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Offboard Mode not Switching after Arming #13799

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hsilvaga opened this issue Dec 28, 2019 · 7 comments
Closed

Offboard Mode not Switching after Arming #13799

hsilvaga opened this issue Dec 28, 2019 · 7 comments
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bug Mode: Offboard Offboard mode control

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@hsilvaga
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hsilvaga commented Dec 28, 2019 •
edited by Jaeyoung-Lim
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Issue: Switching to offboard after arming sets off error on real-world Drone, however switching straight into offboard is possible

Steps:

  1. ROS_Node is run that:
    1.Arms drone
    2. Then sends stream of setpoints
    3. Switches to offboard mode
  2. Warning is displayed on PX4 log
    [ WARN] [1577568026.571076614]: CMD: Unexpected command 176, result 0
  3. While the drone is still armed and receiving setpoints, switching to offboard via RC is possible but exits after a split second.

PX4 LOG:

NODES
  /
    mavros (mavros/mavros_node)

auto-starting new master
process[master]: started with pid [9871]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to ae23efc6-29b7-11ea-8058-00044be6704f
WARNING: Package name "Drone" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
WARNING: Package name "schoolThings" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
process[rosout-1]: started with pid [9882]
started core service [/rosout]
process[mavros-2]: started with pid [9890]
[ INFO] [1577567950.983533636]: FCU URL: /dev/ttyACM0:57600
[ INFO] [1577567950.993841604]: serial0: device: /dev/ttyACM0 @ 57600 bps
[ INFO] [1577567950.996088252]: GCS bridge disabled
[ INFO] [1577567951.195053799]: Plugin 3dr_radio loaded
[ INFO] [1577567951.205287286]: Plugin 3dr_radio initialized
[ INFO] [1577567951.205849430]: Plugin actuator_control loaded
[ INFO] [1577567951.218821136]: Plugin actuator_control initialized
[ INFO] [1577567951.349121587]: Plugin adsb loaded
[ INFO] [1577567951.360487747]: Plugin adsb initialized
[ INFO] [1577567951.361059891]: Plugin altitude loaded
[ INFO] [1577567951.364989586]: Plugin altitude initialized
[ INFO] [1577567951.365421988]: Plugin cam_imu_sync loaded
[ INFO] [1577567951.367913849]: Plugin cam_imu_sync initialized
[ INFO] [1577567951.368404637]: Plugin command loaded
[ INFO] [1577567951.387956755]: Plugin command initialized
[ INFO] [1577567951.388408532]: Plugin companion_process_status loaded
[ INFO] [1577567951.393551110]: Plugin companion_process_status initialized
[ INFO] [1577567951.393931220]: Plugin debug_value loaded
[ INFO] [1577567951.405495612]: Plugin debug_value initialized
[ INFO] [1577567951.405627437]: Plugin distance_sensor blacklisted
[ INFO] [1577567951.406209217]: Plugin fake_gps loaded
[ INFO] [1577567951.434577196]: Plugin fake_gps initialized
[ INFO] [1577567951.435246633]: Plugin ftp loaded
[ INFO] [1577567951.457281027]: Plugin ftp initialized
[ INFO] [1577567951.457754368]: Plugin global_position loaded
[ INFO] [1577567951.496433856]: Plugin global_position initialized
[ INFO] [1577567951.496840737]: Plugin gps_rtk loaded
[ INFO] [1577567951.502291809]: Plugin gps_rtk initialized
[ INFO] [1577567951.502772858]: Plugin hil loaded
[ INFO] [1577567951.535181679]: Plugin hil initialized
[ INFO] [1577567951.535688874]: Plugin home_position loaded
[ INFO] [1577567951.545151777]: Plugin home_position initialized
[ INFO] [1577567951.545810537]: Plugin imu loaded
[ INFO] [1577567951.564496287]: Plugin imu initialized
[ INFO] [1577567951.565104525]: Plugin landing_target loaded
[ INFO] [1577567951.607008645]: Plugin landing_target initialized
[ INFO] [1577567951.607483444]: Plugin local_position loaded
[ INFO] [1577567951.622882426]: Plugin local_position initialized
[ INFO] [1577567951.623460039]: Plugin log_transfer loaded
[ INFO] [1577567951.633395970]: Plugin log_transfer initialized
[ INFO] [1577567951.633889258]: Plugin manual_control loaded
[ INFO] [1577567951.640757330]: Plugin manual_control initialized
[ INFO] [1577567951.641162076]: Plugin mocap_pose_estimate loaded
[ INFO] [1577567951.649337303]: Plugin mocap_pose_estimate initialized
[ INFO] [1577567951.650025907]: Plugin mount_control loaded
[ INFO] [1577567951.659725897]: Plugin mount_control initialized
[ INFO] [1577567951.660209498]: Plugin obstacle_distance loaded
[ INFO] [1577567951.667647579]: Plugin obstacle_distance initialized
[ INFO] [1577567951.668090138]: Plugin odom loaded
[ INFO] [1577567951.678262270]: Plugin odom initialized
[ INFO] [1577567951.678733839]: Plugin onboard_computer_status loaded
[ INFO] [1577567951.685217322]: Plugin onboard_computer_status initialized
[ INFO] [1577567951.685845353]: Plugin param loaded
[ INFO] [1577567951.695682949]: Plugin param initialized
[ INFO] [1577567951.696142018]: Plugin px4flow loaded
[ INFO] [1577567951.711075160]: Plugin px4flow initialized
[ INFO] [1577567951.711207089]: Plugin rangefinder blacklisted
[ INFO] [1577567951.711747565]: Plugin rc_io loaded
[ INFO] [1577567951.721560994]: Plugin rc_io initialized
[ INFO] [1577567951.721872822]: Plugin safety_area blacklisted
[ INFO] [1577567951.722344131]: Plugin setpoint_accel loaded
[ INFO] [1577567951.729847734]: Plugin setpoint_accel initialized
[ INFO] [1577567951.730641131]: Plugin setpoint_attitude loaded
[ INFO] [1577567951.754769307]: Plugin setpoint_attitude initialized
[ INFO] [1577567951.755314680]: Plugin setpoint_position loaded
[ INFO] [1577567951.792490916]: Plugin setpoint_position initialized
[ INFO] [1577567951.793004986]: Plugin setpoint_raw loaded
[ INFO] [1577567951.814774845]: Plugin setpoint_raw initialized
[ INFO] [1577567951.815367042]: Plugin setpoint_trajectory loaded
[ INFO] [1577567951.828349581]: Plugin setpoint_trajectory initialized
[ INFO] [1577567951.828841255]: Plugin setpoint_velocity loaded
[ INFO] [1577567951.842054995]: Plugin setpoint_velocity initialized
[ INFO] [1577567951.843149752]: Plugin sys_status loaded
[ INFO] [1577567951.870197398]: Plugin sys_status initialized
[ INFO] [1577567951.870785272]: Plugin sys_time loaded
[ INFO] [1577567951.885222833]: TM: Timesync mode: MAVLINK
[ INFO] [1577567951.888833200]: Plugin sys_time initialized
[ INFO] [1577567951.889287217]: Plugin trajectory loaded
[ INFO] [1577567951.901037967]: Plugin trajectory initialized
[ INFO] [1577567951.901510422]: Plugin vfr_hud loaded
[ INFO] [1577567951.903667694]: Plugin vfr_hud initialized
[ INFO] [1577567951.903790768]: Plugin vibration blacklisted
[ INFO] [1577567951.904182753]: Plugin vision_pose_estimate loaded
[ INFO] [1577567951.921912083]: Plugin vision_pose_estimate initialized
[ INFO] [1577567951.922364329]: Plugin vision_speed_estimate loaded
[ INFO] [1577567951.930803779]: Plugin vision_speed_estimate initialized
[ INFO] [1577567951.931347746]: Plugin waypoint loaded
[ INFO] [1577567951.946356617]: Plugin waypoint initialized
[ INFO] [1577567951.946555422]: Plugin wheel_odometry blacklisted
[ INFO] [1577567951.946993710]: Plugin wind_estimation loaded
[ INFO] [1577567951.949341246]: Plugin wind_estimation initialized
[ INFO] [1577567951.949515519]: Autostarting mavlink via USB on PX4
[ INFO] [1577567951.949883858]: Built-in SIMD instructions: ARM NEON
[ INFO] [1577567951.949976047]: Built-in MAVLink package version: 2019.12.12
[ INFO] [1577567951.950076465]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1577567951.950150789]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1577567951.968636432]: IMU: High resolution IMU detected!
[ INFO] [1577567951.970489637]: IMU: Attitude quaternion IMU detected!
[ INFO] [1577567951.993582432]: RC_CHANNELS message detected!
[ INFO] [1577567952.201876088]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1577567952.211798008]: IMU: High resolution IMU detected!
[ INFO] [1577567952.213290322]: IMU: Attitude quaternion IMU detected!
[ INFO] [1577567952.240405106]: RC_CHANNELS message detected!
[ERROR] [1577567952.856373856]: FCU: REJECT POSITION CONTROL
[ERROR] [1577567952.907173683]: FCU: Manual control lost
[ INFO] [1577567952.955694726]: FCU: Manual control regained after 669ms
[ERROR] [1577567953.005133803]: FCU: Manual control lost
[ INFO] [1577567953.056567233]: FCU: Manual control regained after 588ms
[ INFO] [1577567953.216666518]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1577567953.218138936]: VER: 1.1: Flight software:     010a00ff (4f6faac2c8000000)
[ INFO] [1577567953.220683297]: VER: 1.1: Middleware software: 010a00ff (4f6faac2c8000000)
[ INFO] [1577567953.222034515]: VER: 1.1: OS software:         071d00ff (427238133be2b0ec)
[ INFO] [1577567953.223093281]: VER: 1.1: Board hardware:      00000011
[ INFO] [1577567953.223882147]: VER: 1.1: VID/PID:             26ac:0011
[ INFO] [1577567953.225017008]: VER: 1.1: UID:                 3337510e31303337
[ WARN] [1577567953.225645507]: CMD: Unexpected command 520, result 0
[ INFO] [1577567955.492892913]: FCU: Manual control regained after 3890ms
[ WARN] [1577567956.340414471]: GP: No GPS fix
[ INFO] [1577567962.203184899]: HP: requesting home position
[ INFO] [1577567967.215087572]: WP: mission received
[ INFO] [1577567972.203889482]: HP: requesting home position
[ INFO] [1577567982.202857996]: HP: requesting home position
[ WARN] [1577567986.446954895]: GP: No GPS fix
[ INFO] [1577567992.203256429]: HP: requesting home position
[ INFO] [1577567999.609928479]: FCU: [logger] file: /fs/microsd/log/2019-12-28/21_19_5
[ INFO] [1577568002.203472254]: HP: requesting home position
[ INFO] [1577568012.203384429]: HP: requesting home position
[ WARN] [1577568016.455092484]: GP: No GPS fix
[ INFO] [1577568018.183989078]: FCU: ARMED by Arm/Disarm component command
[ INFO] [1577568018.230233264]: FCU: [logger] file: /fs/microsd/log/2019-12-28/21_20_1
[ INFO] [1577568022.202710866]: HP: requesting home position
[ WARN] [1577568026.571076614]: CMD: Unexpected command 176, result 0
[ INFO] [1577568028.180467556]: FCU: DISARMED by Auto disarm initiated
[ INFO] [1577568032.202880597]: HP: requesting home position
[ INFO] [1577568042.203011109]: HP: requesting home position
^C[mavros-2] killing on exit
Debug:   mavconn: serial0: recv: v2.0 !CRC Message-Id: 111 [13 bytes] IDs: 1.1 Seq: 147
Debug:   mavconn: serial0: recv: v2.0 !CRC Message-Id: 65 [42 bytes] IDs: 1.1 Seq: 148
Debug:   mavconn: serial0: recv: v2.0 !CRC Message-Id: 141 [32 bytes] IDs: 1.1 Seq: 149
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Drone Description:
-QuadCopter
-PX4
-Jetson Nano companion
Additional context
Add any other context about the problem here.

**Code used for the ROS_NODE works in Gazebo simulation
@weekly-digest weekly-digest bot mentioned this issue Dec 29, 2019
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@julianoes
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Thanks for the report. I have seen similar complaints. Have you found a solution or workaround?
I still need to understand what is going on.

@julianoes julianoes added bug Mode: Offboard Offboard mode control labels Jan 30, 2020
@stale
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stale bot commented Apr 29, 2020

This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions.

@stale stale bot added the stale label Apr 29, 2020
@DiegoHerrera1890
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Hello! I am facing the same issue. Is there an answer?

@stale stale bot removed the stale label Feb 3, 2021
@hsilvaga
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hsilvaga commented Feb 4, 2021

Not a solution but more of a workaround... I reverted the pixhawk firmware to version 1.10.0 and that seemed to fixed my issue.

@Jaeyoung-Lim
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@hsilvaga Looking at your log outputs such as

ERROR] [1577567952.856373856]: FCU: REJECT POSITION CONTROL
[ WARN] [1577567986.446954895]: GP: No GPS fix

You don't have a valid position estimate. Therefore you cannot use position/velocity setpoints

@ninja-hu
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I saw a similar error for the latest stable build v1.12.0. Manual flight seems to work fine, but the offboard command is rejected when using mavros.

I then reverted to v1.11.0 and it worked. Haven't tried other versions yet.

@julianoes
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I'm going to close this. Please comment again if this is still an issue.

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bug Mode: Offboard Offboard mode control
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@julianoes @Jaeyoung-Lim @hsilvaga @DiegoHerrera1890 @ninja-hu