Hi, problem with 1.11 version, it says prearm-check error and i cant switch to position mode.
But i couldnt find what is the problem, i did what is written in 1.11 documentation about prearmcheck parameters CBRK_IO_SAFETY 22027, COM_PREARM_MODE = 2 and other combinations.
I check ekf2 and its not started but sensors are okay. You can see pxh outputs below
pxh> listener estimator_status
TOPIC: estimator_status
estimator_status_s
timestamp: 677533929 (0.002729 seconds ago)
states: [0.8316, -0.0236, 0.0155, -0.5546, 0.0023, 0.0023, -0.0003, 0.7406, -0.0633, -0.2328, -0.0000, -0.0000, 0.0000, 0.0000, 0.0000, -0.0000, 0.2915, 0.0189, 0.2581, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000]
vibe: [0.0000, 0.0000, 0.0028]
covariances: [0.0000, 0.0000, 0.0000, 0.0000, 0.0039, 0.0039, 0.0043, 0.0034, 0.0034, 0.0068, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000]
output_tracking_error: [0.0000, 0.0006, 0.0010]
control_mode_flags: 67110935 (0b0000’0100’0000’0000’0000’1000’0001’0111)
pos_horiz_accuracy: 0.0828
pos_vert_accuracy: 0.0827
mag_test_ratio: 0.0006
vel_test_ratio: 0.0009
pos_test_ratio: 0.0018
hgt_test_ratio: 0.0018
tas_test_ratio: 0.0000
hagl_test_ratio: 0.0000
beta_test_ratio: 0.0000
time_slip: 0.0415
gps_check_fail_flags: 0 (0b0000’0000’0000’0000)
filter_fault_flags: 0 (0b0000’0000’0000’0000)
innovation_check_flags: 0 (0b0000’0000’0000’0000)
solution_status_flags: 895 (0b0000’0011’0111’1111)
n_states: 24
pre_flt_fail_innov_heading: False
pre_flt_fail_innov_vel_horiz: False
pre_flt_fail_innov_vel_vert: False
pre_flt_fail_innov_height: False
pre_flt_fail_mag_field_disturbed: False
health_flags: 0 (0b0000’0000)
timeout_flags: 0 (0b0000’0000)
pxh> ekf2 status
INFO [ekf2] local position: invalid
INFO [ekf2] global position: invalid
INFO [ekf2] time slip: 41493 us
ekf2: update: 97173 events, 3961033us elapsed, 40.76us avg, min 30us max 6557us 60.122us rms
pxh> listener vehicle_gps_position
TOPIC: vehicle_gps_position
vehicle_gps_position_s
timestamp: 707926027 (0.001160 seconds ago)
time_utc_usec: 707925850
lat: 518570858
lon: 114264378
alt: 182502
alt_ellipsoid: 0
s_variance_m_s: 0.2500
c_variance_rad: 0.0000
eph: 0.1200
epv: 0.2300
hdop: 0.0000
vdop: 0.0000
noise_per_ms: 0
jamming_indicator: 0
vel_m_s: 0.0000
vel_n_m_s: 0.0000
vel_e_m_s: 0.0000
vel_d_m_s: 0.0000
cog_rad: 6.2832
timestamp_time_relative: 0
heading: 0.0000
heading_offset: 0.0000
fix_type: 3
vel_ned_valid: False
satellites_used: 15
pxh> listener sensor_combined
TOPIC: sensor_combined
sensor_combined_s
timestamp: 1045203847 (0.000524 seconds ago)
gyro_rad: [0.0019, -0.0001, -0.0001]
gyro_integral_dt: 4743
accelerometer_timestamp_relative: 0
accelerometer_m_s2: [0.0221, 0.7370, -9.6318]
accelerometer_integral_dt: 4743
accelerometer_clipping: 0
pxh> listener sensor_mag
TOPIC: sensor_mag
sensor_mag_s
timestamp: 1085635864 (0.001481 seconds ago)
timestamp_sample: 1085635857 (7 us before timestamp)
device_id: 197388 (Type: 0x03, SIMULATION:1 (0x03))
x: 0.2600
y: -0.0987
z: 0.2732
temperature: 19.9992
error_count: 0
is_external: False
