I want to send the UAV tool to the latitude longitude altitude coordinates I specified in real life. I use for this is the the waypoint package:
`
y_axis = lat - current_lat
x_axis = (longi - current_long) * 400/700
tan = math.atan2(x_axis,y_axis)
yaw = (tan / math.pi) * 180
while current_state.mode != "AUTO.MISSION":
#pub.publish(msg)
#print "buradasin auto"
rospy.loginfo("AUTO.MISSION mod istegi gonderildi")
set_mode(0,'AUTO.MISSION')
#rospy.loginfo("AUTO.MISSION mod istegi gonderildi")
rate.sleep()
wp = Waypoint()
wp.frame = 3
wp.command = 16 #Navigate to waypoint.
wp.is_current = True
wp.autocontinue = False
wp.param1 = 0 # delay
wp.param2 = 0
wp.param3 = 1
wp.param4 = yaw
wp.x_lat = lat
wp.y_long = longi
wp.z_alt = alt
wl.append(wp)
`
This code works properly in the gazebo environment but uav is not going to any point when I try in real life. I use pixhawk 2.1 and I configure pixhawk with use qgroundcontrol. I use use ssh communication for operate my mavros nodes on uav. I encounter this topic when I search my problem #1028 When I checked waypoints.cpp I saw that my file was actual. What is my problem? Maybe my waypoint parameters is wrong ? Maybe pixhawk do not support used my waypoint command paremeters( for example maybe param4 =target_yaw) I need very urgent help.
this is mavros log:
MD: Unexpected command 520, result 0
[ERROR] [1567083149.301969520]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ WARN] [1567083149.700230704]: TM : RTT too high for timesync: 10.96 ms.
[ERROR] [1567083150.311028976]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ WARN] [1567083150.408564784]: TM : RTT too high for timesync: 19.91 ms.
[ERROR] [1567083151.335406320]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1567083152.341991152]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1567083153.369300816]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1567083154.367836432]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1567083155.408958352]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1567083156.437616848]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1567083157.439389200]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1567083158.440845424]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1567083159.465547568]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1567083160.504331792]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1567083161.504168304]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1567083162.534254000]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ INFO] [1567083162.705459408]: WP: mission received
[ERROR] [1567083163.565477520]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1567083163.576253552]: WP: clear failed: generic error / not accepting mission commands at all right now
[ WARN] [1567083163.606284880]: CMD: Unexpected command 176, result 0
[ERROR] [1567083163.638043088]: FCU: No valid mission available, refusing takeoff.
[ERROR] [1567083164.565571088]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1567083165.597330928]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1567083166.597353840]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ INFO] [1567083166.679992944]: FCU: ARMED by Arm/Disarm component command
[ERROR] [1567083167.603528272]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ INFO] [1567083167.731425136]: FCU: Takeoff detected
[ERROR] [1567083168.632650672]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1567083169.665579824]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1567083170.697463312]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1567083171.734457488]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1567083172.083020016]: WP: clear failed: generic error / not accepting mission commands at all right now
[ERROR] [1567083172.213284656]: WP: upload failed: generic error / not accepting mission commands at all right now
[ERROR] [1567083172.217153136]: FCU: Unable to write on micro SD
[ERROR] [1567083172.766244176]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1567083173.800341104]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1567083174.833308400]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1567083175.865363376]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1567083176.865369104]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1567083177.897342000]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1567083178.897358576]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1567083179.108070768]: WP: clear failed: generic error / not accepting mission commands at all right now
[ERROR] [1567083179.225115504]: WP: upload failed: generic error / not accepting mission commands at all right now
[ERROR] [1567083179.230821872]: FCU: Unable to write on micro SD
[ERROR] [1567083179.897376688]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1567083180.898488784]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1567083181.933339184]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1567083182.965323664]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1567083183.996317328]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1567083185.034362128]: ODOM: Ex: Could not find a connection between 'local_origin_ned' and 'fcu' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1567083185.820175216]: serial0: receive: End of file
terminate called after throwing an instance of 'std::system_error'
what(): Resource deadlock avoided
================================================================================REQUIRED process [mavros-2] has died!
process has died [pid 9582, exit code -6, cmd /home/nvidia/catkin_ws/devel/lib/mavros/mavros_node __name:=mavros __log:=/home/nvidia/.ros/log/d8b7c8b8-ca5b-11e9-98ad-86f0b330d19d/mavros-2.log].
log file: /home/nvidia/.ros/log/d8b7c8b8-ca5b-11e9-98ad-86f0b330d19d/mavros-2*.log