Hi,
I am trying to simulate x500 gazebo drone with px4 and ros2 so it does not use GPS for arming, taking off and landing but everytime I stop sensor_gps_sim from running, start running sensor_baro_sim and set parammeters as it is said here: PX4-ROS2 VIO navigation in GPS denied condition - #3 by gugafelds or here: Using the ECL EKF | PX4 User Guide I get this INFO message: pxh> INFO [tone_alarm] notify negative
Can anyone help me settup my simulation so it works without using GPS?
I had set up everything by following this tutorial: How to setup PX4 SITL with ROS2 and XRCE-DDS Gazebo simulation on Ubuntu 22 - YouTube
Thank you in advance.
Just some tops i remember
When setting up the simulation environment, the key aspect is to correctly configure the PX4 parameters to support non-GPS operation. The INFO [tone_alarm] notify negative message typically suggests that there’s an issue with the system configuration or the pre-arm checks that prevents the drone from arming.
Here are some steps to troubleshoot your issue:
-
Ensure your system configuration parameters are set properly. Specifically, you need to set EKF2_AID_MASK
to 3
to disable GPS aiding and enable vision pose estimate, and EKF2_HGT_MODE
to 1
to use the barometer as the primary height sensor instead of the GPS. Ensure you save these parameters before continuing.
-
Since you are trying to work without a GPS, you will have to disable the GPS related checks
-
Depending on the specific sensor setup, you might need to adjust the EKF2_EV_DELAY
and EKF2_EV_NOISE
parameters as well. This depends on the noise characteristics and latency of your specific sensors.
-
Check the EKF2 Innovations in QGroundControl or via mavlink console to ensure that your sensors are operating properly and the EKF2 filter is correctly estimating the drone’s state.
-
If you are using vision-based systems for position estimate, ensure your visual odometry message (/mavros/vision_pose/pose
) is being published and the covariance values are set appropriately. Sometimes, having a covariance too high or too low can cause the EKF2 filter to reject the data from the visual odometry system.
-
Since you are simulating a drone, you must ensure that your simulated sensors are operating correctly. Check that the sensor_baro_sim is publishing valid data and that the sensor_gps_sim is not publishing any data (since you’ve said you’ve turned it off).
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Thank you very much, I will try to do all the steps you have provided