Unable to takeoff in jMAVSim

THeuker · March 1, 2021, 11:45am

Hello,

I’m trying to simulate PX4 on jMAVSim running Ubuntu 20.04 LTS.
Can’t get it to work out of the box. Followed the steps on dev.px4.io (clone git repo, run ubuntu script etc.) but still the drone doesn’t takeoff and I’m not familiar with all these errors.

Here is a print of the console output:

thomas@thomas-ubuntu:~/Projects/PX4-Autopilot$ make px4_sitl jmavsim
– PX4 version: v1.11.0-rc3-1761-g0ba1bc0ce1
– PX4 config file: /home/thomas/Projects/PX4-Autopilot/boards/px4/sitl/default.cmake
– PX4 config: px4_sitl_default
– PX4 platform: posix
– PX4 lockstep: enabled
– cmake build type: RelWithDebInfo
– The CXX compiler identification is GNU 9.3.0
– The C compiler identification is GNU 9.3.0
– The ASM compiler identification is GNU
– Found assembler: /usr/bin/cc
– Check for working CXX compiler: /usr/bin/c++
– Check for working CXX compiler: /usr/bin/c++ – works
– Detecting CXX compiler ABI info
– Detecting CXX compiler ABI info - done
– Detecting CXX compile features
– Detecting CXX compile features - done
– Check for working C compiler: /usr/bin/cc
– Check for working C compiler: /usr/bin/cc – works
– Detecting C compiler ABI info
– Detecting C compiler ABI info - done
– Detecting C compile features
– Detecting C compile features - done
– Building for code coverage
– ccache enabled (export CCACHE_DISABLE=1 to disable)
– Found PythonInterp: /usr/bin/python3 (found suitable version “3.8.5”, minimum required is “3”)
– build type is RelWithDebInfo
– PX4 ECL: Very lightweight Estimation & Control Library v1.9.0-rc1-532-g098d5ce
– ROMFS: px4fmu_common
– Configuring done
– Generating done
– Build files have been written to: /home/thomas/Projects/PX4-Autopilot/build/px4_sitl_default
[2/796] git submodule src/drivers/gps/devices
[9/796] git submodule src/lib/ecl
[13/796] git submodule mavlink/include/mavlink/v2.0
[16/796] git submodule Tools/jMAVSim
[795/796] cd /home/thomas/Projects/PX4…s/PX4-Autopilot/build/px4_sitl_default
SITL ARGS
sitl_bin: /home/thomas/Projects/PX4-Autopilot/build/px4_sitl_default/bin/px4
debugger: none
program: jmavsim
model: none
world: none
src_path: /home/thomas/Projects/PX4-Autopilot
build_path: /home/thomas/Projects/PX4-Autopilot/build/px4_sitl_default
empty model, setting iris as default
SITL COMMAND: “/home/thomas/Projects/PX4-Autopilot/build/px4_sitl_default/bin/px4” “/home/thomas/Projects/PX4-Autopilot/build/px4_sitl_default”/etc -s etc/init.d-posix/rcS -t “/home/thomas/Projects/PX4-Autopilot”/test_data
INFO [px4] Creating symlink /home/thomas/Projects/PX4-Autopilot/build/px4_sitl_default/etc → /home/thomas/Projects/PX4-Autopilot/build/px4_sitl_default/tmp/rootfs/etc

| ___ \ \ \ / / / |
| |/ / \ V / / /| |
| __/ / \ / /| |
| | / /^\ \ ___ |
_| / / |_/
px4 starting.
INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
Info: found model autostart file as SYS_AUTOSTART=10016
INFO [param] selected parameter default file eeprom/parameters_10016
[param] parameter file not found, creating eeprom/parameters_10016
SYS_AUTOCONFIG: curr: 0 → new: 1
SYS_AUTOSTART: curr: 0 → new: 10016
BAT_N_CELLS: curr: 0 → new: 4
CAL_ACC0_ID: curr: 0 → new: 1310988
CAL_ACC1_ID: curr: 0 → new: 1310996
CAL_ACC2_ID: curr: 0 → new: 1311004
CAL_GYRO0_ID: curr: 0 → new: 1310988
CAL_GYRO1_ID: curr: 0 → new: 1310996
CAL_GYRO2_ID: curr: 0 → new: 1311004
CAL_MAG0_ID: curr: 0 → new: 197388
CAL_MAG1_ID: curr: 0 → new: 197644
CBRK_SUPPLY_CHK: curr: 0 → new: 894281
COM_RC_IN_MODE: curr: 0 → new: 1
EKF2_REQ_GPS_H: curr: 10.0000 → new: 0.5000
EKF2_MULTI_IMU: curr: 0 → new: 3
SENS_IMU_MODE: curr: 1 → new: 0
EKF2_MULTI_MAG: curr: 0 → new: 2
SENS_MAG_MODE: curr: 1 → new: 0
SDLOG_MODE: curr: 0 → new: 1
SDLOG_PROFILE: curr: 1 → new: 131
SDLOG_DIRS_MAX: curr: 0 → new: 7
SENS_BOARD_X_OFF: curr: 0.0000 → new: 0.0000
SENS_DPRES_OFF: curr: 0.0000 → new: 0.0010
TRIG_INTERFACE: curr: 4 → new: 3
COM_CPU_MAX: curr: 90.0000 → new: -1.0000
IMU_INTEG_RATE: curr: 200 → new: 250
parameter default: NAV_ACC_RAD 10.00 → 2.00
parameter default: RTL_RETURN_ALT 60.00 → 30.00
parameter default: RTL_DESCEND_ALT 30.00 → 10.00
parameter default: PWM_MAIN_MAX 2000 → 1950
parameter default: PWM_MAIN_MIN 1000 → 1075
parameter default: GPS_UBX_DYNMODEL 7 → 6

SYS_AUTOCONFIG: curr: 1 → new: 0
INFO [dataman] Unknown restart, data manager file ‘./dataman’ size is 11798680 bytes
INFO [simulator] Waiting for simulator to accept connection on TCP port 4560
Buildfile: /home/thomas/Projects/PX4-Autopilot/Tools/jMAVSim/build.xml
make_dirs:
[mkdir] Created dir: /home/thomas/Projects/PX4-Autopilot/Tools/jMAVSim/out/production/jMAVSim
compile:
[javac] Compiling 76 source files to /home/thomas/Projects/PX4-Autopilot/Tools/jMAVSim/out/production/jMAVSim
create_run_jar:
[jar] Building jar: /home/thomas/Projects/PX4-Autopilot/Tools/jMAVSim/out/production/jmavsim_run.jar
copy_res:
[copy] Copying 17 files to /home/thomas/Projects/PX4-Autopilot/Tools/jMAVSim/out/production
BUILD SUCCESSFUL
Total time: 3 seconds
Options parsed, starting Sim.
Starting GUI…
WARNING: An illegal reflective access operation has occurred
WARNING: Illegal reflective access by javax.media.j3d.JoglPipeline (rsrc:j3dcore.jar) to method sun.awt.AppContext.getAppContext()
WARNING: Please consider reporting this to the maintainers of javax.media.j3d.JoglPipeline
WARNING: Use --illegal-access=warn to enable warnings of further illegal reflective access operations
WARNING: All illegal access operations will be denied in a future release
libEGL warning: DRI2: failed to authenticate
INFO [simulator] Simulator connected on TCP port 4560.
Init MAVLink
INFO [commander] LED: open /dev/led0 failed (22)
INFO [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO [ekf2] starting instance 0, IMU:0 (1310988), MAG:0 (197388)
INFO [ekf2] starting instance 1, IMU:1 (1310996), MAG:0 (197388)
INFO [ekf2] starting instance 2, IMU:2 (1311004), MAG:0 (197388)
INFO [ekf2] starting instance 3, IMU:0 (1310988), MAG:1 (197644)
INFO [ekf2] starting instance 4, IMU:1 (1310996), MAG:1 (197644)
INFO [ekf2] starting instance 5, IMU:2 (1311004), MAG:1 (197644)
INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
INFO [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280
INFO [logger] logger started (mode=all)
INFO [logger] Start file log (type: full)
INFO [logger] [logger] ./log/2021-03-01/11_18_37.ulg
INFO [logger] Opened full log file: ./log/2021-03-01/11_18_37.ulg
INFO [px4] Startup script returned successfully
pxh> INFO [mavlink] using network interface enp0s3, IP: 10.0.2.15
INFO [mavlink] with netmask: 255.255.255.0
INFO [mavlink] and broadcast IP: 10.0.2.255
INFO [ecl/EKF] 736000: reset position to last known position
INFO [ecl/EKF] INFO [ecl/EKF] 736000: reset position to last known position
INFO [ecl/EKF] 736000: reset velocity to zero
INFO [ecl/EKF] 736000: reset position to last known position
INFO [ecl/EKF] 736000: reset velocity to zero
INFO [ecl/EKF] 736000: reset position to last known position
INFO [ecl/EKF] 736000: reset velocity to zero
INFO [ecl/EKF] 736000: reset position to last known position
INFO [ecl/EKF] 736000: reset velocity to zero
736000: reset velocity to zero
INFO [ecl/EKF] 736000: reset position to last known position
INFO [ecl/EKF] 736000: reset velocity to zero
INFO [mavlink] using network interface enp0s3, IP: 10.0.2.15
INFO [mavlink] with netmask: 255.255.255.0
INFO [mavlink] and broadcast IP: 10.0.2.255
INFO [ecl/EKF] 6836000: EKF aligned, (baro hgt, IMU buf: 12, OBS buf: 9)
INFO [ecl/EKF] 6836000: EKF aligned, (baro hgt, IMU buf: 12, OBS buf: 9)
INFO [ecl/EKF] 6836000: EKF aligned, (baro hgt, IMU buf: 12, OBS buf: 9)
INFO [ecl/EKF] 6836000: EKF aligned, (baro hgt, IMU buf: 12, OBS buf: 9)
INFO [ecl/EKF] 6836000: EKF aligned, (baro hgt, IMU buf: 12, OBS buf: 9)
INFO [ecl/EKF] 6836000: EKF aligned, (baro hgt, IMU buf: 12, OBS buf: 9)
INFO [ecl/EKF] 9944000: GPS checks passed
INFO [ecl/EKF] 9944000: GPS checks passed
INFO [ecl/EKF] 9944000: GPS checks passed
INFO [ecl/EKF] 9944000: GPS checks passed
INFO [ecl/EKF] 9944000: GPS checks passed
INFO [ecl/EKF] 9944000: GPS checks passed
INFO [ecl/EKF] 14476000: reset position to GPS
INFO [ecl/EKF] 14476000: reset velocity to GPS
INFO [ecl/EKF] 14476000: starting GPS fusion
INFO [ecl/EKF] 14476000: reset position to GPS
INFO [ecl/EKF] 14476000: reset velocity to GPS
INFO [ecl/EKF] 14476000: starting GPS fusion
INFO [ecl/EKF] 14476000: reset position to GPS
INFO [ecl/EKF] 14476000: reset velocity to GPS
INFO [ecl/EKF] 14476000: starting GPS fusion
INFO [ecl/EKF] 14476000: reset position to GPS
INFO [ecl/EKF] 14476000: reset velocity to GPS
INFO [ecl/EKF] 14476000: starting GPS fusion
INFO [ecl/EKF] 14476000: reset position to GPS
INFO [ecl/EKF] 14476000: reset velocity to GPS
INFO [ecl/EKF] 14476000: starting GPS fusion
INFO [ecl/EKF] 14476000: reset position to GPS
INFO [ecl/EKF] 14476000: reset velocity to GPS
INFO [ecl/EKF] 14476000: starting GPS fusion
INFO [tone_alarm] home set
INFO [tone_alarm] notify negative
pxh> commander takeoff
pxh> INFO [commander] Armed by internal command
WARN [commander] Failsafe enabled: No manual control stick input
INFO [commander] Failsafe mode activated
INFO [navigator] RTL HOME activated
INFO [navigator] RTL: landing at home position.
INFO [tone_alarm] battery warning (fast)
INFO [commander] Failsafe mode deactivated
INFO [commander] Disarmed by auto preflight disarming
INFO [logger] closed logfile, bytes written: 2784359
pxh> commander takeoff
pxh> INFO [commander] Armed by internal command
INFO [logger] Start file log (type: full)
INFO [logger] [logger] ./log/2021-03-01/11_19_26.ulg
INFO [navigator] Using minimum takeoff altitude: 2.50 m
INFO [logger] Opened full log file: ./log/2021-03-01/11_19_26.ulg
INFO [commander] Takeoff detected
WARN [commander] Failsafe enabled: No manual control stick input
INFO [commander] Failsafe mode activated
INFO [navigator] RTL HOME activated
INFO [navigator] RTL: landing at home position.
INFO [navigator] RTL: climb to 490 m (2 m above destination)
INFO [tone_alarm] battery warning (fast)
INFO [commander] Failsafe mode deactivated
INFO [navigator] RTL: return at 490 m (2 m above destination)
INFO [navigator] RTL: land at destination
INFO [commander] Landing detected
INFO [commander] Disarmed by landing
INFO [logger] closed logfile, bytes written: 1105166

EDIT: It doesn’t takeoff the first time I run “commander takeoff”. Second time it does but decides to land itself while halfway up without giving any commands.

mwbb · March 1, 2021, 12:04pm

You are losing RC.
put your COM_RC_IN_MODE to 1 and try again.

bresch · March 1, 2021, 12:53pm

Did you connect QGC to the simulation? If not, you can get it here: http://qgroundcontrol.com/downloads/

THeuker · March 1, 2021, 3:05pm

Setting COM_RC_IN_MODE to 1 disables RC checks but required me to connect a joystick, which I don’t have. Changing parameter NAV_RCL_ACT to 0 solved my problem.

Prasun_Saurabh · June 27, 2022, 8:05am

I am new to PX4 simulator and I am facing the same issue. Where do we change this parameter NAV_RCL_ACT to 0?

junwoo0914 · January 4, 2023, 9:59pm

That is not a proper solution, as it is not supposed to be set to 0:

github.com

PX4/PX4-Autopilot/blob/fbe5024fa878ca4d84bf36857b9ddc0cfb145bca/src/modules/commander/commander_params.c#L789-L806


      
          /**
           * Set RC loss failsafe mode
           *
           * The RC loss failsafe will only be entered after a timeout,
           * set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled
           * by setting the COM_RC_IN_MODE param it will not be triggered.
           *
           * @value 1 Hold mode
           * @value 2 Return mode
           * @value 3 Land mode
           * @value 5 Terminate
           * @value 6 Disarm
           * @min 1
           * @max 6
           *
           * @group Commander
           */
          PARAM_DEFINE_INT32(NAV_RCL_ACT, 2);

Proper solution: To be Written (I don’t know yet )

Potential solutions:

COM_RC_IN_MODE to Stick input disabled (this still triggers failsafe, when mission is commanded to start): PX4-Autopilot/commander_params.c at fbe5024fa878ca4d84bf36857b9ddc0cfb145bca · PX4/PX4-Autopilot · GitHub
COM_RCL_EXCEPT to include Mission bit (this still triggers failsafe due to RC loss, when mission is triggered): PX4-Autopilot/commander_params.c at fbe5024fa878ca4d84bf36857b9ddc0cfb145bca · PX4/PX4-Autopilot · GitHub

What’s weird is that after I set the COM_RC_IN_MODE to not take any manual control input, the failsafe still continued:

But it doesn’t give a reason for the failsafe, which is why it is hard to debug the reason

Left a comment in Discord to find an answer: Discord

junwoo0914 · January 10, 2023, 12:41pm

Note, @MaEtUgR hinted that this may be related to this PR:

github.com/PX4/PX4-Autopilot

Manual control mode requirement for manual modes

PX4:main ← PX4:mode-requirement-manual-control

opened 05:21PM - 01 Dec 22 UTC

MaEtUgR

+78 -47

### Solved Problem When switching to a manual mode (Manual, Acro, Stabilized, A…ltitude, Position) without a stick input source it is currently possible to arm and stay in the mode. Fixes https://github.com/PX4/PX4-Autopilot/pull/20172#discussion_r988214569 ### Solution #### Requirements 1. **[untouched]** Stick input disabled and not required -> Nothing 2. **[untouched]** Stick input present but lost in flight -> Failsafe NAV_RCL_ACT (tested with RTL only!) 3. **[mandatory]** Manual mode (Manual, Acro, Stabilized, Altitude, Position) and disabled or unavailable stick input -> Error 4. **[nice to have]** Stick input enabled but not present when not required -> Warning | | RC required | RC not required | |---|---|---| | RC disabled | Error 3. | OK 1. | | RC enabled not present | Error 3. | Warn 4. | | RC enabled and present | OK | OK | #### Steps/commits - Establish manual control as mode requirement for manual modes working towards 3. - Make sure the manual control availability flag `manual_control_signal_lost` gets updated also when manual control is disabled and remove the existing manual control check to establish 3. - Minor reorder - Add back a revised second manual control check for 4. - Suggestion to allow a check to just publish a warning (no failure) but only for certain modes. Originally that's only possible for all modes see https://github.com/PX4/PX4-Autopilot/blob/c5dc1221b68352725630cbda5c04bc0f5c3c1617/src/modules/commander/HealthAndArmingChecks/Common.hpp#L239 https://github.com/PX4/PX4-Autopilot/blob/c5dc1221b68352725630cbda5c04bc0f5c3c1617/src/modules/commander/HealthAndArmingChecks/Common.cpp#L92-L95. Alternatively the condition outside the check could look at the mode and requirement mask but that's in my eyes worse. Not sure if you have a better idea to achieve 3. and 4. without having a duplicate event with RC enabled and required but not present: ### Alternatives - We can move on with just the first 3 commits and move 4. to a different pr. - We can move on with just the first 4 commits but then there's a duplicate even in the 4. case: <img width="177" alt="warning and requirement" src="https://user-images.githubusercontent.com/4668506/205116148-30f40268-4654-432e-86fa-292399602add.png"> ### Test coverage I successfully tested the entire case table above in SITL with a joystick using: - RC disabled: `COM_RC_IN_MODE` Disabled - RC enabled not present: `COM_RC_IN_MODE` set to RC only - RC enabled and present: `COM_RC_IN_MODE` set to Joystick only The options mentioned under alternatives were also tested the same way.