0.02226s window: 10238
average rate: 108.271
min: 0.000s max: 0.124s std dev: 0.02229s window: 10351
average rate: 108.337
min: 0.000s max: 0.124s std dev: 0.02232s window: 10468
average rate: 108.300
min: 0.000s max: 0.124s std dev: 0.02235s window: 10574
average rate: 108.379
min: 0.000s max: 0.124s std dev: 0.02237s window: 10683
average rate: 108.442
min: 0.000s max: 0.124s std dev: 0.02240s window: 10800
average rate: 108.506
min: 0.000s max: 0.124s std dev: 0.02243s window: 10917
average rate: 108.608
min: 0.000s max: 0.124s std dev: 0.02245s window: 11039
average rate: 108.550
min: 0.000s max: 0.124s std dev: 0.02247s window: 11144
average rate: 108.559
min: 0.000s max: 0.124s std dev: 0.02250s window: 11256
average rate: 108.436
min: 0.000s max: 0.124s std dev: 0.02254s window: 11354
^Caverage rate: 108.519
min: 0.000s max: 0.124s std dev: 0.02256s window: 11474

11

Hello! @Sand

have you tried of send the mocap data to pixhawk with usb cable?

to see if the timeout disappears

12

Hi @Sand,
How about you use vision_position instead? I have tried without problem.
Do you still happen to have the 1.6.1 firmware (code) with you? I want to look into this issue but cannot find the 1.6.1 tag in the PX4 git repo.
If you are still keeping a copy of 1.6.1 can you please send me a copy?

13

I have tried vision_position. Nothing was improved.

14

In the new firmware1.7.3, there is no timeout.
But the drone drifted quickly away after taking off.