Can't use AirSim binaries

ArduCopter
,
1

Hi folks,
I have spend all the day trying to make airsim work, I’m using Copter 4.5 and these are my laptop specs:

OS: Ubuntu 22.04.5 LTS x86_64

Kernel: 6.8.0-94-generic
Shell: zsh 5.8.1
CPU: Intel i9-9980HK (16) @ 5.000GHz
GPU: NVIDIA GeForce GTX 1650 Mobile / Max-Q
GPU: Intel CoffeeLake-H GT2 [UHD Graphics 630]
Memory: 5110MiB / 15614MiB

I have downloaded the last AirSim binary available 1.8.1 with the Blocks enviroment
I launch the binary first:
./Blocks.sh -ResX=640 -ResY=480 -windowed

Later I run the SITL with the following command:
sim_vehicle.py -v ArduCopter -f airsim-copter --console --map -A “–sim-port-in=9003 --sim-port-out=9002”

The .json of Airsim is the following:

{
“SettingsVersion”: 1.2,
“LogMessagesVisible”: true,
“SimMode”: “Multirotor”,
“OriginGeopoint”: {
“Latitude”: -35.363261,
“Longitude”: 149.165230,
“Altitude”: 583
},
“Vehicles”: {
“Copter”: {
“VehicleType”: “ArduCopter”,
“UseSerial”: false,
“LocalHostIp”: “127.0.0.1”,
“UdpIp”: “127.0.0.1”,
“UdpPort”: 9003,
“ControlPort”: 9002
}
}
}

the output is the following:

Starting SITL input
Using Irlock at port : 9005
bind port 5760 for SERIAL0
SERIAL0 on TCP port 5760
Waiting for connection …
Connection on serial port 5760
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
bind port 5762 for SERIAL1
SERIAL1 on TCP port 5762
bind port 5763 for SERIAL2
SERIAL2 on TCP port 5763
Home: -35.363262 149.165237 alt=584.000000m hdg=353.000000
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
validate_structures:513: Validating structures
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
ERROR: Floating point exception - aborting
Running: sh Tools/scripts/dumpstack.sh 30124 >dumpstack.sh_arducopter.30124.out 2>&1
dumpstack.sh has been run.  Output was:
-------------- begin dumpstack.sh output ----------------
Could not attach to process.  If your uid matches the uid of the target
process, check the setting of /proc/sys/kernel/yama/ptrace_scope, or try
again as the root user.  For more details, see /etc/sysctl.d/10-ptrace.conf
ptrace: Inappropriate ioctl for device.
/tmp/gdb.30187:2: Error in sourced command file:
No stack.
-------------- end dumpstack.sh output ----------------
Running: sh Tools/scripts/dumpcore.sh 30124 >dumpcore.sh_arducopter.30124.out 2>&1
dumpcore.sh has been run.  Output was:
-------------- begin dumpcore.sh output ----------------
Could not attach to process.  If your uid matches the uid of the target
process, check the setting of /proc/sys/kernel/yama/ptrace_scope, or try
again as the root user.  For more details, see /etc/sysctl.d/10-ptrace.conf
ptrace: Inappropriate ioctl for device.
/tmp/gdb.30209:2: Error in sourced command file:
You can’t do that without a process to debug.
-------------- end dumpcore.sh output ----------------

I changed sudo sysctl -w kernel.yama.ptrace_scope=0 to 1 and 0 just for checking and it does not work also.
the output of the SITL itself is:

Waf: Leaving directory \`/home/diego/ardupilot/build/sitl’

## BUILD SUMMARY
Build directory: /home/diego/ardupilot/build/sitl
Target          Text (B)  Data (B)  BSS (B)  Total Flash Used (B)  Free Flash (B)  External Flash Used (B)

bin/arducopter   4016252    183549   218696               4199801  Not Applicable  Not Applicable

‘build’ finished successfully (1.764s)
SIM_VEHICLE: Using defaults from (Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm)
SIM_VEHICLE: Run ArduCopter
SIM_VEHICLE: “/home/diego/ardupilot/Tools/autotest/run_in_terminal_window.sh” “ArduCopter” “/home/diego/ardupilot/build/sitl/bin/arducopter” “-S” “–model” “airsim-copter” “–speedup” “1” “–slave” “0” “–sim-port-in=9003” “–sim-port-out=9002” “–defaults” “Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm” “–sim-address=127.0.0.1” “-I0”
SIM_VEHICLE: Run MavProxy
SIM_VEHICLE: “mavproxy.py” “–out” “127.0.0.1:14550” “–master” “tcp:127.0.0.1:5760” “–sitl” “127.0.0.1:5501” “–map” “–console”
RiTW: Starting ArduCopter : /home/diego/ardupilot/build/sitl/bin/arducopter -S --model airsim-copter --speedup 1 --slave 0 --sim-port-in=9003 --sim-port-out=9002 --defaults Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm --sim-address=127.0.0.1 -I0
/usr/lib/python3/dist-packages/google/protobuf/**init**.py:37: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html . The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
**import**(‘pkg_resources’).declare_namespace(**name**)
Connect tcp:127.0.0.1:5760 source_system=255
Loaded module console
Loaded module map
Log Directory:
Telemetry log: mav.tlog
Waiting for heartbeat from tcp:127.0.0.1:5760
MAV> Detected vehicle 1:1 on link 0
STABILIZE> Received 1390 parameters (ftp)
Saved 1390 parameters to mav.parm
Connection reset or closed by peer on TCP socket
Attempting reconnect
\[Errno 111\] Connection refused sleeping
\[Errno 111\] Connection refused sleeping
Attempting reconnect
\[Errno 111\] Connection refused sleeping
\[Errno 111\] Connection refused sleeping
Attempting reconnect
\[Errno 111\] Connection refused sleeping

I’m lost, I remember that I was able to run AirSim in this laptop, maybe is a Ubuntu version related problem?
I haven’t change any code of the related parts.

Thanks in advance for your time and help!

2

Do you mean that “dumpcore.sh” throws the same error as above? Can you re-run this with the setting enabled and post the terminal output?

3

Hi, it’s not the same error aparently but I’m not able to understand the reason of the problem, here is the output that I obtain:

Setting SIM_SPEEDUP=1.000000
Starting SITL Airsim type 1
Bind SITL sensor input at 127.0.0.1:9003
AirSim control interface set to 127.0.0.1:9002
Starting sketch ‘ArduCopter’
Starting SITL input
Using Irlock at port : 9005
bind port 5760 for SERIAL0
SERIAL0 on TCP port 5760
Waiting for connection …
Connection on serial port 5760
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
bind port 5762 for SERIAL1
SERIAL1 on TCP port 5762
bind port 5763 for SERIAL2
SERIAL2 on TCP port 5763
Home: -35.363262 149.165237 alt=584.000000m hdg=353.000000
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
validate_structures:513: Validating structures
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
Loaded defaults from Tools/autotest/default_params/copter.parm,Tools/autotest/default_params/airsim-quadX.parm
ERROR: Floating point exception - aborting
Running: sh Tools/scripts/dumpstack.sh 9296 >dumpstack.sh_arducopter.9296.out 2>&1
dumpstack.sh has been run.  Output was:
-------------- begin dumpstack.sh output ----------------
[New LWP 9313]
[New LWP 9353]
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
0x00007ac3b9cea42f in __GI___wait4 (pid=9363, stat_loc=stat_loc@entry=0x7ffd7d2ab588, options=options@entry=0, usage=usage@entry=0x0) at ../sysdeps/unix/sysv/linux/wait4.c:30
30      ../sysdeps/unix/sysv/linux/wait4.c: No such file or directory.
#0  0x00007ac3b9cea42f in __GI___wait4 (pid=9363, stat_loc=stat_loc@entry=0x7ffd7d2ab588, options=options@entry=0, usage=usage@entry=0x0) at ../sysdeps/unix/sysv/linux/wait4.c:30
        sc_ret = -512
        sc_cancel_oldtype = 0
        sc_ret = <optimized out>
#1  0x00007ac3b9cea3ab in __GI___waitpid (pid=<optimized out>, stat_loc=stat_loc@entry=0x7ffd7d2ab588, options=options@entry=0) at ./posix/waitpid.c:38
No locals.
#2  0x00007ac3b9c50bdb in do_system (line=<optimized out>) at ../sysdeps/posix/system.c:171
        __result = <optimized out>
        _cleanup_start_doit = true
        _buffer = {__routine = 0x7ac3b9c50c60 <cancel_handler>, __arg = 0x7ffd7d2ab590, __canceltype = 0, __prev = 0x0}
        _cleanup_routine = 0x7ac3b9c50c60 <cancel_handler>
        cancel_args = {quit = 0x7ac3b9e1c7a0 <quit>, intr = 0x7ac3b9e1c840 <intr>, pid = 9363}
        status = -1
        ret = 0
        pid = 9363
        sa = {__sigaction_handler = {sa_handler = 0x1, sa_sigaction = 0x1}, sa_mask = {__val = {65536, 0, 0, 0, 0, 549755813888, 0, 549755813888, 0, 551897006080, 0, 18446744073709551615, 0, 18446744073709551615, 0, 18446744073709551615}}, sa_flags = 0, sa_restorer = 0x7fa00000ffffffff}
        omask = {__val = {128, 9196350441231745024, 9196350441231745024, 9196350441231745024, 9196350441231745024, 9196350441231745024, 9196350441231745024, 9196350441231745024, 9196350441231745024, 9196350441231745024, 9196350441231745024, 140726703405792, 3907209374215093159, 12928979727844091904, 140726703405792, 2}}
        reset = {__val = {6, 199, 140726703404720, 96650121917033, 140726703405104, 134981054137498, 140726703405120, 140726703404960, 140728825905153, 140726703405792, 140726703405792, 140726703405792, 140726703405792, 140726703405865, 140726703405991, 140726703405792}}
        spawn_attr = {__flags = 12, __pgrp = 0, __sd = {__val = {6, 199, 140726703404720, 96650121917033, 140726703405104, 134981054137498, 140726703405120, 140726703404960, 140728825905153, 140726703405792, 140726703405792, 140726703405792, 140726703405792, 140726703405865, 140726703405991, 140726703405792}}, __ss = {
__val = {128, 9196350441231745024, 9196350441231745024, 9196350441231745024, 9196350441231745024, 9196350441231745024, 9196350441231745024, 9196350441231745024, 9196350441231745024, 9196350441231745024, 9196350441231745024, 140726703405792, 3907209374215093159, 12928979727844091904, 140726703405792, 2}}, __sp = {sched_priority = 0}, __policy = 0, __pad = {0 <repeats 16 times>}}
#3  0x000057e71c1c226d in AP_HAL::run_command_on_ownpid(char const*) ()
No symbol table info available.
#4  0x000057e71c1c2aec in _sig_fpe(int) ()
No symbol table info available.
#5  <signal handler called>
No locals.
#6  0x000057e71c1bde57 in HALSITL::SITL_State::_fdm_input_local() [clone .part.0] ()
No symbol table info available.
#7  0x000057e71c1be107 in HALSITL::SITL_State::_fdm_input_step() ()
No symbol table info available.
#8  0x000057e71c1be277 in HALSITL::SITL_State::wait_clock(unsigned long) ()
No symbol table info available.
#9  0x000057e71c1c0715 in HALSITL::Scheduler::delay_microseconds(unsigned short) ()
No symbol table info available.
#10 0x000057e71c0dd81b in AP_Scheduler::loop() ()
No symbol table info available.
#11 0x000057e71c0e19eb in AP_Vehicle::loop() ()
No symbol table info available.
#12 0x000057e71c1bb8fc in HAL_SITL::run(int, char* const*, AP_HAL::HAL::Callbacks*) const ()
No symbol table info available.
#13 0x000057e71c009cc4 in main ()
No symbol table info available.

Thread 3 (Thread 0x7ac3b93fe640 (LWP 9353) "FTP"):
#0  0x00007ac3b9ce57f8 in __GI___clock_nanosleep (clock_id=clock_id@entry=0, flags=flags@entry=0, req=req@entry=0x7ac3b93fda30, rem=rem@entry=0x0) at ../sysdeps/unix/sysv/linux/clock_nanosleep.c:78
        sc_cancel_oldtype = 0
        sc_ret = <optimized out>
        r = <optimized out>
#1  0x00007ac3b9cea677 in __GI___nanosleep (req=req@entry=0x7ac3b93fda30, rem=rem@entry=0x0) at ../sysdeps/unix/sysv/linux/nanosleep.c:25
        ret = <optimized out>
#2  0x00007ac3b9d1bfaf in usleep (useconds=<optimized out>) at ../sysdeps/posix/usleep.c:31
        ts = {tv_sec = 0, tv_nsec = 1000000}
#3  0x000057e71c1be2ea in HALSITL::SITL_State::wait_clock(unsigned long) ()
No symbol table info available.
#4  0x000057e71c1c0dcc in HALSITL::Scheduler::delay(unsigned short) ()
No symbol table info available.
#5  0x000057e71c290466 in GCS_MAVLINK::ftp_worker() ()
No symbol table info available.
#8  0x00007ac3b9c94ac3 in start_thread (arg=<optimized out>) at ./nptl/pthread_create.c:442
        ret = <optimized out>
        pd = <optimized out>
        out = <optimized out>
        unwind_buf = {cancel_jmp_buf = {{jmp_buf = {140726703407232, -6150205668983214335, 134981045184064, 11, 134981054187472, 140726703407584, 6854873326400663297, 6854873451705626369}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}}
        not_first_call = <optimized out>
#9  0x00007ac3b9d268d0 in clone3 () at ../sysdeps/unix/sysv/linux/x86_64/clone3.S:81
No locals.

Thread 2 (Thread 0x7ac3b9bff640 (LWP 9313) "log_io"):
#0  0x00007ac3b9ce57f8 in __GI___clock_nanosleep (clock_id=clock_id@entry=0, flags=flags@entry=0, req=req@entry=0x7ac3b9bfec80, rem=rem@entry=0x0) at ../sysdeps/unix/sysv/linux/clock_nanosleep.c:78
        sc_cancel_oldtype = 0
        sc_ret = <optimized out>
        r = <optimized out>
#1  0x00007ac3b9cea677 in __GI___nanosleep (req=req@entry=0x7ac3b9bfec80, rem=rem@entry=0x0) at ../sysdeps/unix/sysv/linux/nanosleep.c:25
        ret = <optimized out>
#2  0x00007ac3b9d1bfaf in usleep (useconds=<optimized out>) at ../sysdeps/posix/usleep.c:31
        ts = {tv_sec = 0, tv_nsec = 1000000}
#3  0x000057e71c1be2ea in HALSITL::SITL_State::wait_clock(unsigned long) ()
No symbol table info available.
#4  0x000057e71c1c0715 in HALSITL::Scheduler::delay_microseconds(unsigned short) ()
No symbol table info available.
#5  0x000057e71c0e75d4 in AP_Logger::io_thread() ()
No symbol table info available.
#6  0x000057e71c0e787f in void Functor<void>::method_wrapper<AP_Logger, &AP_Logger::io_thread>(void*) ()
No symbol table info available.
#7  0x000057e71c1c07e4 in HALSITL::Scheduler::thread_create_trampoline(void*) ()
No symbol table info available.
#8  0x00007ac3b9c94ac3 in start_thread (arg=<optimized out>) at ./nptl/pthread_create.c:442
        ret = <optimized out>
        pd = <optimized out>
        out = <optimized out>
        unwind_buf = {cancel_jmp_buf = {{jmp_buf = {140726703408448, -6150205668983214335, 134981053576768, 9, 134981054187472, 140726703408800, 6854874425375420161, 6854873451705626369}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}}
        not_first_call = <optimized out>
#9  0x00007ac3b9d268d0 in clone3 () at ../sysdeps/unix/sysv/linux/x86_64/clone3.
S:81
No locals.

Thread 1 (Thread 0x7ac3ba246740 (LWP 9296) "arducopter"):
#0  0x00007ac3b9cea42f in __GI___wait4 (pid=9363, stat_loc=stat_loc@entry=0x7ffd7d2ab588, options=options@entry=0, usage=usage@entry=0x0) at ../sysdeps/unix/sysv/linux/wait4.c:30
        sc_ret = -512
        sc_cancel_oldtype = 0
        sc_ret = <optimized out>
#1  0x00007ac3b9cea3ab in __GI___waitpid (pid=<optimized out>, stat_loc=stat_loc@entry=0x7ffd7d2ab588, options=options@entry=0) at ./posix/waitpid.c:38
No locals.
#2  0x00007ac3b9c50bdb in do_system (line=<optimized out>) at ../sysdeps/posix/system.c:171
        __result = <optimized out>
        _cleanup_start_doit = true
        _buffer = {__routine = 0x7ac3b9c50c60 <cancel_handler>, __arg = 0x7ffd7d2ab590, __canceltype = 0, __prev = 0x0}
        _cleanup_routine = 0x7ac3b9c50c60 <cancel_handler>
        cancel_args = {quit = 0x7ac3b9e1c7a0 <quit>, intr = 0x7ac3b9e1c840 <intr>, pid = 9363}
        status = -1
        ret = 0
        pid = 9363
        sa = {__sigaction_handler = {sa_handler = 0x1, sa_sigaction = 0x1}, sa_mask = {__val = {65536, 0, 0, 0, 0, 549755813888, 0, 549755813888, 0, 551897006080, 0, 18446744073709551615, 0, 18446744073709551615, 0, 18446744073709551615}}, sa_flags = 0, sa_restorer = 0x7fa00000ffffffff}
        omask = {__val = {128, 9196350441231745024, 9196350441231745024, 9196350441231745024, 9196350441231745024, 9196350441231745024, 9196350441231745024, 9196350441231745024, 9196350441231745024, 9196350441231745024, 9196350441231745024, 140726703405792, 3907209374215093159, 12928979727844091904, 140726703405792, 2}}
        reset = {__val = {6, 199, 140726703404720, 96650121917033, 140726703405104, 134981054137498, 140726703405120, 140726703404960, 140728825905153, 140726703405792, 140726703405792, 140726703405792, 140726703405792, 140726703405865, 140726703405991, 140726703405792}}
        spawn_attr = {__flags = 12, __pgrp = 0, __sd = {__val = {6, 199, 140726703404720, 96650121917033, 140726703405104, 134981054137498, 140726703405120, 140726703404960, 140728825905153, 140726703405792, 140726703405792, 140726703405792, 140726703405792, 140726703405865, 140726703405991, 140726703405792}}, __ss = {__val = {128, 9196350441231745024, 9196350441231745024, 9196350441231745024, 9196350441231745024, 9196350441231745024, 9196350441231745024, 9196350441231745024, 9196350441231745024, 9196350441231745024, 9196350441231745024, 140726703405792, 3907209374215093159, 12928979727844091904, 140726703405792, 2}}, __sp = {sched_priority = 0}, __policy = 0, __pad = {0 <repeats 16 times>}}
#3  0x000057e71c1c226d in AP_HAL::run_command_on_ownpid(char const*) ()
No symbol table info available.
#4  0x000057e71c1c2aec in _sig_fpe(int) ()
No symbol table info available.
#5  <signal handler called>
No locals.
#6  0x000057e71c1bde57 in HALSITL::SITL_State::_fdm_input_local() [clone .part.0] ()
No symbol table info available.
#7  0x000057e71c1be107 in HALSITL::SITL_State::_fdm_input_step() ()
No symbol table info available.
#8  0x000057e71c1be277 in HALSITL::SITL_State::wait_clock(unsigned long) ()
No symbol table info available.
#9  0x000057e71c1c0715 in HALSITL::Scheduler::delay_microseconds(unsigned short) ()
No symbol table info available.
#10 0x000057e71c0dd81b in AP_Scheduler::loop() ()
No symbol table info available.
#11 0x000057e71c0e19eb in AP_Vehicle::loop() ()
No symbol table info available.
#12 0x000057e71c1bb8fc in HAL_SITL::run(int, char* const*, AP_HAL::HAL::Callbacks*) const ()
No symbol table info available.
#13 0x000057e71c009cc4 in main ()
No symbol table info available.
A debugging session is active.

        Inferior 1 [process 9296] will be detached.

Quit anyway? (y or n) [answered Y; input not from terminal]
[Inferior 1 (process 9296) detached]
-------------- end dumpstack.sh output ----------------
Running: sh Tools/scripts/dumpcore.sh 9296 >dumpcore.sh_arducopter.9296.out 2>&1
dumpcore.sh has been run.  Output was:
-------------- begin dumpcore.sh output ----------------
[New LWP 9313]
[New LWP 9353]
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
0x00007ac3b9cea42f in __GI___wait4 (pid=9387, stat_loc=stat_loc@entry=0x7ffd7d2ab588, options=options@entry=0, usage=usage@entry=0x0) at ../sysdeps/unix/sysv/linux/wait4.c:30
30      ../sysdeps/unix/sysv/linux/wait4.c: No such file or directory.
warning: target file /proc/9296/cmdline contained unexpected null characters
warning: Memory read failed for corefile section, 4096 bytes at 0xffffffffff600000.
Saved corefile ap-9388.core
A debugging session is active.

        Inferior 1 [process 9296] will be detached.

Quit anyway? (y or n) [answered Y; input not from terminal]
[Inferior 1 (process 9296) detached]
-------------- end dumpcore.sh output ----------------

I have tried also to read this output on my own but I’m still not able to understand the error.
Thanks!

4

This is progress. If I were you I’d keep the “dumpstack.sh_arducopter.9296.out” and “dumpcore.sh_arducopter.9296.out” and “ap-9388.core” files around for a developer to look at.

Basically, Thread 1 (called “arducopter”) encountered a floating point exception here: HALSITL::SITL_State::_fdm_input_local()

Thread 1 (Thread 0x7ac3ba246740 (LWP 9296) “arducopter”):
#0 0x00007ac3b9cea42f in __GI___wait4

#3 0x000057e71c1c226d in AP_HAL::run_command_on_ownpid(char const\*) () No symbol table info available. #4 0x000057e71c1c2aec in \_sig_fpe(int) () No symbol table info available. #5 No locals. #6 0x000057e71c1bde57 in HALSITL::SITL_State::\_fdm_input_local() \[clone .part.0\] () No symbol table info available. #7 0x000057e71c1be107 in HALSITL::SITL_State::\_fdm_input_step() () No symbol table info available.

This doesn’t fix your problem but someone smart will need to take a look

5

Hi, the issue is right now solved, I had to enable the SIM_FLOAT_EXCEPT, here is an overview of the parameter in the oficial wiki ( Complete Parameter List — Copter documentation ).

SIM_FLOAT_EXCEPT: Generate floating point exceptions

Note: This parameter is for advanced users

If set, if a numerical error occurs SITL will die with a floating point exception.

The problem ocurrs during the inializitation, Airsim probably sends a NaN value that makes a floating exception, honestly I need to take time to check exactly where does this happen.

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