rosplane_sim rosflight_sil.launch

I can't get rosplane_sil to work, I followed the instructions on github: https://github.com/byu-uav-class/rosflight_ws

I was able to get the fixedwing.launch to work in the same package. When I press play on gazebo it flies around

When I run the rosflight_sil.launch and load the param.yml and calibrate_imu and param_write then arm the autopilot nothing happens. The fixed wing just stays on the ground.

I will attach the log in parts, since this website doesn't let me upload files, and has a character limit:

Comments

  • 10 Comments sorted by Votes Date Added
  • Figured this out.Turns out that it was returning the aircraft to computer control, but the aircraft still wasn't armed. There is no clear delineation in the documentation for a parameter that turns from computer control to rc control -- it seems to be mapped to channel 5 on the transmitter (4 in the parameters) but I can't see a parameter for it.

  • Turned out to be an issue in our yaml file. I didn't recognize the difference between the arm switch and the autopilot override switch. Also the rc_joy file was needed to be fixed so we could use more than one switch on the Taranis.. I will submit a pull request on that.

  • Part 1:

    0.000000000 Node Startup
    0.000000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:75(rosflightIO::rosflightIO) [topics: /rosout, /fixedwing/unsaved_params] Connecting over UDP to "localhost:14525", from "localhost:14520"
    0.000000000 INFO [/tmp/binarydeb/ros-kinetic-roscpp-1.12.7/src/libros/service.cpp:80(service::exists) [topics: /rosout] waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
    0.000000000 INFO [/home/team2/rosflight_ws/src/rosflight_plugins/src/GPS_plugin.cpp:40(GPSPlugin::Load) [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states] Loaded the GPS plugin
    0.000000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight_sim/src/rosflight_sil.cpp:69(ROSflightSIL::Load) [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /fixedwing/gps, /fixedwing/truth] Loaded the ROSflight SIL plugin
    0.000000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:359(rosflightIO::handle_statustext_msg) [topics: /rosout, /fixedwing/unsaved_params] [Autopilot]: Booting
    0.000000000 ERROR [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:804(rosflightIO::check_error_code) [topics: /rosout, /fixedwing/unsaved_params] Autopilot ERROR: Invalid mixer
    0.000000000 ERROR [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:804(rosflightIO::check_error_code) [topics: /rosout, /fixedwing/unsaved_params] Autopilot ERROR: Uncalibrated IMU
    0.000000000 WARN [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:298(rosflightIO::handle_status_msg) [topics: /rosout, /fixedwing/unsaved_params] Autopilot now in ANGLE mode
    0.000000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:223(rosflightIO::handle_heartbeat_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status] Got HEARTBEAT, connected.
    0.012000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/mavrosflight/time_manager.cpp:73(TimeManager::handle_mavlink_message) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw] Detected time offset of -0.001000000 s. FCU time: 0.010000000, System time: 0.012000000
    0.020000000 WARN [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:253(rosflightIO::handle_status_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw] RC override active
    0.022000000 INFO [/tmp/binarydeb/ros-kinetic-roscpp-1.12.7/src/libros/service.cpp:122(service::waitForService) [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /fixedwing/gps, /fixedwing/truth, /fixedwing/truth/NED, /fixedwing/truth/NWU] waitForService: Service [/gazebo/set_physics_properties] is now available.
    0.066000000 INFO [/tmp/binarydeb/ros-kinetic-gazebo-ros-2.5.13/src/gazebo_ros_api_plugin.cpp:2110(GazeboRosApiPlugin::physicsReconfigureThread) [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /fixedwing/gps, /fixedwing/truth, /fixedwing/truth/NED, /fixedwing/truth/NWU, /gazebo/parameter_descriptions, /gazebo/parameter_updates] Physics dynamic reconfigure ready.
    0.999000000 WARN [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:262(rosflightIO::handle_status_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw] Computer control active
    0.999000000 WARN [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:255(rosflightIO::handle_status_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw] Returned to computer control
    0.999000000 WARN [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:298(rosflightIO::handle_status_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw] Autopilot now in RATE mode
    1.001000000 ERROR [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:783(rosflightIO::paramTimerCallback) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw] Received 0 of 0 parameters. Requesting missing parameters...

  • 1.002000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:683(rosflightIO::handle_version_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version] Firmware version: empty
    1.002000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:359(rosflightIO::handle_statustext_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version] [Autopilot]: FOUND SONAR
    1.002000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:359(rosflightIO::handle_statustext_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version] [Autopilot]: FOUND DIFF PRESS
    1.002000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:359(rosflightIO::handle_statustext_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version] [Autopilot]: FOUND BAROMETER
    1.002000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:359(rosflightIO::handle_statustext_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version] [Autopilot]: FOUND MAGNETOMETER
    2.001000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:777(rosflightIO::paramTimerCallback) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Received all parameters
    7.108000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:202(rosflightIO::on_param_value_updated) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Parameter DIFF_PRESS_BIAS has new value -0.139073
    7.108000000 WARN [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:213(rosflightIO::on_params_saved_change) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] There are unsaved changes to onboard parameters
    7.108000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:359(rosflightIO::handle_statustext_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] [Autopilot]: Airspeed Cal Successful!
    7.447000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:202(rosflightIO::on_param_value_updated) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Parameter BARO_BIAS has new value -55.6764
    7.447000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:359(rosflightIO::handle_statustext_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] [Autopilot]: Baro Cal successful!
    49.177000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:359(rosflightIO::handle_statustext_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] [Autopilot]: ARM switch mapped to RC channel 4
    49.177000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:359(rosflightIO::handle_statustext_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] [Autopilot]: ATTITUDE OVERRIDE switch mapped to RC channel 4
    49.178000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:359(rosflightIO::handle_statustext_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] [Autopilot]: THROTTLE OVERRIDE switch mapped to RC channel 4

  • 49.178000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:359(rosflightIO::handle_statustext_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] [Autopilot]: ATTITUDE TYPE switch not mapped
    49.178000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:202(rosflightIO::on_param_value_updated) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Parameter ARM_CHANNEL has new value 4
    49.178000000 WARN [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:213(rosflightIO::on_params_saved_change) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] There are unsaved changes to onboard parameters
    49.178000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:202(rosflightIO::on_param_value_updated) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Parameter ARM_SPIN_MOTORS has new value 0
    49.178000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:202(rosflightIO::on_param_value_updated) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Parameter BARO_BIAS has new value 0
    49.179000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:202(rosflightIO::on_param_value_updated) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Parameter DIFF_PRESS_BIAS has new value 0
    49.179000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:202(rosflightIO::on_param_value_updated) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Parameter FIXED_WING has new value 1
    49.179000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:806(rosflightIO::check_error_code) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Autopilot RECOVERED ERROR: Invalid mixer
    49.179000000 WARN [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:298(rosflightIO::handle_status_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Autopilot now in PASS_THROUGH mode
    49.179000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:202(rosflightIO::on_param_value_updated) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Parameter MIXER has new value 10
    49.179000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:202(rosflightIO::on_param_value_updated) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Parameter MOTOR_PWM_UPDATE has new value 50
    49.179000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:202(rosflightIO::on_param_value_updated) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Parameter PID_PITCH_ANG_D has new value 0.07
    49.179000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:202(rosflightIO::on_param_value_updated) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Parameter PID_ROLL_ANG_D has new value 0.07
    59.080000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:202(rosflightIO::on_param_value_updated) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Parameter ACC_X_BIAS has new value -0.165038
    59.080000000 WARN [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:213(rosflightIO::on_params_saved_change) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] There are unsaved changes to onboard parameters
    59.080000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:202(rosflightIO::on_param_value_updated) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Parameter ACC_Y_BIAS has new value -0.394729
    59.080000000 INFO

  • 59.080000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:202(rosflightIO::on_param_value_updated) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Parameter ACC_Z_BIAS has new value -0.459929
    59.080000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:359(rosflightIO::handle_statustext_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] [Autopilot]: IMU offsets captured
    59.080000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:806(rosflightIO::check_error_code) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Autopilot RECOVERED ERROR: Uncalibrated IMU
    59.080000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:202(rosflightIO::on_param_value_updated) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Parameter GYRO_X_BIAS has new value 0.0240309
    59.080000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:202(rosflightIO::on_param_value_updated) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Parameter GYRO_Y_BIAS has new value 0.187017
    59.080000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:202(rosflightIO::on_param_value_updated) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Parameter GYRO_Z_BIAS has new value 0.0906223
    64.686000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/mavrosflight/param_manager.cpp:326(ParamManager::handle_command_ack_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Param write succeeded
    64.686000000 INFO [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:217(rosflightIO::on_params_saved_change) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Onboard parameters have been saved
    76.966000000 WARN [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:253(rosflightIO::handle_status_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] RC override active
    77.967000000 WARN [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:255(rosflightIO::handle_status_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Returned to computer control
    78.026000000 WARN [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:253(rosflightIO::handle_status_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] RC override active
    79.026000000 WARN [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:255(rosflightIO::handle_status_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Returned to computer control
    81.706000000 WARN [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:253(rosflightIO::handle_status_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] RC override active
    83.706000000 WARN [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:255(rosflightIO::handle_status_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Returned to computer control
    83.726000000 WARN [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:253(rosflightIO::handle_status_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] RC override active
    121.726000000 WARN [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:255(rosflightIO::handle_status_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Returned to computer control

  • 83.726000000 WARN [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:253(rosflightIO::handle_status_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] RC override active
    121.726000000 WARN [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:255(rosflightIO::handle_status_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Returned to computer control
    126.286000000 WARN [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:253(rosflightIO::handle_status_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] RC override active
    152.731000000 WARN [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:235(rosflightIO::handle_status_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Autopilot ARMED
    155.540000000 WARN [/home/team2/rosflight_ws/src/rosplane/rosplane/src/estimator_base.cpp:172(estimator_base::baroAltCallback) [topics: /rosout, /fixedwing/state] Bad baro calibration. Recalibrating
    171.370000000 WARN [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:237(rosflightIO::handle_status_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Autopilot DISARMED
    174.150000000 WARN [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:235(rosflightIO::handle_status_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Autopilot ARMED
    187.600000000 WARN [/home/team2/rosflight_ws/src/rosplane/rosplane/src/estimator_example.cpp:338(estimator_example::estimate) [topics: /rosout, /fixedwing/state] position estimator reinitialized due to non-finite state 0
    198.190000000 WARN [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:237(rosflightIO::handle_status_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Autopilot DISARMED
    199.430000000 WARN [/home/team2/rosflight_ws/src/rosflight/rosflight/src/rosflight_io.cpp:235(rosflightIO::handle_status_msg) [topics: /rosout, /fixedwing/unsaved_params, /fixedwing/status, /fixedwing/attitude, /fixedwing/attitude/euler, /fixedwing/imu/data, /fixedwing/imu/temperature, /fixedwing/output_raw, /fixedwing/rc_raw, /fixedwing/version, /fixedwing/magnetometer, /fixedwing/sonar, /fixedwing/baro, /fixedwing/airspeed] Autopilot ARMED
    263.200000000 WARN [/home/team2/rosflight_ws/src/rosplane/rosplane/src/estimator_example.cpp:338(estimator_example::estimate) [topics: /rosout, /fixedwing/state] position estimator reinitialized due to non-finite state 0
    290.000000000 WARN [/home/team2/rosflight_ws/src/rosplane/rosplane/src/estimator_example.cpp:338(estimator_example::estimate) [topics: /rosout, /fixedwing/state] position estimator reinitialized due to non-finite state 0
    387.501000000 WARN [/home/team2/rosflight_ws/src/rosplane/rosplane/src/estimator_example.cpp:338(estimator_example::estimate) [topics: /rosout, /fixedwing/state] position estimator reinitialized due to non-finite state 0
    428.601000000 WARN [/home/team2/rosflight_ws/src/rosplane/rosplane/src/estimator_example.cpp:338(estimator_example::estimate) [topics: /rosout, /fixedwing/state] position estimator reinitialized due to non-finite state 0
    435.100000000 WARN [/home/team2/rosflight_ws/src/rosplane/rosplane/src/estimator_example.cpp:338(estimator_example::estimate) [topics: /rosout, /fixedwing/state] position estimator reinitialized due to non-finite state 0
    440.100000000 WARN [/home/team2/rosflight_ws/src/rosplane/rosplane/src/estimator_example.cpp:338(estimator_example::estimate) [topics: /rosout, /fixedwing/state] position estimator reinitialized due to non-finite state 0
    455.600000000 WARN [/home/team2/rosflight_ws/src/rosplane/rosplane/src/estimator_example.cpp:338(estimator_example::estimate) [topics: /rosout, /fixedwing/state] position estimator reinitialized due to non-finite state 0
    488.800000000 WARN [/home/team2/rosflight_ws/src/rosplane/rosplane/src/estimator_example.cpp:338(estimator_example::estimate) [topics: /rosout, /fixedwing/state] position estimator reinitialized due to non-finite state 0
    497.600000000 WARN [/home/team2/rosflight_ws/src/rosplane/rosplane/src/estimator_example.cpp:338(estimator_example::estimate) [topics: /rosout, /fixedwing/state] position estimator reinitialized due to non-finite state 0
    516.400000000 WARN [/home/team2/rosflight_ws/src/rosplane/rosplane/src/estimator_example.cpp:338(estimator_example::estimate) [topics: /rosout, /fixedwing/state] position estimator reinitialized due to non-finite state 0
    546.500000000 WARN [/home/team2/rosflight_ws/src/rosplane/rosplane/src/estimator_example.cpp:338(estimator_example::estimate) [topics: /rosout, /fixedwing/state] position estimator reinitialized due to non-finite state 0
    582.300000000 WARN [/home/team2/rosflight_ws/src/rosplane/rosplane/src/estimator_example.cpp:338(estimator_example::estimate) [topics: /rosout, /fixedwing/state] position estimator reinitialized due to non-finite state 0
    587.100000000 WARN [/home/team2/rosflight_ws/src/rosplane/rosplane/src/estimator_example.cpp:338(estimator_example::estimate) [topics: /rosout, /fixedwing/state] position estimator reinitialized due to non-finite state 0

  • Come in to the lab and ask Gary or myself.

  • Tim, did you ever figure this out?

  • We decided to work on just the regular rosplane_sim fixed_wing.launch and try to understand how to create waypoints and things first, instead of jumping to the software in the loop. I'll let you know when we come back to this.

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