Hi,
ich versuche aktuell mit der GIT Repo “px4ros” mein Glück. Catkin kompiliert alle nötigen packages und die mitgelieferten LAUNCH-Files starten auch. Der Quad wird zB in einer Empty-World gespawnt und ist per Joystick steuerbar.
Wenn ich mich jetzt mit QGroundControl (neuste Version aus der dev-git) versuche zu verbinden, passiert nichts. Weder der Ladebalken kommt, noch ein Output eines Fehlers. Also der Port ist nicht schon anderweitig belegt und müsste für QGC frei sein. Mit einem realen PX4 per USB verbindet sich QGC von allein.
Wenn ich “roslaunch mavros px4.launch fcu:=xxxx” starte, startet es zumindestens und der letzte Output ist “MAVROS started. MY ID 1.240, TARGET ID 1.1”. Von Heartbeat und Connected steht da nichts, wie ich es normal kenne.
Wie lässt sich überhaupt die Funktionalität der Firmware testen? zB ein takeoff? ginge das nicht mit “rosrun mavros mavcmd takeoffcur”? Da tut sich nichts.
Ich hatte das ganze genauso wie ich es diesmal gemacht habe am laufen. Diesmal habe ich jedoch noch ein paar andere Packages die auch problemlos mitkompiliert werden (universal_robot, husky). Langsam bin ich mit meinem Latein am Ende.
Hier nochmal der komplette output von mavros.
[ INFO] [1456309282.451610790]: FCU URL: udp://:14540@127.0.0.1:14557
[ INFO] [1456309282.451847312]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1456309282.451911467]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1456309282.452052785]: GCS bridge disabled
[ INFO] [1456309282.522644946]: Plugin 3dr_radio loaded and initialized
[ INFO] [1456309282.526548745]: Plugin actuator_control loaded and initialized
[ INFO] [1456309282.527809775]: Plugin altitude loaded and initialized
[ INFO] [1456309282.613477122]: Plugin cam_imu_sync loaded and initialized
[ INFO] [1456309282.618934589]: Plugin command loaded and initialized
[ INFO] [1456309282.618994780]: Plugin distance_sensor blacklisted
[ INFO] [1456309282.629392646, 70.635000000]: Plugin ftp loaded and initialized
[ INFO] [1456309282.638075417, 70.645000000]: Plugin global_position loaded and initialized
[ INFO] [1456309282.638114927, 70.645000000]: Plugin image_pub blacklisted
[ INFO] [1456309282.647658871, 70.655000000]: Plugin imu_pub loaded and initialized
[ INFO] [1456309282.657252106, 70.665000000]: Plugin local_position loaded and initialized
[ INFO] [1456309282.658085575, 70.665000000]: Plugin manual_control loaded and initialized
[ INFO] [1456309282.664258919, 70.670000000]: Plugin mocap_pose_estimate loaded and initialized
[ INFO] [1456309282.667681564, 70.675000000]: Plugin param loaded and initialized
[ INFO] [1456309282.673770894, 70.680000000]: Plugin px4flow loaded and initialized
[ INFO] [1456309282.681147514, 70.690000000]: Plugin rc_io loaded and initialized
[ INFO] [1456309282.681189938, 70.690000000]: Plugin safety_area blacklisted
[ INFO] [1456309282.685338161, 70.695000000]: Plugin setpoint_accel loaded and initialized
[ INFO] [1456309282.700244437, 70.710000000]: Plugin setpoint_attitude loaded and initialized
[ INFO] [1456309282.709854311, 70.720000000]: Plugin setpoint_position loaded and initialized
[ INFO] [1456309282.721252572, 70.730000000]: Plugin setpoint_raw loaded and initialized
[ INFO] [1456309282.723943708, 70.730000000]: Plugin setpoint_velocity loaded and initialized
[ INFO] [1456309282.730590234, 70.740000000]: Plugin sys_status loaded and initialized
[ INFO] [1456309282.735012364, 70.745000000]: Plugin sys_time loaded and initialized
[ INFO] [1456309282.737589470, 70.745000000]: Plugin vfr_hud loaded and initialized
[ INFO] [1456309282.737630045, 70.745000000]: Plugin vibration blacklisted
[ INFO] [1456309282.753550478, 70.760000000]: Plugin vision_pose_estimate loaded and initialized
[ INFO] [1456309282.757855668, 70.765000000]: Plugin vision_speed_estimate loaded and initialized
[ INFO] [1456309282.762209301, 70.770000000]: Plugin waypoint loaded and initialized
[ INFO] [1456309282.762266312, 70.770000000]: Autostarting mavlink via USB on PX4
[ INFO] [1456309282.762301885, 70.770000000]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1456309282.762319225, 70.770000000]: Built-in MAVLink package version: 2016.2.5
[ INFO] [1456309282.762332855, 70.770000000]: Built-in MAVLink dialect: ardupilotmega
[ INFO] [1456309282.762346099, 70.770000000]: MAVROS started. MY ID 1.240, TARGET ID 1.1
Und folgendes fehlt mir irgendwie.
[ WARN] [1456315878.492740236]: TM: Clock skew detected (-1456314782.148238420 s). Hard syncing clocks.
[ INFO] [1456315879.149385538]: CON: Got HEARTBEAT, connected. FCU: PX4
[ INFO] [1456315879.149686993]: IMU: High resolution IMU detected!
[ INFO] [1456315880.158254936]: VER: 1.1: Capabilities 0x00000000000004eb
[ INFO] [1456315880.158311585]: VER: 1.1: Flight software: 00000000 (c7929937505c34d0)
[ INFO] [1456315880.158338738]: VER: 1.1: Middleware software: 00000000 (c7929937505c34d0)
[ INFO] [1456315880.158375546]: VER: 1.1: OS software: 00000000 (0000000000000000)
[ INFO] [1456315880.158393002]: VER: 1.1: Board hardware: 00000000
[ INFO] [1456315880.158406618]: VER: 1.1: VID/PID: 26ac:0011
[ INFO] [1456315880.158423556]: VER: 1.1: UID: 3333471335313431
[ INFO] [1456315892.971702129]: PR: parameters list received
[ INFO] [1456315894.152352485]: WP: mission received