Hello, I am currently working on a project that integrates web with PX4 and Gazebo to simulate drone flight paths on the web, and I am implementing the simulation part. My current issues are as follows:
When I delete a drone that has performed a mission and recreate it with the same instance number, remnants of the previous drone’s mission remain. I believe this might be one of the causes of errors in my simulation. I have been experiencing various unexplained errors, some of which I have identified as being related to poor computer performance.
The types of errors are diverse, such as not being able to create the drone at the desired coordinates, and after messages like
WARN [health_and_arming_checks] Preflight Fail: No valid data from Accel 0
I quickly see
ERROR [vehicle_angular_velocity] unable to find or subscribe to selected sensor (1310988)
in the terminal with fast repeated. There are also instances where, during the mission flight, the message
WARN [health_and_arming_checks] Compass needs calibration - Land now!
appears, causing the flight path to twist bizarrely.
All these errors occurred while flying four drones, and there were no issues when flying two drones.
Another peculiar point is that I have confirmed that the likelihood of errors increases if remnants of previously created drones remain when flying four drones. While it is hard to believe that performance issues cause the problems mentioned above, my project manager has stated that similar sensor issues arose when performance was poor in the past.
Therefore, what I can do is to strive to create a clean drone with no mission uploaded at the time of creation. If you know how to create a clean drone instance without reflecting information from previously created drones with the same instance number, please let me know. I am currently using the command HEADLESS=1 PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL_POSE=‘{y_disp},{x_disp}’ PX4_GZ_MODEL=x500 ./build/px4_sitl_default/bin/px4 -i {instance_id} to create the drones. Is there any command that could help resolve this issue?
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WARN [timesync] RTT too high for timesync: 56 ms
I think this error is likely related to performance issues. Does anyone know what this error might mean? In fact, most of my errors seem to arise from performance problems. Even after repeatedly running the simulation, no issues occur when simulating a small number of drones. If there is a way to resolve performance issues, please let me know.