RTT too High For Timesync with SITL (MAVROS)

ArduCopter Copter Simulation
1

I have been using Ardupilot SITL with Mavros for a few months now. However, after doing some package upgrades I am now getting the error:

[ WARN] [1549505082.337265272]: TM : RTT too high for timesync: 20.48 ms.

When launching Mavros to connect to Ardupilot SITL.

Does anyone know how to solve this issue?

Thanks!

Here is my window:

Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://konglab-OptiPlex-9020:44249/

SUMMARY

CLEAR PARAMETERS

  • /mavros/

PARAMETERS

  • /mavros/cmd/use_comp_id_system_control: False
  • /mavros/conn/heartbeat_mav_type: ONBOARD_CONTROLLER
  • /mavros/conn/heartbeat_rate: 1.0
  • /mavros/conn/system_time_rate: 1.0
  • /mavros/conn/timeout: 10.0
  • /mavros/conn/timesync_rate: 10.0
  • /mavros/distance_sensor/rangefinder_pub/field_of_view: 0.0
  • /mavros/distance_sensor/rangefinder_pub/frame_id: lidar
  • /mavros/distance_sensor/rangefinder_pub/id: 0
  • /mavros/distance_sensor/rangefinder_pub/send_tf: False
  • /mavros/distance_sensor/rangefinder_pub/sensor_position/x: 0.0
  • /mavros/distance_sensor/rangefinder_pub/sensor_position/y: 0.0
  • /mavros/distance_sensor/rangefinder_pub/sensor_position/z: -0.1
  • /mavros/distance_sensor/rangefinder_sub/id: 1
  • /mavros/distance_sensor/rangefinder_sub/orientation: PITCH_270
  • /mavros/distance_sensor/rangefinder_sub/subscriber: True
  • /mavros/fake_gps/eph: 2.0
  • /mavros/fake_gps/epv: 2.0
  • /mavros/fake_gps/fix_type: 3
  • /mavros/fake_gps/geo_origin/alt: 408.0
  • /mavros/fake_gps/geo_origin/lat: 47.3667
  • /mavros/fake_gps/geo_origin/lon: 8.55
  • /mavros/fake_gps/gps_rate: 5.0
  • /mavros/fake_gps/mocap_transform: True
  • /mavros/fake_gps/satellites_visible: 5
  • /mavros/fake_gps/tf/child_frame_id: fix
  • /mavros/fake_gps/tf/frame_id: map
  • /mavros/fake_gps/tf/listen: False
  • /mavros/fake_gps/tf/rate_limit: 10.0
  • /mavros/fake_gps/tf/send: False
  • /mavros/fake_gps/use_mocap: True
  • /mavros/fake_gps/use_vision: False
  • /mavros/fcu_protocol: v2.0
  • /mavros/fcu_url: udp://127.0.0.1:1…
  • /mavros/gcs_url: udp://@localhost
  • /mavros/global_position/child_frame_id: base_link
  • /mavros/global_position/frame_id: map
  • /mavros/global_position/gps_uere: 1.0
  • /mavros/global_position/rot_covariance: 99999.0
  • /mavros/global_position/tf/child_frame_id: base_link
  • /mavros/global_position/tf/frame_id: map
  • /mavros/global_position/tf/global_frame_id: earth
  • /mavros/global_position/tf/send: False
  • /mavros/global_position/use_relative_alt: True
  • /mavros/image/frame_id: px4flow
  • /mavros/imu/angular_velocity_stdev: 0.000349065850399
  • /mavros/imu/frame_id: base_link
  • /mavros/imu/linear_acceleration_stdev: 0.0003
  • /mavros/imu/magnetic_stdev: 0.0
  • /mavros/imu/orientation_stdev: 1.0
  • /mavros/local_position/frame_id: map
  • /mavros/local_position/tf/child_frame_id: base_link
  • /mavros/local_position/tf/frame_id: map
  • /mavros/local_position/tf/send: False
  • /mavros/local_position/tf/send_fcu: False
  • /mavros/mission/pull_after_gcs: True
  • /mavros/mocap/use_pose: True
  • /mavros/mocap/use_tf: False
  • /mavros/odometry/estimator_type: 3
  • /mavros/odometry/frame_tf/desired_frame: ned
  • /mavros/plugin_blacklist: ['actuator_contro…
  • /mavros/plugin_whitelist: []
  • /mavros/px4flow/frame_id: px4flow
  • /mavros/px4flow/ranger_fov: 0.118682389136
  • /mavros/px4flow/ranger_max_range: 5.0
  • /mavros/px4flow/ranger_min_range: 0.3
  • /mavros/safety_area/p1/x: 1.0
  • /mavros/safety_area/p1/y: 1.0
  • /mavros/safety_area/p1/z: 1.0
  • /mavros/safety_area/p2/x: -1.0
  • /mavros/safety_area/p2/y: -1.0
  • /mavros/safety_area/p2/z: -1.0
  • /mavros/setpoint_accel/send_force: False
  • /mavros/setpoint_attitude/reverse_thrust: False
  • /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
  • /mavros/setpoint_attitude/tf/frame_id: map
  • /mavros/setpoint_attitude/tf/listen: False
  • /mavros/setpoint_attitude/tf/rate_limit: 50.0
  • /mavros/setpoint_attitude/use_quaternion: False
  • /mavros/setpoint_position/mav_frame: LOCAL_NED
  • /mavros/setpoint_position/tf/child_frame_id: target_position
  • /mavros/setpoint_position/tf/frame_id: map
  • /mavros/setpoint_position/tf/listen: False
  • /mavros/setpoint_position/tf/rate_limit: 50.0
  • /mavros/setpoint_velocity/mav_frame: LOCAL_NED
  • /mavros/startup_px4_usb_quirk: False
  • /mavros/sys/disable_diag: False
  • /mavros/sys/min_voltage: 10.0
  • /mavros/target_component_id: 1
  • /mavros/target_system_id: 1
  • /mavros/tdr_radio/low_rssi: 40
  • /mavros/time/time_ref_source: fcu
  • /mavros/time/timesync_avg_alpha: 0.6
  • /mavros/time/timesync_mode: MAVLINK
  • /mavros/vibration/frame_id: base_link
  • /mavros/vision_pose/tf/child_frame_id: vision_estimate
  • /mavros/vision_pose/tf/frame_id: map
  • /mavros/vision_pose/tf/listen: False
  • /mavros/vision_pose/tf/rate_limit: 10.0
  • /mavros/vision_speed/listen_twist: True
  • /mavros/vision_speed/twist_cov: True
  • /rosdistro: kinetic
  • /rosversion: 1.12.14

NODES
/
mavros (mavros/mavros_node)

auto-starting new master
process[master]: started with pid [6908]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to b86732d0-2a7c-11e9-9d92-7cdd90a327fc
process[rosout-1]: started with pid [6921]
started core service [/rosout]
process[mavros-2]: started with pid [6939]
[ INFO] [1549505077.666397844]: FCU URL: udp://127.0.0.1:14551@14555
[ INFO] [1549505077.667565447]: udp0: Bind address: 127.0.0.1:14551
[ INFO] [1549505077.667610600]: udp0: Remote address: 0.0.56.219:14550
[ INFO] [1549505077.667671158]: GCS URL: udp://@localhost
[ INFO] [1549505077.667717571]: udp1: Bind address: 0.0.0.0:14555
[ INFO] [1549505077.667765592]: udp1: Remote address: 127.0.0.1:14550
[ INFO] [1549505077.675645198]: Plugin 3dr_radio loaded
[ INFO] [1549505077.676991634]: Plugin 3dr_radio initialized
[ INFO] [1549505077.677015752]: Plugin actuator_control blacklisted
[ INFO] [1549505077.679346939]: Plugin adsb loaded
[ INFO] [1549505077.682434429]: Plugin adsb initialized
[ INFO] [1549505077.682454391]: Plugin altitude blacklisted
[ INFO] [1549505077.682516112]: Plugin cam_imu_sync loaded
[ INFO] [1549505077.683007230]: Plugin cam_imu_sync initialized
[ INFO] [1549505077.683084102]: Plugin command loaded
[ INFO] [1549505077.687255672]: Plugin command initialized
[ INFO] [1549505077.687368037]: Plugin companion_process_status loaded
[ INFO] [1549505077.689443950]: Plugin companion_process_status initialized
[ INFO] [1549505077.689462296]: Plugin debug_value blacklisted
[ INFO] [1549505077.689528127]: Plugin distance_sensor loaded
[ INFO] [1549505077.698518660]: Plugin distance_sensor initialized
[ INFO] [1549505077.698606570]: Plugin fake_gps loaded
[ INFO] [1549505077.710847165]: Plugin fake_gps initialized
[ INFO] [1549505077.710871380]: Plugin ftp blacklisted
[ INFO] [1549505077.710972235]: Plugin global_position loaded
[ INFO] [1549505077.723164551]: Plugin global_position initialized
[ INFO] [1549505077.723236034]: Plugin gps_rtk loaded
[ INFO] [1549505077.725092907]: Plugin gps_rtk initialized
[ INFO] [1549505077.725109753]: Plugin hil blacklisted
[ INFO] [1549505077.725182750]: Plugin home_position loaded
[ INFO] [1549505077.728335069]: Plugin home_position initialized
[ INFO] [1549505077.728415272]: Plugin imu loaded
[ INFO] [1549505077.734114658]: Plugin imu initialized
[ INFO] [1549505077.734191423]: Plugin local_position loaded
[ INFO] [1549505077.735740720]: udp0: Remote address: 127.0.0.1:56827
[ INFO] [1549505077.739406718]: Plugin local_position initialized
[ INFO] [1549505077.739518192]: Plugin log_transfer loaded
[ INFO] [1549505077.741598593]: Plugin log_transfer initialized
[ INFO] [1549505077.741713274]: Plugin manual_control loaded
[ INFO] [1549505077.744185024]: Plugin manual_control initialized
[ INFO] [1549505077.744293581]: Plugin mocap_pose_estimate loaded
[ INFO] [1549505077.747929252]: Plugin mocap_pose_estimate initialized
[ INFO] [1549505077.748048404]: Plugin obstacle_distance loaded
[ INFO] [1549505077.753954115]: Plugin obstacle_distance initialized
[ INFO] [1549505077.754041213]: Plugin odom loaded
[ INFO] [1549505077.758402979]: Plugin odom initialized
[ INFO] [1549505077.758509702]: Plugin param loaded
[ INFO] [1549505077.760719241]: Plugin param initialized
[ INFO] [1549505077.760736279]: Plugin px4flow blacklisted
[ INFO] [1549505077.760818581]: Plugin rangefinder loaded
[ INFO] [1549505077.761493590]: Plugin rangefinder initialized
[ INFO] [1549505077.761582192]: Plugin rc_io loaded
[ INFO] [1549505077.765377084]: Plugin rc_io initialized
[ INFO] [1549505077.765400159]: Plugin safety_area blacklisted
[ INFO] [1549505077.765491090]: Plugin setpoint_accel loaded
[ INFO] [1549505077.768595832]: Plugin setpoint_accel initialized
[ INFO] [1549505077.768700265]: Plugin setpoint_attitude loaded
[ INFO] [1549505077.777369410]: Plugin setpoint_attitude initialized
[ INFO] [1549505077.777453513]: Plugin setpoint_position loaded
[ INFO] [1549505077.789201560]: Plugin setpoint_position initialized
[ INFO] [1549505077.789297447]: Plugin setpoint_raw loaded
[ INFO] [1549505077.796778107]: Plugin setpoint_raw initialized
[ INFO] [1549505077.796865543]: Plugin setpoint_velocity loaded
[ INFO] [1549505077.801520452]: Plugin setpoint_velocity initialized
[ INFO] [1549505077.801613358]: Plugin sys_status loaded
[ INFO] [1549505077.810700856]: Plugin sys_status initialized
[ INFO] [1549505077.810800193]: Plugin sys_time loaded
[ INFO] [1549505077.815506108]: TM: Timesync mode: MAVLINK
[ INFO] [1549505077.816408319]: Plugin sys_time initialized
[ INFO] [1549505077.816481089]: Plugin trajectory loaded
[ INFO] [1549505077.820753011]: Plugin trajectory initialized
[ INFO] [1549505077.820876877]: Plugin vfr_hud loaded
[ INFO] [1549505077.821410407]: Plugin vfr_hud initialized
[ INFO] [1549505077.821436883]: Plugin vibration blacklisted
[ INFO] [1549505077.821523016]: Plugin vision_pose_estimate loaded
[ INFO] [1549505077.828062948]: Plugin vision_pose_estimate initialized
[ INFO] [1549505077.828097230]: Plugin vision_speed_estimate blacklisted
[ INFO] [1549505077.828214076]: Plugin waypoint loaded
[ INFO] [1549505077.832318992]: Plugin waypoint initialized
[ INFO] [1549505077.832435592]: Plugin wind_estimation loaded
[ INFO] [1549505077.833012311]: Plugin wind_estimation initialized
[ INFO] [1549505077.833056492]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1549505077.833079933]: Built-in MAVLink package version: 2019.1.12
[ INFO] [1549505077.833112677]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1549505077.833140813]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1549505078.011358135]: RC_CHANNELS message detected!
[ INFO] [1549505078.011637949]: IMU: Raw IMU message used.
[ WARN] [1549505078.011682445]: IMU: linear acceleration on RAW_IMU known on APM only.
[ WARN] [1549505078.011707902]: IMU: ~imu/data_raw stores unscaled raw acceleration report.
[ INFO] [1549505078.380729011]: CON: Got HEARTBEAT, connected. FCU: ArduPilot - Plane/Copter/Rover/Sub/Tracker
[ WARN] [1549505078.448197314]: TM : RTT too high for timesync: 31.22 ms.
[ INFO] [1549505078.522085311]: RC_CHANNELS message detected!
[ WARN] [1549505079.049704310]: TM : RTT too high for timesync: 32.30 ms.
[ INFO] [1549505079.383484646]: VER: 1.1: Capabilities 0x0000000000003bcf
[ INFO] [1549505079.383519820]: VER: 1.1: Flight software: 03070000 ( c3e11fd)
[ INFO] [1549505079.383543305]: VER: 1.1: Middleware software: 00000000 ( )
[ INFO] [1549505079.383567764]: VER: 1.1: OS software: 00000000 ( )
[ INFO] [1549505079.383589801]: VER: 1.1: Board hardware: 00000000
[ INFO] [1549505079.383609724]: VER: 1.1: VID/PID: 0000:0000
[ INFO] [1549505079.383627954]: VER: 1.1: UID: 0000000000000000
[ WARN] [1549505079.383800677]: CMD: Unexpected command 520, result 0
[ WARN] [1549505079.937219002]: TM : RTT too high for timesync: 19.89 ms.
[ WARN] [1549505080.529221791]: TM : RTT too high for timesync: 12.31 ms.
[ WARN] [1549505081.131599148]: TM : RTT too high for timesync: 14.20 ms.
[ WARN] [1549505081.744015273]: TM : RTT too high for timesync: 26.93 ms.
[ WARN] [1549505082.337265272]: TM : RTT too high for timesync: 20.48 ms.
[ WARN] [1549505082.931483127]: TM : RTT too high for timesync: 14.35 ms.
[ WARN] [1549505083.536013694]: TM : RTT too high for timesync: 19.14 ms.
[ WARN] [1549505084.149474057]: TM : RTT too high for timesync: 33.01 ms.
[ WARN] [1549505086.433129187]: TM : RTT too high for timesync: 15.73 ms.
[ WARN] [1549505087.837314281]: TM : RTT too high for timesync: 19.91 ms.
[ INFO] [1549505088.381699204]: HP: requesting home position
[ INFO] [1549505088.413556188]: FCU: ArduCopter V3.7.0-dev (c3e11fd3)
[ INFO] [1549505088.413786140]: FCU: a43d79cd4f2f4568bda5b7d7a947013d
[ INFO] [1549505088.414040610]: FCU: Frame: QUAD
[ WARN] [1549505089.382562649]: PR: request list timeout, retries left 2
[ WARN] [1549505090.383130272]: PR: request list timeout, retries left 1
[ WARN] [1549505091.383480504]: PR: request list timeout, retries left 0
[ WARN] [1549505093.383244351]: CMD: Unexpected command 410, result 0
[ WARN] [1549505093.410068340]: TM : RTT too high for timesync: 4993.13 ms.
[ WARN] [1549505093.411560021]: TM : RTT too high for timesync: 4394.15 ms.
[ INFO] [1549505093.412457801]: FCU: ArduCopter V3.7.0-dev (c3e11fd3)
[ INFO] [1549505093.412754958]: FCU: a43d79cd4f2f4568bda5b7d7a947013d
[ INFO] [1549505093.413066715]: FCU: Frame: QUAD
[ WARN] [1549505093.413701760]: TM : RTT too high for timesync: 3796.39 ms.
[ WARN] [1549505093.414920941]: TM : RTT too high for timesync: 3197.44 ms.
[ INFO] [1549505093.415401516]: FCU: ArduCopter V3.7.0-dev (c3e11fd3)
[ INFO] [1549505093.415755562]: FCU: a43d79cd4f2f4568bda5b7d7a947013d
[ INFO] [1549505093.416017706]: FCU: Frame: QUAD
[ WARN] [1549505093.417061534]: TM : RTT too high for timesync: 2600.62 ms.
[ INFO] [1549505093.418357475]: FCU: ArduCopter V3.7.0-dev (c3e11fd3)
[ INFO] [1549505093.418633173]: FCU: a43d79cd4f2f4568bda5b7d7a947013d
[ INFO] [1549505093.418869953]: FCU: Frame: QUAD
[ WARN] [1549505093.419083989]: TM : RTT too high for timesync: 2002.31 ms.
[ WARN] [1549505093.420329338]: TM : RTT too high for timesync: 1403.86 ms.
[ WARN] [1549505093.421531206]: TM : RTT too high for timesync: 804.51 ms.
[ WARN] [1549505093.422728453]: TM : RTT too high for timesync: 206.12 ms.
[ INFO] [1549505093.423175786]: WP: mission received
[ WARN] [1549505093.879323724]: TM : RTT too high for timesync: 62.84 ms.
[ INFO] [1549505094.021829161]: PR: parameters list received
[ WARN] [1549505094.446008715]: TM : RTT too high for timesync: 28.53 ms.
[ WARN] [1549505095.039028950]: TM : RTT too high for timesync: 21.73 ms.
[ WARN] [1549505095.643658069]: TM : RTT too high for timesync: 26.24 ms.
[ WARN] [1549505096.243200155]: TM : RTT too high for timesync: 25.82 ms.
[ WARN] [1549505096.842836361]: TM : RTT too high for timesync: 26.16 ms.
[ WARN] [1549505097.445634188]: TM : RTT too high for timesync: 28.65 ms.
[ WARN] [1549505098.043852141]: TM : RTT too high for timesync: 27.15 ms.
[ WARN] [1549505098.643177538]: TM : RTT too high for timesync: 26.24 ms.
[ WARN] [1549505099.244740546]: TM : RTT too high for timesync: 28.04 ms.
[ WARN] [1549505099.841209595]: TM : RTT too high for timesync: 24.29 ms.
[ WARN] [1549505100.444034334]: TM : RTT too high for timesync: 26.99 ms.
[ WARN] [1549505101.045867401]: TM : RTT too high for timesync: 28.55 ms.
[ WARN] [1549505101.641854596]: TM : RTT too high for timesync: 25.06 ms.
[ WARN] [1549505102.240245827]: TM : RTT too high for timesync: 23.46 ms.
[ WARN] [1549505102.845131374]: TM : RTT too high for timesync: 28.44 ms.
[ WARN] [1549505103.446277971]: TM : RTT too high for timesync: 29.56 ms.
[ WARN] [1549505104.042857795]: TM : RTT too high for timesync: 26.38 ms.
[ WARN] [1549505104.642914148]: TM : RTT too high for timesync: 25.53 ms.
[ WARN] [1549505105.246173291]: TM : RTT too high for timesync: 29.19 ms.
[ WARN] [1549505105.843169217]: TM : RTT too high for timesync: 25.74 ms.
[ WARN] [1549505106.445547629]: TM : RTT too high for timesync: 28.25 ms.
[ WARN] [1549505107.046932884]: TM : RTT too high for timesync: 29.59 ms.
[ WARN] [1549505107.639747948]: TM : RTT too high for timesync: 22.89 ms.

2

Change timesync_rate to 0.0

3

Will that negatively affect other parts of the system?

4

Did setting timesync to 0 solve your problem?
I am getting the same warning and I have a feeling it is affecting offboard control (not sure). Let me know if you solved it.
Thank you

5

It did remove the warning. It hasn’t seemed to negatively affect anything for the time being.

6

Please advise. How do I set the timesync_rate? (Sorry learning ROS)

7

I changed it in the apm_config.yaml in the mavros folder, search for “timesync”.

8

I stumbled on this problem too in my system.
In case anyone is still wondering, mavros is actually setting a parameter in that yaml file. So, if you want to override it without editing the yaml file, you can use the <param> tag in your launch file.

For example:
<param name="/mavros/conn/timesync_rate" value="0.0"/>

9

Doesn’t that fully disable the time synchronization between the two systems? What are the side-effects?

10

I tried with:

<param name="/mavros/conn/timesync_rate" value="0.1"/>

at the end of the launch file and it got rid of the RTT too High For Timesync messages. A value of 1.0 also got me three of these messages at the start of the connection but then they stopped. Perhaps you could experiment with your system and find a value that works before hammering it with a value of 0.

Correction: the messages do not actually stop, if you let SITL run for long, you still get them but their frequency is greatly reduced.

11

I did this and it worked for me, i changed my px4_config.yaml file like this:

conn:
heartbeat_rate: 10.0 # send heartbeat rate in Hertz
timeout: 10.0 # heartbeat timeout in seconds
timesync_rate: 0 # TIMESYNC rate in Hertz (feature disabled if 0.0)
system_time_rate: 1.0 # send system time to FCU rate in Hertz (disabled if 0.0)