GPS Vertical Pos Drift too high

PX4 Autopilot
1

Hello , i am using px4 sitl ros2-humble gazebo and working on ubuntu 22.04 i am encountering this error
WARN [health_and_arming_checks] Preflight: GPS Vertical Pos Drift too high
WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error
while trying to run this
make px4_sitl gz_x500

2

Hi there!

Tried ChatGPT for your problem also… I got my own topic solved quite easily.
Sorry for barging in like this.

But this is what the answer was:

It seems like you’re encountering issues with the GPS and yaw estimate while running the PX4 SITL simulation with Gazebo in ROS2 on Ubuntu 22.04. Let’s break down these errors and see how you might address them:

  1. GPS Vertical Pos Drift too high: This warning indicates that there’s significant vertical position drift detected by the GPS. It’s crucial for the GPS module to provide accurate position data for proper navigation and control. Some common reasons for GPS drift include poor signal reception, incorrect GPS module configuration, or simulation environment issues.
  • First, ensure that your GPS module is configured correctly. Check its parameters and ensure that it’s set up according to the specifications of your simulated environment.
  • Verify that your simulation environment (Gazebo) is configured properly. Sometimes, inaccuracies in the simulation environment can lead to unrealistic GPS behavior.
  • Check for any issues with the GPS signal reception in your simulation. Ensure that there are no obstacles obstructing the GPS signal and that the simulated environment accurately represents the conditions in which your UAV operates.
  1. Yaw estimate error: This warning indicates an error in the estimation of the UAV’s yaw (heading) angle. Accurate yaw estimation is crucial for proper navigation and control, especially in autonomous flight scenarios.
  • Double-check the calibration of your IMU (Inertial Measurement Unit) sensors. Yaw estimation heavily relies on accurate sensor data, so any inaccuracies in sensor calibration can lead to errors.
  • Ensure that your UAV model in Gazebo is correctly configured, particularly regarding its sensor models and their parameters. Incorrect sensor models or parameters can lead to erroneous yaw estimates.
  • If you’re using any sensor fusion algorithms (such as an Extended Kalman Filter) for state estimation, verify their configuration and parameters. Misconfigured fusion algorithms can lead to inaccurate yaw estimates.

By addressing these potential issues, you can hopefully mitigate the GPS and yaw estimation errors you’re encountering in your PX4 SITL simulation. If the problems persist, consider consulting the PX4 documentation, community forums, or ROS2/Gazebo support channels for further assistance.

Any help with this answer?

3

thank you , i will try

4

Hi,

I’m experiencing the same issue. In my SITL terminal, I receive the following warning:
WARN [health_and_arming_checks] Preflight: GPS Vertical Pos Drift too high.

Did you manage to resolve this?
For reference, my setup is as follows:

  • Ubuntu 22.04
  • Gazebo Harmonic
  • ROS Humble
  • PX4 1.14

Any insights would be greatly appreciated!