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newtoros

offboard control roslaunch

newtoros
Dec 28th, 2015
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  1. SUMMARY
  2. ========
  3.  
  4. CLEAR PARAMETERS
  5. * /mavros/
  6.  
  7. PARAMETERS
  8. * /mavros/cmd/use_comp_id_system_control: False
  9. * /mavros/conn/heartbeat_rate: 1.0
  10. * /mavros/conn/system_time_rate: 1.0
  11. * /mavros/conn/timeout: 10.0
  12. * /mavros/conn/timesync_rate: 10.0
  13. * /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
  14. * /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
  15. * /mavros/distance_sensor/hrlv_ez4_pub/id: 0
  16. * /mavros/distance_sensor/hrlv_ez4_pub/orientation: ROLL_180
  17. * /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
  18. * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
  19. * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
  20. * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
  21. * /mavros/distance_sensor/laser_1_sub/id: 3
  22. * /mavros/distance_sensor/laser_1_sub/orientation: ROLL_180
  23. * /mavros/distance_sensor/laser_1_sub/subscriber: True
  24. * /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
  25. * /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
  26. * /mavros/distance_sensor/lidarlite_pub/id: 1
  27. * /mavros/distance_sensor/lidarlite_pub/orientation: ROLL_180
  28. * /mavros/distance_sensor/lidarlite_pub/send_tf: True
  29. * /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
  30. * /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
  31. * /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
  32. * /mavros/distance_sensor/sonar_1_sub/id: 2
  33. * /mavros/distance_sensor/sonar_1_sub/orientation: ROLL_180
  34. * /mavros/distance_sensor/sonar_1_sub/subscriber: True
  35. * /mavros/fcu_url: /dev/ttyUSB0:57600
  36. * /mavros/gcs_url:
  37. * /mavros/global_position/frame_id: fcu
  38. * /mavros/global_position/rot_covariance: 99999.0
  39. * /mavros/global_position/tf/child_frame_id: fcu_utm
  40. * /mavros/global_position/tf/frame_id: local_origin
  41. * /mavros/global_position/tf/send: False
  42. * /mavros/image/frame_id: px4flow
  43. * /mavros/imu/angular_velocity_stdev: 0.000349065850399
  44. * /mavros/imu/frame_id: fcu
  45. * /mavros/imu/linear_acceleration_stdev: 0.0003
  46. * /mavros/imu/magnetic_stdev: 0.0
  47. * /mavros/imu/orientation_stdev: 1.0
  48. * /mavros/local_position/frame_id: fcu
  49. * /mavros/local_position/tf/child_frame_id: fcu
  50. * /mavros/local_position/tf/frame_id: local_origin
  51. * /mavros/local_position/tf/send: False
  52. * /mavros/mission/pull_after_gcs: True
  53. * /mavros/mocap/use_pose: True
  54. * /mavros/mocap/use_tf: False
  55. * /mavros/plugin_blacklist: ['safety_area', '...
  56. * /mavros/plugin_whitelist: []
  57. * /mavros/px4flow/frame_id: px4flow
  58. * /mavros/px4flow/ranger_fov: 0.0
  59. * /mavros/px4flow/ranger_max_range: 5.0
  60. * /mavros/px4flow/ranger_min_range: 0.3
  61. * /mavros/safety_area/p1/x: 1.0
  62. * /mavros/safety_area/p1/y: 1.0
  63. * /mavros/safety_area/p1/z: 1.0
  64. * /mavros/safety_area/p2/x: -1.0
  65. * /mavros/safety_area/p2/y: -1.0
  66. * /mavros/safety_area/p2/z: -1.0
  67. * /mavros/setpoint_accel/send_force: False
  68. * /mavros/setpoint_attitude/reverse_throttle: False
  69. * /mavros/setpoint_attitude/tf/child_frame_id: attitude
  70. * /mavros/setpoint_attitude/tf/frame_id: local_origin
  71. * /mavros/setpoint_attitude/tf/listen: False
  72. * /mavros/setpoint_attitude/tf/rate_limit: 10.0
  73. * /mavros/setpoint_position/tf/child_frame_id: setpoint
  74. * /mavros/setpoint_position/tf/frame_id: local_origin
  75. * /mavros/setpoint_position/tf/listen: False
  76. * /mavros/setpoint_position/tf/rate_limit: 50.0
  77. * /mavros/startup_px4_usb_quirk: True
  78. * /mavros/sys/disable_diag: False
  79. * /mavros/sys/min_voltage: 10.0
  80. * /mavros/target_component_id: 1
  81. * /mavros/target_system_id: 1
  82. * /mavros/tdr_radio/low_rssi: 40
  83. * /mavros/time/time_ref_source: fcu
  84. * /mavros/time/timesync_avg_alpha: 0.6
  85. * /mavros/vibration/frame_id: vibration
  86. * /mavros/vision_pose/tf/child_frame_id: vision
  87. * /mavros/vision_pose/tf/frame_id: local_origin
  88. * /mavros/vision_pose/tf/listen: False
  89. * /mavros/vision_pose/tf/rate_limit: 10.0
  90. * /mavros/vision_speed/listen_twist: False
  91. * /rosdistro: indigo
  92. * /rosversion: 1.11.15
  93.  
  94. NODES
  95. /
  96. mavros (mavros/mavros_node)
  97.  
  98. auto-starting new master
  99. process[master]: started with pid [9956]
  100. ROS_MASTER_URI=http://localhost:11311
  101.  
  102. setting /run_id to e241b5cc-ad2e-11e5-a63f-605718672f0f
  103. process[rosout-1]: started with pid [9969]
  104. started core service [/rosout]
  105. process[mavros-2]: started with pid [9987]
  106. [ INFO] [1451285258.569167860]: FCU URL: /dev/ttyUSB0:57600
  107. [ INFO] [1451285258.569333118]: serial0: device: /dev/ttyUSB0 @ 57600 bps
  108. [ INFO] [1451285258.569923446]: GCS bridge disabled
  109. [ INFO] [1451285258.619740286]: Plugin 3dr_radio loaded and initialized
  110. [ INFO] [1451285258.623051018]: Plugin actuator_control loaded and initialized
  111. [ INFO] [1451285258.682506331]: Plugin cam_imu_sync loaded and initialized
  112. [ INFO] [1451285258.688029545]: Plugin command loaded and initialized
  113. [ INFO] [1451285258.688079035]: Plugin distance_sensor blacklisted
  114. [ INFO] [1451285258.695425203]: Plugin ftp loaded and initialized
  115. [ INFO] [1451285258.704116001]: Plugin global_position loaded and initialized
  116. [ INFO] [1451285258.704168753]: Plugin image_pub blacklisted
  117. [ INFO] [1451285258.712263130]: Plugin imu_pub loaded and initialized
  118. [ INFO] [1451285258.719281950]: Plugin local_position loaded and initialized
  119. [ INFO] [1451285258.720017630]: Plugin manual_control loaded and initialized
  120. [ INFO] [1451285258.724863188]: Plugin mocap_pose_estimate loaded and initialized
  121. [ INFO] [1451285258.727418019]: Plugin param loaded and initialized
  122. [ INFO] [1451285258.733067845]: Plugin px4flow loaded and initialized
  123. [ INFO] [1451285258.737208988]: Plugin rc_io loaded and initialized
  124. [ INFO] [1451285258.737252580]: Plugin safety_area blacklisted
  125. [ INFO] [1451285258.741270044]: Plugin setpoint_accel loaded and initialized
  126. [ INFO] [1451285258.755764738]: Plugin setpoint_attitude loaded and initialized
  127. [ INFO] [1451285258.761706313]: Plugin setpoint_position loaded and initialized
  128. [ INFO] [1451285258.764630171]: Plugin setpoint_velocity loaded and initialized
  129. [ INFO] [1451285258.770059424]: Plugin sys_status loaded and initialized
  130. [ INFO] [1451285258.774622808]: Plugin sys_time loaded and initialized
  131. [ INFO] [1451285258.776866604]: Plugin vfr_hud loaded and initialized
  132. [ INFO] [1451285258.776926234]: Plugin vibration blacklisted
  133. [ INFO] [1451285258.783035353]: Plugin vision_pose_estimate loaded and initialized
  134. [ INFO] [1451285258.786672667]: Plugin vision_speed_estimate loaded and initialized
  135. [ INFO] [1451285258.790932876]: Plugin waypoint loaded and initialized
  136. [ INFO] [1451285258.790989330]: Autostarting mavlink via USB on PX4
  137. [ INFO] [1451285258.791018923]: Built-in SIMD instructions: SSE, SSE2
  138. [ INFO] [1451285258.791033655]: Built-in MAVLink dialect: ardupilotmega
  139. [ INFO] [1451285258.791048807]: MAVROS started. MY ID [1, 240], TARGET ID [1, 1]
  140. [ INFO] [1451285258.983486494]: CON: Got HEARTBEAT, connected.
  141. [ INFO] [1451285259.086544396]: IMU: High resolution IMU detected!
  142. [ WARN] [1451285259.106497017]: GP: No GPS fix
  143. [ INFO] [1451285259.155619178]: RC_CHANNELS message detected!
  144. [ WARN] [1451285259.268778952]: TM: Clock skew detected (-1451283838.845737934 s). Hard syncing clocks.
  145. [ WARN] [1451285260.985569153]: VER: broadcast request timeout, retries left 4
  146. [ WARN] [1451285261.985889975]: VER: broadcast request timeout, retries left 3
  147. [ WARN] [1451285262.985546968]: VER: unicast request timeout, retries left 2
  148. [ INFO] [1451285263.539232457]: VER: 1.1: Capabilities 0x00000000000004eb
  149. [ INFO] [1451285263.539296754]: VER: 1.1: Flight software: 00000000 (424f4a9066e2b15b)
  150. [ INFO] [1451285263.539332792]: VER: 1.1: Middleware software: 00000000 (424f4a9066e2b15b)
  151. [ INFO] [1451285263.539367467]: VER: 1.1: OS software: 00000000 (0000000000000000)
  152. [ INFO] [1451285263.539399209]: VER: 1.1: Board hardware: 00000000
  153. [ INFO] [1451285263.539428877]: VER: 1.1: VID/PID: 26ac:0011
  154. [ INFO] [1451285263.539464955]: VER: 1.1: UID: 3432470a38383538
  155. [ WARN] [1451285269.292359802]: TM: Clock skew detected (0.053520465 s). Hard syncing clocks.
  156. [ INFO] [1451285274.364294872]: WP: mission received
  157. [ INFO] [1451285274.444333223]: FCU: WPM: mission is empty
  158. [ERROR] [1451285275.026695516]: FCU: REJ. WP CMD: partner id mismatch
  159. [ WARN] [1451285279.368133131]: TM: Clock skew detected (-0.051424555 s). Hard syncing clocks.
  160. [ WARN] [1451285287.983949478]: PR: request param #71 timeout, retries left 2, and 4 params still missing
  161. [ WARN] [1451285289.320253503]: PR: request param #72 timeout, retries left 2, and 3 params still missing
  162. [ WARN] [1451285289.497966724]: TM: Clock skew detected (0.103506479 s). Hard syncing clocks.
  163. [ WARN] [1451285290.503472209]: PR: request param #73 timeout, retries left 2, and 2 params still missing
  164. [ WARN] [1451285291.249794033]: GP: No GPS fix
  165. [ WARN] [1451285291.996453519]: PR: request param #74 timeout, retries left 2, and 1 params still missing
  166. [ INFO] [1451285292.310134226]: PR: parameters list received
  167. [ WARN] [1451285299.644813366]: TM: Clock skew detected (-0.119732693 s). Hard syncing clocks.
  168. [ WARN] [1451285309.681692020]: TM: Clock skew detected (-0.099344410 s). Hard syncing clocks.
  169. [ WARN] [1451285320.061695438]: TM: Clock skew detected (-0.026723545 s). Hard syncing clocks.
  170. [ WARN] [1451285321.417142795]: GP: No GPS fix
  171. [ WARN] [1451285330.101161370]: TM: Clock skew detected (-0.036932551 s). Hard syncing clocks.
  172. [ WARN] [1451285340.101892713]: TM: Clock skew detected (0.045204098 s). Hard syncing clocks.
  173. [ WARN] [1451285350.206477133]: TM: Clock skew detected (-0.015295810 s). Hard syncing clocks.
  174. [ WARN] [1451285353.097565255]: GP: No GPS fix
  175. [ WARN] [1451285360.409321678]: TM: Clock skew detected (-0.020589304 s). Hard syncing clocks.
  176. [ WARN] [1451285370.720270826]: TM: Clock skew detected (0.033150636 s). Hard syncing clocks.
  177. [ WARN] [1451285381.088098978]: TM: Clock skew detected (-0.101777154 s). Hard syncing clocks.
  178. [ WARN] [1451285383.250873884]: GP: No GPS fix
  179. [ WARN] [1451285391.491701142]: TM: Clock skew detected (0.138193973 s). Hard syncing clocks.
  180. [ WARN] [1451285404.306469840]: TM: Clock skew detected (-0.746090473 s). Hard syncing clocks.
  181. [ INFO] [1451285407.044164484]: FCU: ARMED by RC
  182. [ INFO] [1451285407.241116497]: FCU: [cmd] arming state: ARMED
  183. [ERROR] [1451285407.287216291]: FCU: TAKEOFF DETECTED
  184. [ WARN] [1451285414.389169995]: GP: No GPS fix
  185. [ WARN] [1451285414.425172169]: TM: Clock skew detected (-0.495261076 s). Hard syncing clocks.
  186. [ERROR] [1451285418.591428432]: FCU: REJECT OFFBOARD
  187. [ INFO] [1451285420.014799621]: FCU: [mpc] reset pos sp: 0, 0
  188. [ INFO] [1451285420.634815306]: FCU: [mpc] reset pos sp: 0, 0
  189. [ INFO] [1451285420.674759457]: FCU: [mpc] reset pos sp: 0, 0
  190. [ INFO] [1451285420.863980255]: FCU: [mpc] reset pos sp: 0, 0
  191. [ INFO] [1451285420.931844396]: FCU: [mpc] reset pos sp: 0, 0
  192. [ INFO] [1451285421.325063081]: FCU: [mpc] reset pos sp: 0, 0
  193. [ INFO] [1451285421.382004019]: FCU: [mpc] reset pos sp: 0, 0
  194. [ INFO] [1451285421.554035233]: FCU: Flight mode: MANUAL
  195. [ INFO] [1451285423.232491246]: FCU: [mpc] reset pos sp: 0, 0
  196. [ INFO] [1451285423.439424282]: FCU: [mpc] reset pos sp: 0, 0
  197. [ INFO] [1451285424.007609096]: FCU: [mpc] reset pos sp: 0, 0
  198. [ INFO] [1451285424.089778934]: FCU: [mpc] reset pos sp: 0, 0
  199. [ INFO] [1451285424.127784896]: FCU: [mpc] reset pos sp: 0, 0
  200. [ INFO] [1451285424.319651583]: FCU: [mpc] reset pos sp: 0, 0
  201. [ INFO] [1451285424.351683892]: FCU: Flight mode: MANUAL
  202. [ WARN] [1451285424.781793856]: TM: Clock skew detected (-0.072733905 s). Hard syncing clocks.
  203. [ INFO] [1451285426.167330970]: FCU: [mpc] reset pos sp: 0, 0
  204. [ INFO] [1451285426.200335957]: FCU: [mpc] reset pos sp: 0, 0
  205. [ INFO] [1451285426.397326035]: FCU: [mpc] reset pos sp: 0, 0
  206. [ INFO] [1451285426.626286267]: FCU: [mpc] reset pos sp: 0, 0
  207. [ INFO] [1451285426.682399016]: FCU: [mpc] reset pos sp: 0, 0
  208. [ INFO] [1451285426.857557546]: FCU: [mpc] reset pos sp: 0, 0
  209. [ INFO] [1451285426.900416653]: FCU: Flight mode: MANUAL
  210. [ INFO] [1451285427.964838828]: FCU: [mpc] reset pos sp: 0, 0
  211. [ INFO] [1451285428.016772106]: FCU: [mpc] reset pos sp: 0, 0
  212. [ INFO] [1451285428.050748184]: FCU: [mpc] reset pos sp: 0, 0
  213. [ INFO] [1451285428.157702964]: FCU: [mpc] reset pos sp: 0, 0
  214. [ INFO] [1451285428.469932727]: FCU: [mpc] reset pos sp: 0, 0
  215. [ INFO] [1451285428.531918664]: FCU: [mpc] reset pos sp: 0, 0
  216. [ INFO] [1451285428.699960452]: FCU: [mpc] reset pos sp: 0, 0
  217. [ INFO] [1451285428.754883235]: FCU: Flight mode: MANUAL
  218. [ERROR] [1451285429.159912051]: FCU: REJECT OFFBOARD
  219. [ INFO] [1451285432.156891073]: FCU: [mpc] reset pos sp: 0, 0
  220. [ INFO] [1451285432.196841895]: FCU: [mpc] reset pos sp: 0, 0
  221. [ INFO] [1451285432.224832219]: FCU: [mpc] reset pos sp: 0, 0
  222. [ INFO] [1451285432.847058864]: FCU: [mpc] reset pos sp: 0, 0
  223. [ INFO] [1451285432.891983243]: FCU: [mpc] reset pos sp: 0, 0
  224. [ INFO] [1451285433.536131114]: FCU: [mpc] reset pos sp: 0, 0
  225. [ INFO] [1451285433.591129231]: FCU: Flight mode: MANUAL
  226. [ WARN] [1451285434.912620697]: TM: Clock skew detected (-0.270494865 s). Hard syncing clocks.
  227. [ INFO] [1451285436.303859493]: FCU: [mpc] reset pos sp: 0, 0
  228. [ INFO] [1451285436.336764249]: FCU: [mpc] reset pos sp: 0, 0
  229. [ INFO] [1451285436.534968303]: FCU: [mpc] reset pos sp: 0, 0
  230. [ INFO] [1451285436.574782942]: FCU: [mpc] reset pos sp: 0, 0
  231. [ INFO] [1451285436.601832348]: FCU: [mpc] reset pos sp: 0, 0
  232. [ INFO] [1451285436.768023617]: FCU: [mpc] reset pos sp: 0, 0
  233. [ INFO] [1451285437.228109912]: FCU: [mpc] reset pos sp: 0, 0
  234. [ INFO] [1451285437.285038924]: FCU: [mpc] reset pos sp: 0, 0
  235. [ INFO] [1451285437.458218405]: FCU: [mpc] reset pos sp: 0, 0
  236. [ INFO] [1451285437.504128099]: FCU: Flight mode: MANUAL
  237. [ INFO] [1451285438.875480966]: FCU: [mpc] reset pos sp: 0, 0
  238. [ INFO] [1451285438.905498238]: FCU: [mpc] reset pos sp: 0, 0
  239. [ INFO] [1451285439.305634405]: FCU: [mpc] reset pos sp: 0, 0
  240. [ INFO] [1451285439.338521497]: FCU: [mpc] reset pos sp: 0, 0
  241. [ INFO] [1451285439.760650834]: FCU: [mpc] reset pos sp: 0, 0
  242. [ INFO] [1451285439.982881363]: FCU: [mpc] reset pos sp: 0, 0
  243. [ INFO] [1451285440.221837039]: FCU: [mpc] reset pos sp: 0, 0
  244. [ INFO] [1451285440.455904270]: FCU: [mpc] reset pos sp: 0, 0
  245. [ INFO] [1451285440.520958583]: FCU: [mpc] reset pos sp: 0, 0
  246. [ INFO] [1451285440.918136877]: FCU: [mpc] reset pos sp: 0, 0
  247. [ INFO] [1451285440.985986232]: FCU: [mpc] reset pos sp: 0, 0
  248. [ INFO] [1451285441.377109085]: FCU: [mpc] reset pos sp: 0, 0
  249. [ INFO] [1451285441.416103582]: FCU: [mpc] reset pos sp: 0, 0
  250. [ INFO] [1451285441.426168272]: FCU: Flight mode: MANUAL
  251. [ERROR] [1451285442.793541872]: FCU: LOW BATTERY, RETURN TO LAND ADVISED
  252. [ INFO] [1451285445.104032485]: FCU: [mpc] reset pos sp: 0, 0
  253. [ INFO] [1451285445.147217462]: FCU: [mpc] reset pos sp: 0, 0
  254. [ INFO] [1451285445.566258035]: FCU: [mpc] reset pos sp: 0, 0
  255. [ INFO] [1451285445.763383729]: FCU: [mpc] reset pos sp: 0, 0
  256. [ INFO] [1451285445.795289676]: FCU: Flight mode: MANUAL
  257. [ INFO] [1451285448.538970854]: FCU: [mpc] reset pos sp: 0, 0
  258. [ INFO] [1451285448.594879275]: FCU: [mpc] reset pos sp: 0, 0
  259. [ INFO] [1451285448.769105234]: FCU: [mpc] reset pos sp: 0, 0
  260. [ WARN] [1451285448.820033406]: TM: Clock skew detected (0.758354262 s). Hard syncing clocks.
  261. [ INFO] [1451285448.987054252]: FCU: [mpc] reset pos sp: 0, 0
  262. [ INFO] [1451285449.267174191]: FCU: [mpc] reset pos sp: 0, 0
  263. [ INFO] [1451285449.278064877]: FCU: Flight mode: MANUAL
  264. [ERROR] [1451285449.457254447]: FCU: REJECT OFFBOARD
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