Simulation sitl_gazebo: Sensors not set up correctly

1

Hi,

I have a problem when I try to start my simulator on a different computer I get the following error and warn messages. The commander goes then in an error mode from which I can not arm my model.

WARN  [commander] TRANSITION_DENIED: ARMING_STATE_INIT - ARMING_STATE_ARMED
[ERROR] [1494416689.197640268, 5.050000000]: FCU: TRANSITION_DENIED: ARMING_STATE_INIT - ARMING_STA
[ERROR] [1494416689.248365273, 5.098000000]: FCU: REJECTING component arm cmd
WARN  [commander] Not ready to fly: Sensors not set up correctly
[ERROR] [1494416693.601933342, 9.408000000]: FCU: Not ready to fly: Sensors not set up correctly

Does anyone has an idea why on one computer the sensors are set up correctly and on another not?

Best regards
Nils Rottmann

2

Is one computer slower? Try running headless.

eg HEADLESS=1 make posix_sitl_default gazebo_iris

3

Hi dagar,

First of all thanks for your reply. I tried what you suggested but still I get the same error message. Do you have any other ideas what could be the reason? I have done some further diagnostics to look which thinks are running different on both computers:

commander status (working PC)
WARN  [commander] nav state: 13
WARN  [commander] arming: ARMED

commander status (other)
WARN  [commander] nav state: 0
WARN  [commander] arming: INIT

I think the problem is that I run into the INIT state after testing the sensors. But I checked the sensors status on both computer during simulation and for both the status is the same.

Best
Nils

4

Are there are other differences between them? Is it the exact same version of PX4? Any param changes?

I would make certain the code is identical in both locations, run make distclean, then try the simulation again.

5

Hi dagar,

thanks for your help. You solved my problem. Indeed it was a problem of the computer speed. Running HEADLESS=1 worked after I added it into the right spot of my launch file.

Best
Nils