I am using custom firmware from COEX to perform autonomous flights with the PX4. The drone is throwing an error shortly after takeoff, and I think it is disconnecting from the flight controller, but I’m not sure. I tried looking at the log file in the rosout folder, but it is hard to understand what is going on. I’ve attached a link to a video of the flight. Not sure if there is a bug in the COEX custom firmware, calibration issue, or PID issue. Any insight is appreciated. I am just trying to run a simple takeoff command shown below.
Video: Given_example_flight.MOV - Google Drive
Log file: rosout.log - Google Drive
import rospy
from clover import srv
from std_srvs.srv import Trigger
rospy.init_node('flight')
get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
navigate = rospy.ServiceProxy('navigate', srv.Navigate)
navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)
set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
land = rospy.ServiceProxy('land', Trigger)
# Takeoff and hover 1 m above the ground
navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)
# Wait for 3 seconds
rospy.sleep(3)
# Fly forward 1 m
navigate(x=1, y=0, z=0, frame_id='body')
# Wait for 3 seconds
rospy.sleep(3)
# Perform landing
land()