Drone can't takeoff in simulation with HEADLESS=1

PX4 Autopilot
1

Starting with GUI:

     $ make px4_sitl gazebo-classic_typhoon_h480
     ... 
     INFO  [px4] Startup script returned successfully
     pxh> [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
     INFO  [commander] Ready for takeoff!

Starting without GUI:

     $ HEADLESS=1 make px4_sitl gazebo-classic_typhoon_h480
     ...
     INFO  [px4] Startup script returned successfully
     pxh> INFO  [mavlink] partner IP: 127.0.0.1
     WARN  [health_and_arming_checks] Preflight Fail: vertical velocity unstable
     WARN  [health_and_arming_checks] Preflight Fail: vertical velocity unstable
     WARN  [health_and_arming_checks] Preflight Fail: vertical velocity unstable
     WARN  [health_and_arming_checks] Preflight Fail: High Gyro Bias
     WARN  [health_and_arming_checks] Preflight Fail: High Gyro Bias
     WARN  [health_and_arming_checks] Preflight Fail: vertical velocity unstable
     WARN  [health_and_arming_checks] Preflight Fail: High Gyro Bias
     WARN  [health_and_arming_checks] Preflight Fail: vertical velocity unstable
     WARN  [health_and_arming_checks] Preflight Fail: vertical velocity unstable
     WARN  [health_and_arming_checks] Preflight Fail: height estimate error
     WARN  [health_and_arming_checks] Preflight Fail: vertical velocity unstable
     WARN  [health_and_arming_checks] Preflight Fail: vertical velocity unstable
     WARN  [health_and_arming_checks] Preflight Fail: height estimate error
     WARN  [health_and_arming_checks] Preflight Fail: vertical velocity unstable
     WARN  [health_and_arming_checks] Preflight Fail: vertical velocity unstable
     WARN  [health_and_arming_checks] Preflight Fail: height estimate error

And so on. Sometimes it finishes with “INFO [commander] Ready for takeoff!” after several such warnings but sometimes it doesn’t (at least at some reasonable time).

“WARN [health_and_arming_checks]” occurs in GUI mode too - but in GUI mode it never happens that many times in a row. I did several dozen tests in each mode.

What’s wrong with drone in headless mode?

2

Yes, I have seen this too. I’m not sure. There is some sort of effect that makes it bounce against the ground, or topple over. Does it happen consistently?

3

FPV-stream shows some motions of the drone but they look minimal - small yaw rotation without visible pitch/roll changes. No “topple over” :slight_smile:

Several minutes in the current try.