Preflight errors: ef2 missing data, heading estimate not stable, yaw estimate error

PX4 Autopilot
1

Hi
I am trying to simulate an omnicopter in gazebo and when trying to send my arm command

ros2 run offboard_path offboard_ctrl_omni

I get a few errors in the PX4 Autopilot command window

WARN  [health_and_arming_checks] Preflight Fail: ekf2 missing data
WARN  [health_and_arming_checks] Preflight Fail: heading estimate not stable
WARN  [health_and_arming_checks] Preflight Fail: Yaw estimate error

I have tried to use make distclean and also clear the logs, but I have been unable to find a solution. I also tried to play around with QGroundControl to see if anything there could help fix this problem to no avail.

2 Likes
2

I just encountered the same error! I had to struggle with this for a while.

In my case, I ran QGC and make px4_sitl gz_x500. And this error message popped up, not allowing for any flight including takeoff.

My remedy was to ā€œmanually rotateā€ the drone model in gazebo sim. This somehow resolved the error. I believe a certain heading raises some issues in preflight check.

3

please check whether the groundtruth_plugin is enabled in your simulation environment.

If the groundtruth_plugin is missing or not properly configured, the estimator may not receive consistent attitude/heading reference data. This can cause the heading innovation to grow or oscillate, resulting in the ā€œheading estimate not stableā€ preflight failure.