Exaggerated vibration when hovering with Solo gazebo simulation

[diegomrt]

Hi. I've noticed that there is a huge vibration in "roll" when launching the default 3DR Solo Gazebo PX4 SITL simulation with make posix gazebo_solo I've tested it in two different computers, getting the same issue. However, the 3DR Iris simulation doesn't have such exaggerated vibration.

I've uploaded a video showing the vibration here

Is it a code "bug" or a PX4 parameter (noise-related) that is incorrectly set? Default values are used in all 3DR Solo and Iris parameters and in PX4.

Note: I've opened this same issue #275 in the sitl_gazebo repository, but as I'm not sure if it has to be with the SITL simulation itself, with Gazebo or with PX4, I'm replicating it here.

Thanks in advance!

$make posix gazebo_solo
ninja: Entering directory `/home/diego/Firmware/build/px4_sitl_default'
[2/6] Performing configure step for 'sitl_gazebo'
-- install-prefix: /usr/local
-- Boost version: 1.58.0
-- Found the following Boost libraries:
-- system
-- thread
-- timer
-- chrono
-- date_time
-- atomic
-- Boost version: 1.58.0
-- Building klt_feature_tracker without catkin
-- Building OpticalFlow with OpenCV
-- catkin DISABLED
Gazebo version: 7.0
-- Using C++14 compiler
-- Configuring done
-- Generating done
-- Build files have been written to: /home/diego/Firmware/build/px4_sitl_default/build_gazebo
[3/6] Performing build step for 'sitl_gazebo'
ninja: no work to do.
[6/6] cd /home/diego/Firmware/build/px.../diego/Firmware/build/px4_sitl_default
SITL ARGS
sitl_bin: /home/diego/Firmware/build/px4_sitl_default/bin/px4
debugger: none
program: gazebo
model: solo
src_path: /home/diego/Firmware
build_path: /home/diego/Firmware/build/px4_sitl_default
GAZEBO_PLUGIN_PATH :/home/diego/Firmware/build/px4_sitl_default/build_gazebo
GAZEBO_MODEL_PATH :/home/diego/Firmware/Tools/sitl_gazebo/models
LD_LIBRARY_PATH /home/diego/catkin_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/home/diego/Firmware/build/px4_sitl_default/build_gazebo
Gazebo multi-robot simulator, version 7.0.0
Copyright (C) 2012-2016 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.1.5
[Dbg] [gazebo_mavlink_interface.cpp:137] <joint_name> not found for channel[0] no joint control will be performed for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:137] <joint_name> not found for channel[1] no joint control will be performed for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:137] <joint_name> not found for channel[2] no joint control will be performed for this channel.
[Dbg] [gazebo_mavlink_interface.cpp:137] <joint_name> not found for channel[3] no joint control will be performed for this channel.
[Msg] Conecting to PX4 SITL using TCP
[Msg] Lockstep is enabled
[Msg] Speed factor set to: 1
SITL COMMAND: "/home/diego/Firmware/build/px4_sitl_default/bin/px4" "/home/diego/Firmware"/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -t "/home/diego/Firmware"/test_data
INFO [px4] Creating symlink /home/diego/Firmware/ROMFS/px4fmu_common -> /home/diego/Firmware/build/px4_sitl_default/tmp/rootfs/etc
0 WARNING: setRealtimeSched failed (not run as root?)

---

| ___ \ \ \ / / / |
| |/ / \ V / / /| |
| __/ / \ / /| |
| | / /^\ \ ___ |
_| / / |_/

px4 starting.

INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
INFO [dataman] Unknown restart, data manager file './dataman' size is 11405132 bytes
INFO [simulator] Waiting for simulator to connect on TCP port 4560
INFO [simulator] Simulator connected on TCP port 4560.
[Msg] Using MAVLink protocol v2.0
Gazebo multi-robot simulator, version 7.0.0
Copyright (C) 2012-2016 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.1.5
INFO [init] Mixer: etc/mixers/quad_x.main.mix on /dev/pwm_output0
INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 14570 remote port 14550
INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO [logger] logger started (mode=all)
INFO [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
INFO [logger] Start file log (type: full)
INFO [logger] Opened full log file: ./log/2019-02-03/21_57_38.ulg
INFO [px4] Startup script returned successfully
pxh> INFO [mavlink] partner IP: 127.0.0.1
INFO [ecl/EKF] EKF aligned, (pressure height, IMU buf: 22, OBS buf: 14)
[Wrn] [Publisher.cc:140] Queue limit reached for topic /gazebo/default/solo/motors, deleting message. This warning is printed only once.
[Wrn] [Publisher.cc:140] Queue limit reached for topic /gazebo/default/solo/motor_speed/0, deleting message. This warning is printed only once.
[Wrn] [Publisher.cc:140] Queue limit reached for topic /gazebo/default/solo/motor_speed/1, deleting message. This warning is printed only once.
[Wrn] [Publisher.cc:140] Queue limit reached for topic /gazebo/default/solo/motor_speed/2, deleting message. This warning is printed only once.
[Wrn] [Publisher.cc:140] Queue limit reached for topic /gazebo/default/solo/motor_speed/3, deleting message. This warning is printed only once.
INFO [ecl/EKF] EKF GPS checks passed (WGS-84 origin set)
INFO [ecl/EKF] EKF commencing GPS fusion
INFO [commander] Takeoff detected
INFO [commander] Landing detected
INFO [logger] closed logfile, bytes written: 6395899

[stale]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

[stale]

Closing as stale.

[julianoes]

Thanks for raising this and sorry about the late response. Did you ever fix this?

I assume that this could be fixed with control tuning. Did you ever attempt that?

[diegomrt]

Hi Juliano.
Thanks for your reply. No, I didn't fix the issue, but actually I never tried to retune the control PIDs, I worked with the default values. I'll give it a try!

[stale]

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