Report an error when rotorcraft flys:[ WARN] : PositionTargetGlobal failed because no origin

PX4 Autopilot
1

I’m puzzled because when I use offboard_node to make the rotorcraft fly, this WARN is reported:

[ WARN] [1667526567.784699137, 37.720000000]: PositionTargetGlobal failed because no origin
[ WARN] [1667526567.884896969, 37.820000000]: PositionTargetGlobal failed because no origin
[ WARN] [1667526567.986382705, 37.920000000]: PositionTargetGlobal failed because no origin
[ WARN] [1667526568.085725849, 38.020000000]: PositionTargetGlobal failed because no origin
[ WARN] [1667526568.187087564, 38.120000000]: PositionTargetGlobal failed because no origin
[ WARN] [1667526568.287900686, 38.220000000]: PositionTargetGlobal failed because no origin
[ WARN] [1667526568.387957046, 38.320000000]: PositionTargetGlobal failed because no origin
[ WARN] [1667526568.489057774, 38.420000000]: PositionTargetGlobal failed because no origin

When I try “commander takeoff” instruction, this WARN reported too.
I have tried many aircrafts , this problem always exist.
I should mention that everything is ok before today.
Is anyone else having the same problem as me?

THANKS.

2

I have too,but it seems ok to run,i guess it is because we are using the local position target but not global

3

Same issue here, using SITL simulation with gazebo and fixed-wing plane. Would appreciate any help to solve this issue.

Thanks in advance!

4

In order to get rid of PositionTargetGlobal failed because no origin message:

This message comes from guided_target plugin (guided_target: accept position-target-global-int messages by snktshrma · Pull Request #1780 · mavlink/mavros · GitHub), which as far as I understood is used for getting global position messages in scaled int from GCS.

We can do one of the two approaches:

  • don’t load this plugin by editing the file /opt/ros/humble/share/mavros/launch/px4_pluginlists.yaml and adding the guided_target plugin to the list of plugin_denylist. I tried this and it does not seem to have major side effect. This method is good for when we have installed mavros binary packages using apt.
  • build mavros from latest code. There the problem is fixed I think: SensorQoS necessary for gp_origin? · Issue #1911 · mavlink/mavros · GitHub (not sure of course)

Version of the file, whithout a fix, which I think is used in the binary package: mavros/mavros_extras/src/plugins/guided_target.cpp at 65ad32e7329ac9a54a1afa8691a89e2fc611ad30 · mavlink/mavros · GitHub

Version of the file with the fix in latest code: mavros/mavros_extras/src/plugins/guided_target.cpp at 227bb05c34a75188f1d6fccff6f767d0cc9129b0 · mavlink/mavros · GitHub

Probably related error message in Mavros output:

[mavros_node-1] [INFO] [1707929198.436637057] [mavros.mavros]: Plugin guided_target initialized
[mavros_node-1] [WARN] [1707929198.436743442] [mavros.global_position]: New subscription discovered on topic '/mavros/global_position/gp_origin', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY
[mavros_node-1] [WARN] [1707929198.437238814] [mavros.guided_target]: New publisher discovered on topic '/mavros/global_position/gp_origin', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY
[mavros_node-1] [INFO] [1707929198.446975237] [mavros.mavros]: Plugin hil created