- I can arm the drone when in stabilized mode and can manually fly with a RC. However, I tried to use the script to hover in offboard mode. It can enter the offboard mode, but cannot arm.
- I use the mocap as the /mavros/vision_pose/pose node and enabled the external vision in EFK2. I have checked the /mavros/local_position/pose and that is correct.
-
I use “rosrun mavros mavsafety arm”, before entering the offboard mode and motor spins. But once in offboard mode, when I run that command again, it gives me “Request failed. Check mavros logs”.
header:
seq: 400
stamp:
secs: 1733192715
nsecs: 872899236
frame_id: ‘’
status:
level: 0
name: “mavros: FCU connection”
message: “connected”
hardware_id: “/dev/ttyACM0:57600”
values:
key: “Received packets:”
value: “877”
key: “Dropped packets:”
value: “0”
key: “Buffer overruns:”
value: “0”
key: “Parse errors:”
value: “0”
key: “Rx sequence number:”
value: “60”
key: “Tx sequence number:”
value: “0”
key: “Rx total bytes:”
value: “12170209”
key: “Tx total bytes:”
value: “331575”
key: “Rx speed:”
value: “32498.000000”
key: “Tx speed:”
value: “854.000000”
level: 2
name: “mavros: GPS”
message: “No satellites”
hardware_id: “/dev/ttyACM0:57600”
values:
key: “Satellites visible”
value: “0”
key: “Fix type”
value: “0”
key: “EPH (m)”
value: “Unknown”
key: “EPV (m)”
value: “Unknown”
level: 1
name: “mavros: Mount”
message: “Can not diagnose in this targeting mode”
hardware_id: “/dev/ttyACM0:57600”
values:
key: “Mode”
value: “255”
level: 0
name: “mavros: Heartbeat”
message: “Normal”
hardware_id: “/dev/ttyACM0:57600”
values:
key: “Heartbeats since startup”
value: “565”
key: “Frequency (Hz)”
value: “1.000001”
key: “Vehicle type”
value: “Quadrotor”
key: “Autopilot type”
value: “PX4 Autopilot”
key: “Mode”
value: “OFFBOARD”
key: “System status”
value: “Uninit”
level: 2
name: “mavros: System”
message: “Sensor health”
hardware_id: “/dev/ttyACM0:57600”
values:
key: “Sensor present”
value: “0x02210009”
key: “Sensor enabled”
value: “0x02210009”
key: “Sensor health”
value: “0x2301803F”
key: “3D gyro”
value: “Ok”
key: “absolute pressure”
value: “Ok”
key: “rc receiver”
value: “Ok”
key: “AHRS subsystem health”
value: “Fail”
key: “Battery”
value: “Ok”
key: “CPU Load (%)”
value: “56.7”
key: “Drop rate (%)”
value: “0.0”
key: “Errors comm”
value: “0”
key: “Errors count mavconn library. #1”
value: “0”
key: “Errors count Pub/sub for Mavlink.msg #2”
value: “0”
key: “Errors count Plugin loading functionality. #3”
value: “0”
key: “Errors count Diagnostic mesages. #4”
value: “0”
level: 1
name: “mavros: Battery”
message: “Low voltage”
hardware_id: “/dev/ttyACM0:57600”
values:
key: “Voltage”
value: “7.25”
key: “Current”
value: “-6.8”
key: “Remaining”
value: “55.0”
level: 0
name: “mavros: Time Sync”
message: “Normal”
hardware_id: “/dev/ttyACM0:57600”
values:
key: “Timesyncs since startup”
value: “5619”
key: “Frequency (Hz)”
value: “10.000074”
key: “Last RTT (ms)”
value: “1.419962”
key: “Mean RTT (ms)”
value: “2.524334”
key: “Last remote time (s)”
value: “773.512660000”
key: “Estimated time offset (s)”
value: “1733191942.266791105”
-
Here is the log of px4.launch
PARAMETERS -
/mavros/camera/frame_id: base_link
-
/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/horizontal_fov_ratio: 1.0
-
/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/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0
-
/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/ttyACM0:57600
-
/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/mount/debounce_s: 4.0
-
/mavros/mount/err_threshold_deg: 10.0
-
/mavros/mount/negate_measured_pitch: False
-
/mavros/mount/negate_measured_roll: False
-
/mavros/mount/negate_measured_yaw: False
-
/mavros/odometry/fcu/map_id_des: map
-
/mavros/odometry/fcu/odom_child_id_des: base_link
-
/mavros/odometry/fcu/odom_parent_id_des: odom
-
/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: False
-
/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: 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: noetic
-
/rosversion: 1.17.0
NODES
/
mavros (mavros/mavros_node)
ROS_MASTER_URI=http://lishuo-ThinkPadP1:11311
process[mavros-1]: started with pid [2615]
[ INFO] [1733192784.986028375]: FCU URL: /dev/ttyACM0:57600
[ INFO] [1733192785.004327579]: serial0: device: /dev/ttyACM0 @ 57600 bps
[ INFO] [1733192785.005860790]: GCS bridge disabled
[ INFO] [1733192785.083890356]: Plugin 3dr_radio loaded
[ INFO] [1733192785.112196407]: Plugin 3dr_radio initialized
[ INFO] [1733192785.113441523]: Plugin actuator_control loaded
[ INFO] [1733192785.144885035]: Plugin actuator_control initialized
[ INFO] [1733192785.165580294]: Plugin adsb loaded
[ INFO] [1733192785.195647875]: Plugin adsb initialized
[ INFO] [1733192785.196364289]: Plugin altitude loaded
[ INFO] [1733192785.206139425]: Plugin altitude initialized
[ INFO] [1733192785.207288893]: Plugin cam_imu_sync loaded
[ INFO] [1733192785.214264422]: Plugin cam_imu_sync initialized
[ INFO] [1733192785.215188387]: Plugin camera loaded
[ INFO] [1733192785.220716912]: Plugin camera initialized
[ INFO] [1733192785.221935916]: Plugin cellular_status loaded
[ INFO] [1733192785.250132527]: Plugin cellular_status initialized
[ INFO] [1733192785.251597867]: Plugin command loaded
[ INFO] [1733192785.324735257]: Plugin command initialized
[ INFO] [1733192785.326272628]: Plugin companion_process_status loaded
[ INFO] [1733192785.352827964]: Plugin companion_process_status initialized
[ INFO] [1733192785.353515258]: Plugin debug_value loaded
[ INFO] [1733192785.452890546]: Plugin debug_value initialized
[ INFO] [1733192785.453059282]: Plugin distance_sensor blacklisted
[ INFO] [1733192785.453817199]: Plugin esc_status loaded
[ INFO] [1733192785.464409164]: Plugin esc_status initialized
[ INFO] [1733192785.465888903]: Plugin esc_telemetry loaded
[ INFO] [1733192785.472559761]: Plugin esc_telemetry initialized
[ INFO] [1733192785.474648170]: Plugin fake_gps loaded
[ INFO] [1733192785.754630606]: Plugin fake_gps initialized
[ INFO] [1733192785.755661003]: Plugin ftp loaded
[ INFO] [1733192785.818304604]: Plugin ftp initialized
[ INFO] [1733192785.819172761]: Plugin geofence loaded
[ INFO] [1733192785.932091941]: Plugin geofence initialized
[ INFO] [1733192785.932955490]: Plugin global_position loaded
[ INFO] [1733192786.197241724]: Plugin global_position initialized
[ INFO] [1733192786.197938426]: Plugin gps_input loaded