I am using MissionPlanner (1.3.68), ArduPilot/SITL (3.9.8) with X-Plane (11.36) to an tilt-wing VTOL plane. I created a simple mission and made a couple of changes to the default params and I even managed to get the aircraft up to 500 meters above the ground in Auto mode a couple of times (without touching the joystick or throttle). It was spinning like crazy but I expected that because I don’t know how to tune the params yet. It was good to see it working. However, I have tried to reproduce it and pretty much crashed ArduPilot/SITL every time since. I have rebooted my system, reset the params to default and then reloaded them, etc., to little avail. I ran ArduPlane/SITL under gdb to get more info, but sometimes, it would crash even before I loaded the waypoints! Here is my debug outputs from gdb from the most recent crash, which happened when I pressed “Resume Mission” in MP/Actions. I am stuck and would greatly appreciate any suggestions.
{X-Plane is already running on Windows 10 with our aircraft model}
sree@DESKTOP-05DV752:~/Ardupilot$ gdb ~/Ardupilot/build/sitl/bin/arduplane
…
Reading symbols from /home/sree/Ardupilot/build/sitl/bin/arduplane…done.
(gdb) r --model xplane
Starting program: /home/sree/Ardupilot/build/sitl/bin/arduplane --model xplane
[Thread debugging using libthread_db enabled]
Using host libthread_db library “/lib/x86_64-linux-gnu/libthread_db.so.1”.
SREE:HAL_SITL::run() called!
Creating model xplane at speed 1.0
Home: -35.363261 149.165235 alt=584.000000m hdg=353.000000
Waiting for XPlane data on UDP port 49001 and sending to port 49000
Starting sketch ‘ArduPlane’
Starting SITL input
Using Irlock at port : 9005
bind port 5760 for 0
Serial port 0 on TCP port 5760
Waiting for connection …
bind port 5762 for 2
Serial port 2 on TCP port 5762
bind port 5763 for 3
Serial port 3 on TCP port 5763
Connected to 127.0.0.1:49000
X-Plane home reset dist=20877940.000000 alt=37.3/580.5
SREE: AP_Mission::init() called …
SREE: AP_Mission: read_cmd_from_storage() called
…
Data rate: 23.5 FPS Frame rate: 23.5 FPS
…
At this point, I had loaded my params file and waypoints file. In MP/Flight Data/Actions, I pressed “Resume Mission” and ArduPilot/SITL crashed and no stack trace is available. It is not always the “Resume Mission” button.
###!
SREE: AP_Mission::start() called …
&&&&&&& SREE: AP_Mission::advance_current_nav_cmd() called …
SREE: AP_Mission::get_next_cmd() called …
SREE: AP_Mission: read_cmd_from_storage() called
SREE: AP_Mission::get_next_cmd(): RETURN NON-JUMP COMMAND = 022 . …
SREE: AP_Mission::get_next_nav_cmd() called …
SREE: AP_Mission::get_next_cmd() called …
SREE: AP_Mission: read_cmd_from_storage() called
SREE: AP_Mission::get_next_cmd(): RETURN NON-JUMP COMMAND = 016 . …
SREE: AP_Mission::get_next_nav_cmd() called …
SREE: AP_Mission::get_next_cmd() called …
SREE: AP_Mission: read_cmd_from_storage() called
SREE: AP_Mission::get_next_cmd(): RETURN NON-JUMP COMMAND = 016 . …
[Inferior 1 (process 2324) exited with code 0216]
(gdb)