Update on B)
When sending commands on
actuator_control in PX4 v1.10 & master, this info shows up:
ERROR [mavlink] SET_ACTUATOR_CONTROL_TARGET not supported with lockstep enabled
ERROR [mavlink] Please disable lockstep for actuator offboard control:
ERROR [mavlink] https://dev.px4.io/master/en/simulation/#disable-lockstep-simulation
I followed these instructions and now am able to control the actuators when doing this:
- publish on the mavros topic
- switch to offboard mode
When i follow these instructions to disable lockstep, I repetedly get accelerometer and gyroscope error messages:
[ERROR] [1575971113.545578414, 142.656000000]: FCU: Accel #0 fail: TIMEOUT!
[ERROR] [1575971113.595938207, 142.656000000]: FCU: Gyro #0 fail: TIMEOUT!
ERROR [sensors] Accel #0 fail: TIMEOUT!
ERROR [sensors] Sensor Accel #0 failed. Reconfiguring sensor priorities.
WARN [sensors] Remaining sensors after failover event 0: Accel #0 priority: 1
ERROR [sensors] Gyro #0 fail: TIMEOUT!
ERROR [sensors] Sensor Gyro #0 failed. Reconfiguring sensor priorities.
WARN [sensors] Remaining sensors after failover event 0: Gyro #0 priority: 1
I looked at the CPU usage and my computer was not even close to its limits in any of the cores. I think there must be another issue, which seems to be related to disabling the lockstep. Is this a bug in the firmware? How could i solve this issue? Let me know if you have any ideas please