Time sync not working / wrong mavros timestamp?

PX4 Autopilot Flight Controllers 💻
1

Time sync not working / Latency to high?

Hi,

I’ve got some troubles sending mocap data to the FCU. I’m using a PixRacer with the latest stable Firmware-Build and the following parameters, to enable the vision fusion in the LPE:

SYS_MC_EST_GROUP, 1
LPE_FUSION, 148
ATT_EXT_HDG_M, 2

The mocap data is streamed to the FCU via mavros by an development computer. However I continously get a mocap timeout followed by a new mocap position init:

[ INFO] [1515059074.509043320]: FCU: [lpe] mocap position init: 2.91, 0.67, 0.00 m
[ INFO] [1515059074.511829727]: FCU: [lpe] mocap timeout
[ INFO] [1515059074.515107459]: FCU: [lpe] mocap position init: 2.45, 1.69, 0.00 m
[ INFO] [1515059074.672871313]: FCU: [lpe] mocap position init: 1.78, -2.37, 0.00 m
[ INFO] [1515059074.682006186]: FCU: [lpe] mocap timeout

Consequenty the local_position does not follow the mocap data and I also can’t see the streamed mocap data in the log files.
I checked that the time synchronization is enabled, but I’m not sure whether it is working correctly. I also tried different baudrates and reducing the mocap streaming rate to 7 Hz (defautl 25 Hz), but without success.

Could anyone provide some help for this issue? :slight_smile:

Below you can find the mavros log, an extract from the /diagnostic and the /mavros/time_reference topics.

Thanks a lot in advance!

mavros log

mli@ubuntu:~$ roslaunch mavros px4.launch fcu_url:=/dev/ttyACM0:921600 gcs_url:=udp://@127.0.0.1
… logging to /home/mli/.ros/log/38bc6fd4-f137-11e7-84f0-000c290399b7/roslaunch-ubuntu-19760.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:42379/

SUMMARY

CLEAR PARAMETERS

  • /mavros/

PARAMETERS

  • /mavros/cmd/use_comp_id_system_control: False
  • /mavros/conn/heartbeat_rate: 5.0
  • /mavros/conn/system_time_rate: 5.0
  • /mavros/conn/timeout: 10.0
  • /mavros/conn/timesync_rate: 5.0
  • /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
  • /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
  • /mavros/distance_sensor/hrlv_ez4_pub/id: 0
  • /mavros/distance_sensor/hrlv_ez4_pub/orientation: ROLL_180
  • /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
  • /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
  • /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
  • /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
  • /mavros/distance_sensor/laser_1_sub/id: 3
  • /mavros/distance_sensor/laser_1_sub/orientation: ROLL_180
  • /mavros/distance_sensor/laser_1_sub/subscriber: True
  • /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
  • /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
  • /mavros/distance_sensor/lidarlite_pub/id: 1
  • /mavros/distance_sensor/lidarlite_pub/orientation: ROLL_180
  • /mavros/distance_sensor/lidarlite_pub/send_tf: True
  • /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
  • /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
  • /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
  • /mavros/distance_sensor/sonar_1_sub/id: 2
  • /mavros/distance_sensor/sonar_1_sub/orientation: ROLL_180
  • /mavros/distance_sensor/sonar_1_sub/subscriber: True
  • /mavros/fcu_url: /dev/ttyACM0:921600
  • /mavros/gcs_url: udp://@127.0.0.1
  • /mavros/global_position/frame_id: fcu
  • /mavros/global_position/rot_covariance: 99999.0
  • /mavros/global_position/tf/child_frame_id: fcu_utm
  • /mavros/global_position/tf/frame_id: local_origin
  • /mavros/global_position/tf/send: False
  • /mavros/image/frame_id: px4flow
  • /mavros/imu/angular_velocity_stdev: 0.000349065850399
  • /mavros/imu/frame_id: fcu
  • /mavros/imu/linear_acceleration_stdev: 0.0003
  • /mavros/imu/magnetic_stdev: 0.0
  • /mavros/imu/orientation_stdev: 1.0
  • /mavros/local_position/frame_id: fcu
  • /mavros/local_position/tf/child_frame_id: fcu
  • /mavros/local_position/tf/frame_id: local_origin
  • /mavros/local_position/tf/send: False
  • /mavros/local_position/tf/send_fcu: False
  • /mavros/mission/pull_after_gcs: True
  • /mavros/mocap/use_pose: True
  • /mavros/mocap/use_tf: False
  • /mavros/plugin_blacklist: [‘safety_area’, '…
  • /mavros/plugin_whitelist:
  • /mavros/px4flow/frame_id: px4flow
  • /mavros/px4flow/ranger_fov: 0.0
  • /mavros/px4flow/ranger_max_range: 5.0
  • /mavros/px4flow/ranger_min_range: 0.3
  • /mavros/safety_area/p1/x: 1.0
  • /mavros/safety_area/p1/y: 1.0
  • /mavros/safety_area/p1/z: 1.0
  • /mavros/safety_area/p2/x: -1.0
  • /mavros/safety_area/p2/y: -1.0
  • /mavros/safety_area/p2/z: -1.0
  • /mavros/setpoint_accel/send_force: False
  • /mavros/setpoint_attitude/reverse_throttle: False
  • /mavros/setpoint_attitude/tf/child_frame_id: attitude
  • /mavros/setpoint_attitude/tf/frame_id: local_origin
  • /mavros/setpoint_attitude/tf/listen: False
  • /mavros/setpoint_attitude/tf/rate_limit: 10.0
  • /mavros/setpoint_position/tf/child_frame_id: setpoint
  • /mavros/setpoint_position/tf/frame_id: local_origin
  • /mavros/setpoint_position/tf/listen: False
  • /mavros/setpoint_position/tf/rate_limit: 50.0
  • /mavros/startup_px4_usb_quirk: True
  • /mavros/sys/disable_diag: False
  • /mavros/sys/min_voltage: 10.0
  • /mavros/target_component_id: 1
  • /mavros/target_system_id: 1
  • /mavros/tdr_radio/low_rssi: 40
  • /mavros/time/time_ref_source: fcu
  • /mavros/time/timesync_avg_alpha: 0.6
  • /mavros/time/timesync_mode: MAVLINK
  • /mavros/vibration/frame_id: vibration
  • /mavros/vision_pose/tf/child_frame_id: vision
  • /mavros/vision_pose/tf/frame_id: local_origin
  • /mavros/vision_pose/tf/listen: False
  • /mavros/vision_pose/tf/rate_limit: 10.0
  • /mavros/vision_speed/listen_twist: False
  • /rosdistro: kinetic
  • /rosversion: 1.12.7

NODES
/
mavros (mavros/mavros_node)

auto-starting new master
process[master]: started with pid [19771]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 38bc6fd4-f137-11e7-84f0-000c290399b7
process[rosout-1]: started with pid [19784]
started core service [/rosout]
process[mavros-2]: started with pid [19797]
[ INFO] [1515060514.137583076]: FCU URL: /dev/ttyACM0:921600
[ WARN] [1515060514.138111338]: init: message from ASLUAV, MSG-ID 201 ignored! Table has different entry.
[ WARN] [1515060514.138328962]: init: message from autoquad, MSG-ID 150 ignored! Table has different entry.
[ WARN] [1515060514.138390605]: init: message from autoquad, MSG-ID 152 ignored! Table has different entry.
[ WARN] [1515060514.138556828]: init: message from matrixpilot, MSG-ID 150 ignored! Table has different entry.
[ WARN] [1515060514.138625931]: init: message from matrixpilot, MSG-ID 151 ignored! Table has different entry.
[ WARN] [1515060514.138681072]: init: message from matrixpilot, MSG-ID 152 ignored! Table has different entry.
[ WARN] [1515060514.138728859]: init: message from matrixpilot, MSG-ID 153 ignored! Table has different entry.
[ WARN] [1515060514.138776074]: init: message from matrixpilot, MSG-ID 155 ignored! Table has different entry.
[ WARN] [1515060514.138822915]: init: message from matrixpilot, MSG-ID 156 ignored! Table has different entry.
[ WARN] [1515060514.138870230]: init: message from matrixpilot, MSG-ID 157 ignored! Table has different entry.
[ WARN] [1515060514.138918424]: init: message from matrixpilot, MSG-ID 158 ignored! Table has different entry.
[ WARN] [1515060514.138978449]: init: message from matrixpilot, MSG-ID 170 ignored! Table has different entry.
[ WARN] [1515060514.139032650]: init: message from matrixpilot, MSG-ID 171 ignored! Table has different entry.
[ WARN] [1515060514.139079525]: init: message from matrixpilot, MSG-ID 172 ignored! Table has different entry.
[ WARN] [1515060514.139126672]: init: message from matrixpilot, MSG-ID 173 ignored! Table has different entry.
[ WARN] [1515060514.139173020]: init: message from matrixpilot, MSG-ID 174 ignored! Table has different entry.
[ WARN] [1515060514.139230863]: init: message from matrixpilot, MSG-ID 175 ignored! Table has different entry.
[ WARN] [1515060514.139281451]: init: message from matrixpilot, MSG-ID 176 ignored! Table has different entry.
[ WARN] [1515060514.139332346]: init: message from matrixpilot, MSG-ID 177 ignored! Table has different entry.
[ WARN] [1515060514.139382034]: init: message from matrixpilot, MSG-ID 178 ignored! Table has different entry.
[ WARN] [1515060514.139431838]: init: message from matrixpilot, MSG-ID 179 ignored! Table has different entry.
[ WARN] [1515060514.139500666]: init: message from matrixpilot, MSG-ID 180 ignored! Table has different entry.
[ WARN] [1515060514.139551906]: init: message from matrixpilot, MSG-ID 181 ignored! Table has different entry.
[ WARN] [1515060514.139601635]: init: message from matrixpilot, MSG-ID 182 ignored! Table has different entry.
[ WARN] [1515060514.139651360]: init: message from matrixpilot, MSG-ID 183 ignored! Table has different entry.
[ WARN] [1515060514.139703422]: init: message from matrixpilot, MSG-ID 184 ignored! Table has different entry.
[ WARN] [1515060514.139753945]: init: message from matrixpilot, MSG-ID 185 ignored! Table has different entry.
[ WARN] [1515060514.139803954]: init: message from matrixpilot, MSG-ID 186 ignored! Table has different entry.
[ WARN] [1515060514.139950709]: init: message from paparazzi, MSG-ID 180 ignored! Table has different entry.
[ WARN] [1515060514.140149562]: init: message from paparazzi, MSG-ID 181 ignored! Table has different entry.
[ WARN] [1515060514.140202235]: init: message from paparazzi, MSG-ID 182 ignored! Table has different entry.
[ WARN] [1515060514.140252504]: init: message from paparazzi, MSG-ID 183 ignored! Table has different entry.
[ WARN] [1515060514.140302779]: init: message from paparazzi, MSG-ID 184 ignored! Table has different entry.
[ WARN] [1515060514.140445887]: init: message from slugs, MSG-ID 170 ignored! Table has different entry.
[ WARN] [1515060514.140524791]: init: message from slugs, MSG-ID 172 ignored! Table has different entry.
[ WARN] [1515060514.140575561]: init: message from slugs, MSG-ID 173 ignored! Table has different entry.
[ WARN] [1515060514.140625022]: init: message from slugs, MSG-ID 176 ignored! Table has different entry.
[ WARN] [1515060514.140674572]: init: message from slugs, MSG-ID 177 ignored! Table has different entry.
[ WARN] [1515060514.140724535]: init: message from slugs, MSG-ID 179 ignored! Table has different entry.
[ WARN] [1515060514.140774132]: init: message from slugs, MSG-ID 180 ignored! Table has different entry.
[ WARN] [1515060514.140823759]: init: message from slugs, MSG-ID 181 ignored! Table has different entry.
[ WARN] [1515060514.140872999]: init: message from slugs, MSG-ID 184 ignored! Table has different entry.
[ WARN] [1515060514.140923087]: init: message from slugs, MSG-ID 185 ignored! Table has different entry.
[ WARN] [1515060514.140991893]: init: message from slugs, MSG-ID 186 ignored! Table has different entry.
[ WARN] [1515060514.141046869]: init: message from slugs, MSG-ID 188 ignored! Table has different entry.
[ WARN] [1515060514.141098282]: init: message from slugs, MSG-ID 191 ignored! Table has different entry.
[ WARN] [1515060514.141148328]: init: message from slugs, MSG-ID 192 ignored! Table has different entry.
[ WARN] [1515060514.141197794]: init: message from slugs, MSG-ID 193 ignored! Table has different entry.
[ WARN] [1515060514.141247302]: init: message from slugs, MSG-ID 194 ignored! Table has different entry.
[ INFO] [1515060514.141590007]: serial0: device: /dev/ttyACM0 @ 921600 bps
[ INFO] [1515060514.142690823]: GCS URL: udp://@127.0.0.1
[ INFO] [1515060514.142985986]: udp1: Bind address: 0.0.0.0:14555
[ INFO] [1515060514.143099289]: udp1: Remote address: 127.0.0.1:14550
[ INFO] [1515060514.203479923]: Plugin 3dr_radio loaded
[ INFO] [1515060514.205509131]: Plugin 3dr_radio initialized
[ INFO] [1515060514.205655208]: Plugin actuator_control loaded
[ INFO] [1515060514.208995651]: Plugin actuator_control initialized
[ INFO] [1515060514.248129625]: Plugin adsb loaded
[ INFO] [1515060514.253982152]: Plugin adsb initialized
[ INFO] [1515060514.254153737]: Plugin altitude loaded
[ INFO] [1515060514.255394912]: Plugin altitude initialized
[ INFO] [1515060514.255513671]: Plugin cam_imu_sync loaded
[ INFO] [1515060514.256209062]: Plugin cam_imu_sync initialized
[ INFO] [1515060514.256355830]: Plugin command loaded
[ INFO] [1515060514.261853010]: Plugin command initialized
[ INFO] [1515060514.261949586]: Plugin distance_sensor blacklisted
[ INFO] [1515060514.262096794]: Plugin ftp loaded
[ INFO] [1515060514.278561847]: Plugin ftp initialized
[ INFO] [1515060514.278717288]: Plugin global_position loaded
[ INFO] [1515060514.288072110]: Plugin global_position initialized
[ INFO] [1515060514.288244079]: Plugin hil_actuator_controls loaded
[ INFO] [1515060514.289027474]: Plugin hil_actuator_controls initialized
[ INFO] [1515060514.289152471]: Plugin hil_controls loaded
[ INFO] [1515060514.289887203]: Plugin hil_controls initialized
[ INFO] [1515060514.290025273]: Plugin home_position loaded
[ INFO] [1515060514.294243303]: Plugin home_position initialized
[ INFO] [1515060514.294437708]: Plugin imu_pub loaded
[ INFO] [1515060514.311480416]: Plugin imu_pub initialized
[ INFO] [1515060514.312278901]: Plugin local_position loaded
[ INFO] [1515060514.323890319]: Plugin local_position initialized
[ INFO] [1515060514.324070368]: Plugin manual_control loaded
[ INFO] [1515060514.324908339]: Plugin manual_control initialized
[ INFO] [1515060514.325042488]: Plugin mocap_fake_gps loaded
[ INFO] [1515060514.328096807]: Plugin mocap_fake_gps initialized
[ INFO] [1515060514.328230755]: Plugin mocap_pose_estimate loaded
[ INFO] [1515060514.334178458]: Plugin mocap_pose_estimate initialized
[ INFO] [1515060514.334360411]: Plugin param loaded
[ INFO] [1515060514.337049388]: Plugin param initialized
[ INFO] [1515060514.337190172]: Plugin px4flow loaded
[ INFO] [1515060514.352760815]: Plugin px4flow initialized
[ INFO] [1515060514.352940874]: Plugin rc_io loaded
[ INFO] [1515060514.357303428]: Plugin rc_io initialized
[ INFO] [1515060514.357387337]: Plugin safety_area blacklisted
[ INFO] [1515060514.357754870]: Plugin setpoint_accel loaded
[ INFO] [1515060514.361956613]: Plugin setpoint_accel initialized
[ INFO] [1515060514.362146335]: Plugin setpoint_attitude loaded
[ INFO] [1515060514.385981524]: Plugin setpoint_attitude initialized
[ INFO] [1515060514.386172231]: Plugin setpoint_position loaded
[ INFO] [1515060514.395836622]: Plugin setpoint_position initialized
[ INFO] [1515060514.396022871]: Plugin setpoint_raw loaded
[ INFO] [1515060514.418047576]: Plugin setpoint_raw initialized
[ INFO] [1515060514.418516847]: Plugin setpoint_velocity loaded
[ INFO] [1515060514.427273308]: Plugin setpoint_velocity initialized
[ INFO] [1515060514.427474270]: Plugin sys_status loaded
[ INFO] [1515060514.436032668]: Plugin sys_status initialized
[ INFO] [1515060514.436198174]: Plugin sys_time loaded
[ INFO] [1515060514.441096270]: TM: Timesync mode: MAVLINK
[ INFO] [1515060514.442118829]: Plugin sys_time initialized
[ INFO] [1515060514.442297362]: Plugin vfr_hud loaded
[ INFO] [1515060514.444420359]: Plugin vfr_hud initialized
[ INFO] [1515060514.444513339]: Plugin vibration blacklisted
[ INFO] [1515060514.444752050]: Plugin vision_pose_estimate loaded
[ INFO] [1515060514.463384378]: Plugin vision_pose_estimate initialized
[ INFO] [1515060514.463548366]: Plugin vision_speed_estimate loaded
[ INFO] [1515060514.470250019]: Plugin vision_speed_estimate initialized
[ INFO] [1515060514.470534525]: Plugin waypoint loaded
[ INFO] [1515060514.474849906]: Plugin waypoint initialized
[ INFO] [1515060514.474995009]: Autostarting mavlink via USB on PX4
[ INFO] [1515060514.475195699]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1515060514.475548713]: Built-in MAVLink package version: 2017.8.8
[ INFO] [1515060514.475671417]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1515060514.475780592]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1515060514.486760742]: IMU: High resolution IMU detected!
[ INFO] [1515060514.486924819]: IMU: Attitude quaternion IMU detected!
[ WARN] [1515060514.644309560]: TM: Clock skew detected (-1515060332.877885342 s). Hard syncing clocks.
[ INFO] [1515060514.949281264]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1515060514.980282653]: IMU: High resolution IMU detected!
[ INFO] [1515060514.980357316]: IMU: Attitude quaternion IMU detected!
[ INFO] [1515060515.952754645]: VER: 1.1: Capabilities 0x000000000000e4ef
[ INFO] [1515060515.952848134]: VER: 1.1: Flight software: 010702ff (000000008027C0B4)
[ INFO] [1515060515.953015691]: VER: 1.1: Middleware software: 010702ff (000000008027C0B4)
[ INFO] [1515060515.953176385]: VER: 1.1: OS software: 071600ff (0000000000000000)
[ INFO] [1515060515.953675492]: VER: 1.1: Board hardware: 00000012
[ INFO] [1515060515.953963726]: VER: 1.1: VID/PID: 26ac:0012
[ INFO] [1515060515.954067313]: VER: 1.1: UID: 3335511435303335
[ WARN] [1515060515.954240314]: CMD: Unexpected command 520, result 0
[ INFO] [1515060524.951065222]: HP: requesting home position
[ INFO] [1515060525.572785586]: udp1: Remote address: 127.0.0.1:14550
[ INFO] [1515060525.577585769]: FCU: data link #0 lost
[ INFO] [1515060525.580241904]: FCU: [lpe] mocap position init: -0.31, 1.93, -0.00 m
[ INFO] [1515060525.585596669]: FCU: [lpe] mocap timeout
[ INFO] [1515060525.593355437]: FCU: [lpe] mocap position init: 2.74, 1.18, 0.00 m
[ INFO] [1515060525.598346005]: FCU: [lpe] mocap timeout
[ INFO] [1515060525.602314034]: FCU: data link #0 regained
[ INFO] [1515060525.709789664]: FCU: [lpe] mocap position init: -1.85, 2.34, -0.00 m
[ INFO] [1515060525.718416808]: FCU: [lpe] mocap timeout
[ INFO] [1515060525.966304336]: VER: 1.1: Capabilities 0x000000000000e4ef
[ INFO] [1515060525.966417403]: VER: 1.1: Flight software: 010702ff (000000008027C0B4)
[ INFO] [1515060525.966973394]: VER: 1.1: Middleware software: 010702ff (000000008027C0B4)
[ INFO] [1515060525.967132678]: VER: 1.1: OS software: 071600ff (0000000000000000)
[ INFO] [1515060525.967254596]: VER: 1.1: Board hardware: 00000012
[ INFO] [1515060525.967474561]: VER: 1.1: VID/PID: 26ac:0012
[ INFO] [1515060525.967593248]: VER: 1.1: UID: 3335511435303335
[ WARN] [1515060525.968939301]: CMD: Unexpected command 520, result 0
[ INFO] [1515060526.119682012]: WP: seems GCS requesting mission
[ INFO] [1515060526.119771418]: WP: sheduling pull after GCS is done
[ INFO] [1515060526.551316120]: FCU: [lpe] mocap position init: -2.56, 1.56, -0.00 m
[ INFO] [1515060526.562863812]: FCU: [lpe] mocap timeout
[ INFO] [1515060527.391986151]: FCU: [lpe] mocap position init: -2.94, 0.51, -0.00 m
[ INFO] [1515060527.398962812]: FCU: [lpe] mocap timeout
[ INFO] [1515060528.231636665]: FCU: [lpe] mocap position init: -2.91, -0.60, -0.00 m
[ INFO] [1515060528.245285121]: FCU: [lpe] mocap timeout
[ INFO] [1515060529.063284710]: FCU: [lpe] mocap position init: -2.51, -1.59, -0.00 m
[ INFO] [1515060529.075468188]: FCU: [lpe] mocap timeout
[ INFO] [1515060529.913966376]: FCU: [lpe] mocap position init: -1.80, -2.39, -0.00 m
[ INFO] [1515060529.921949212]: FCU: [lpe] mocap timeout

/diagnostics

header:
seq: 13
stamp:
secs: 1515060353
nsecs: 746046303
frame_id: ‘’
status:

level: 0
name: mavros: FCU connection
message: connected
hardware_id: /dev/ttyACM0:921600
values: 
  - 
    key: Received packets:
    value: 1401
  - 
    key: Dropped packets:
    value: 0
  - 
    key: Buffer overruns:
    value: 0
  - 
    key: Parse errors:
    value: 0
  - 
    key: Rx sequence number:
    value: 72
  - 
    key: Tx sequence number:
    value: 123
  - 
    key: Rx total bytes:
    value: 59142
  - 
    key: Tx total bytes:
    value: 2723
  - 
    key: Rx speed:
    value: 18520.000000
  - 
    key: Tx speed:
    value: 848.000000

  • level: 2
    name: mavros: GPS
    message: No satellites
    hardware_id: /dev/ttyACM0:921600
    values:

    key: Satellites visible
value: 0
    • key: Fix type
      value: 0
    • key: EPH (m)
      value: Unknown
    • key: EPV (m)
      value: Unknown

  • level: 0
    name: mavros: Heartbeat
    message: Normal
    hardware_id: /dev/ttyACM0:921600
    values:

    key: Heartbeats since startup
value: 5
    • key: Frequency (Hz)
      value: 0.988538
    • key: Vehicle type
      value: Quadrotor
    • key: Autopilot type
      value: PX4 Autopilot
    • key: Mode
      value: MANUAL
    • key: System status
      value: Standby

  • level: 0
    name: mavros: System
    message: Normal
    hardware_id: /dev/ttyACM0:921600
    values:

    key: Sensor present
value: 0x00000000
    • key: Sensor enabled
      value: 0x00000000
    • key: Sensor helth
      value: 0x00000000
    • key: CPU Load (%)
      value: 49.9
    • key: Drop rate (%)
      value: 0.0
    • key: Errors comm
      value: 0
    • key: Errors count #1
      value: 0
    • key: Errors count #2
      value: 0
    • key: Errors count #3
      value: 0
    • key: Errors count #4
      value: 0

  • level: 0
    name: mavros: Battery
    message: Normal
    hardware_id: /dev/ttyACM0:921600
    values:

    key: Voltage
value: 65.54
    • key: Current
      value: -0.0
    • key: Remaining
      value: -1.0

  • level: 0
    name: mavros: Time Sync
    message: Normal
    hardware_id: /dev/ttyACM0:921600
    values:

    key: Timesyncs since startup
value: 24
    • key: Frequency (Hz)
      value: 4.965071
    • key: Last dt (ms)
      value: 0.176547
    • key: Mean dt (ms)
      value: 0.008759
    • key: Last system time (s)
      value: 20.827369000
    • key: Time offset (s)
      value: 1515060332.883697748

/time_reference

header:
seq: 19
stamp:
secs: 1515060365
nsecs: 316023025
frame_id: ‘’
time_ref:
secs: 1515060460
nsecs: 501000000
source: fcu

1 Like
2

Ok, found the soluation by myself.
The timestamp in the header of the mocap data published by ros was incorrect. Setting the timestamp to ros::time::now() solved the problem.

1 Like
3

Hello MarLi,

If I’m not mistaking, using ros::time::now() probably only covers the issue but does not solve it. I’m facing an issue in which the PX4 IMU timestamps are not correctly synced.