Mavros/local_position/pose not being published by pixhawk

ROS / MAVROS / MicroDDS
1

Hey guys,

I have 2 Pixhawk Cube Blacks, both are configured for offboard.
MAV_1_CONFIG = TELEM 2
MAV_1_MODE = Onboard
SER_TEL2_BAUD = 921600

The first one has firmware 1.11.3 and the second one has 1.12.3

The first one is publishing mavros/local_position/pose messages the second one is not.

I need the local_position/pose to tell my offboard computer the pitch, yaw and roll orientation of the uav.

Any ideas why the second one is not publishing this topic (I used the same offboard computer to test the behavior)? Is it due to the firmware difference or might I forgot to set any parameter on the second Cube?

2

I downgraded to firmware version 1.11.3 and now the pixhawk is publishing /mavros/local_position/pose.

3

I experienced the same behavior when upgrading from firmware 1.11.3 to 1.12.3…
(no published mavros/local_position topics from my mavros node connected to TELEM2)

But v1.12.3 should output a local position as well, shouldn’t it?
So where is the reason why 1.11.3 does publish the topic, and 1.12.3 doesn’t?
Are there any additional prerequisite for PX4 in 1.12.3 to publish a local position???

4

I just noticed, that the above behavior only occurs indoor, if no GPS fix can be found.

Outdoors, as soon as PX4 has a GPS fix, the messages at all local_position and global_position topics will be published again.

So, what is the reason that FW v1.12.3 won’t publish local_position messages without an GPS fix???