Servers by jDrones

Timing Issues with Pixhawk and TX2

ardurover
(Xistrik) #1

I am trying to put NVIDIA Redtail on a rover (3.5.1), but I am getting stuck with the TX2/mavros part.
When I start mavros, I get timesync warnings:

        level: 1
    name: "mavros: Time Sync"
    message: "Frequency too high."
    hardware_id: "/dev/ttyTHS2:921600"
    values: 
      - 
        key: "Timesyncs since startup"
        value: "525"
      - 
        key: "Frequency (Hz)"
        value: "19.845852"
      - 
        key: "Last RTT (ms)"
        value: "568.014294"
      - 
        key: "Mean RTT (ms)"
        value: "8951868336.123940"
      - 
        key: "Last remote time (s)"
        value: "1566553226.082881451"
      - 
        key: "Estimated time offset (s)"
        value: "1566576896.402069092"
[ INFO] [1566249613.454958767]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1566249613.883745842]: RC_CHANNELS message detected!
[ INFO] [1566249613.888511985]: IMU: Raw IMU message used.
[ INFO] [1566249614.218700985]: CON: Got HEARTBEAT, connected. FCU: ArduPilot
[ INFO] [1566249614.268489443]: udp1: Remote address: 129.210.19.106:14550
[ INFO] [1566249614.280794063]: FCU: ArduRover V3.5.1 (71093b86)
[ INFO] [1566249614.286567591]: FCU: ChibiOS: 35ad8a79
[ INFO] [1566249614.287443745]: FCU: Pixhawk1 002D002C 3337510C 32343735
[ INFO] [1566249614.360887657]: VER: 1.1: Capabilities         0x00000000000031cf
[ INFO] [1566249614.362590270]: VER: 1.1: Flight software:     030501ff ( 71093b8)
[ INFO] [1566249614.363615287]: VER: 1.1: Middleware software: 00000000 (        )
[ INFO] [1566249614.364596144]: VER: 1.1: OS software:         00000000 ( 35ad8a7)
[ INFO] [1566249614.365271467]: VER: 1.1: Board hardware:      00000000
[ INFO] [1566249614.365947335]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1566249614.366528803]: VER: 1.1: UID:                 0000000000000000
[ INFO] [1566249615.897987035]: RC_CHANNELS message detected!
[ INFO] [1566249633.957947695]: WP: seems GCS requesting mission
[ INFO] [1566249633.960088864]: WP: scheduling pull after GCS is done
[ WARN] [1566249647.477108693]: FCU: EKF2 IMU0 forced reset
[ INFO] [1566249647.536557758]: FCU: EKF2 IMU0 initial yaw alignment complete
[ INFO] [1566249652.838739779]: FCU: EKF2 IMU0 tilt alignment complete
[ WARN] [1566249790.545443925]: TM : RTT too high for timesync: 18446743853275.03 ms.

Using joystick, the rover will respond to commands but very delayed (i.e. moving right for 1 second, then ~30 seconds later, the rover will start moving right).

Has anyone encountered this problem or know some way to fix it? I am not using APSync because it did not seem like it would solve this problem.

Any help would be appreciated.

(mtbsteve) #2

Some more info is required.
I am in the middle of my implementation of Redtail on Arducopter with a TX2, not PX4 as used in the original Redtail project. So far I did not encounter such timing issues.

(Xistrik) #3

Hello,

Thank you for your response! What kind of info are you looking for? I am new with ROS and mavros, so please be patient :grinning:

Basically, when I move the joystick, the rover will either not move, or 30 seconds later, it will start moving.

I am trying to use the GPS module that comes with the Pixhawk instead of sensors. Do you think that would cause an issue?

(Xistrik) #4

Here is some more information:

  - 
    level: 0
    name: "mavros: GPS"
    message: "3D fix"
    hardware_id: "/dev/ttyTHS2:921600"
    values: 
      - 
        key: "Satellites visible"
        value: "9"
      - 
        key: "Fix type"
        value: "3"
      - 
        key: "EPH (m)"
        value: "1.15"
      - 
        key: "EPV (m)"
        value: "1.64"
  - 
    level: 0
    name: "mavros: Heartbeat"
    message: "Normal"
    hardware_id: "/dev/ttyTHS2:921600"
    values: 
      - 
        key: "Heartbeats since startup"
        value: "239"
      - 
        key: "Frequency (Hz)"
        value: "1.000015"
      - 
        key: "Vehicle type"
        value: "Ground rover"
      - 
        key: "Autopilot type"
        value: "ArduPilot"
      - 
        key: "Mode"
        value: "GUIDED"
      - 
        key: "System status"
        value: "Critical"
  - 
    level: 0
    name: "mavros: System"
    message: "Normal"
    hardware_id: "/dev/ttyTHS2:921600"
    values: 
      - 
        key: "Sensor present"
        value: "0x0320DC27"
      - 
        key: "Sensor enabled"
        value: "0x0120DC27"
      - 
        key: "Sensor health"
        value: "0x0320DC27"
      - 
        key: "3D gyro"
        value: "Ok"
      - 
        key: "3D accelerometer"
        value: "Ok"
      - 
        key: "3D magnetometer"
        value: "Ok"
      - 
        key: "GPS"
        value: "Ok"
      - 
        key: "3D angular rate control"
        value: "Ok"
      - 
        key: "attitude stabilization"
        value: "Ok"
      - 
        key: "yaw position"
        value: "Ok"
      - 
        key: "x/y position control"
        value: "Ok"
      - 
        key: "motor outputs / control"
        value: "Ok"
      - 
        key: "AHRS subsystem health"
        value: "Ok"
      - 
        key: "Logging"
        value: "Ok"
      - 
        key: "CPU Load (%)"
        value: "12.1"
      - 
        key: "Drop rate (%)"
        value: "0.0"
      - 
        key: "Errors comm"
        value: "0"
      - 
        key: "Errors count #1"
        value: "0"
      - 
        key: "Errors count #2"
        value: "0"
      - 
        key: "Errors count #3"
        value: "0"
      - 
        key: "Errors count #4"
        value: "0"
  - 
    level: 1
    name: "mavros: Battery"
    message: "Low voltage"
    hardware_id: "/dev/ttyTHS2:921600"
    values: 
      - 
        key: "Voltage"
        value: "0.00"
      - 
        key: "Current"
        value: "-0.0"
      - 
        key: "Remaining"
        value: "-1.0"
  - 
    level: 1
    name: "mavros: Time Sync"
    message: "Frequency too high."
    hardware_id: "/dev/ttyTHS2:921600"
    values: 
      - 
        key: "Timesyncs since startup"
        value: "4718"
      - 
        key: "Frequency (Hz)"
        value: "20.143138"
      - 
        key: "Last RTT (ms)"
        value: "9.961312"
      - 
        key: "Mean RTT (ms)"
        value: "-417215947.308366"
      - 
        key: "Last remote time (s)"
        value: "694.177810000"
      - 
        key: "Estimated time offset (s)"
        value: "1455210894.961902380"
---
header: 
  seq: 362
  stamp: 
    secs: 1455211589
    nsecs: 165986880
  frame_id: ''
status: 
  - 
    level: 0
    name: "mavros: GCS bridge"
    message: "connected"
    hardware_id: "udp://@129.210.19.125"
    values: 
      - 
        key: "Received packets:"
        value: "0"
      - 
        key: "Dropped packets:"
        value: "0"
      - 
        key: "Buffer overruns:"
        value: "0"
      - 
        key: "Parse errors:"
        value: "0"
      - 
        key: "Rx sequence number:"
        value: "0"
      - 
        key: "Tx sequence number:"
        value: "0"
      - 
        key: "Rx total bytes:"
        value: "0"
      - 
        key: "Tx total bytes:"
        value: "345587"
      - 
        key: "Rx speed:"
        value: "0.000000"
      - 
        key: "Tx speed:"
        value: "2529.000000"
---
header: 
  seq: 549
  stamp: 
    secs: 1567032925
    nsecs: 169072302
  frame_id: ''
status: 
  - 
    level: 0
    name: "joy_node: Joystick Driver Status"
    message: "OK"
    hardware_id: "none"
    values: 
      - 
        key: "topic"
        value: "/joy"
      - 
        key: "device"
        value: "/dev/input/js0"
      - 
        key: "device name"
        value: ''
      - 
        key: "dead zone"
        value: "0.05"
      - 
        key: "autorepeat rate (Hz)"
        value: "30"
      - 
        key: "coalesce interval (s)"
        value: "0.001"
      - 
        key: "recent joystick event rate (Hz)"
        value: "32.6102"
      - 
        key: "recent publication rate (Hz)"
        value: "46.4448"
      - 
        key: "subscribers"
        value: "1"
      - 
        key: "default trig val"
        value: "False"
      - 
        key: "sticky buttons"
        value: "False"
---
header: 
  seq: 361
  stamp: 
    secs: 1455211589
    nsecs: 165525376
  frame_id: ''
status: 
  - 
    level: 0
    name: "mavros: FCU connection"
    message: "connected"
    hardware_id: "/dev/ttyTHS2:921600"
    values: 
      - 
        key: "Received packets:"
        value: "12506"
      - 
        key: "Dropped packets:"
        value: "0"
      - 
        key: "Buffer overruns:"
        value: "0"
      - 
        key: "Parse errors:"
        value: "0"
      - 
        key: "Rx sequence number:"
        value: "10"
      - 
        key: "Tx sequence number:"
        value: "31"
      - 
        key: "Rx total bytes:"
        value: "347208"
      - 
        key: "Tx total bytes:"
        value: "356234"
      - 
        key: "Rx speed:"
        value: "2529.000000"
      - 
        key: "Tx speed:"
        value: "2410.000000"
rosrun px4_controller px4_controller_node _vehicle_type:=apmroverwaypoint
[ INFO] [1455211764.397764928]: Starting px4_controller ROS node...
[ INFO] [1455211764.421467968]: Initializing DNN Autopilot...
[ INFO] [1455211764.460017696]: ROS spin rate                 : 20.0 Hz
[ INFO] [1455211764.460217024]: Vehicle type                  : apmroverwaypoint
[ INFO] [1455211764.460390304]: Joystick type                 : shield
[ INFO] [1455211764.460877920]: ROS command queue size        : 5
[ INFO] [1455211764.461017024]: Linear speed                  : 2.0 m/s
[ INFO] [1455211764.461193952]: Altitude gain                 : 0.0 m
[ INFO] [1455211764.461447936]: DNN control class count       : 6
[ INFO] [1455211764.461563808]: DNN turn angle (0..90 deg)    : 10.0 deg
[ INFO] [1455211764.461933440]: DNN lat corr angle (0..90 deg): 10.0 deg
[ INFO] [1455211764.462042048]: Direction filter innov coeff  : 1.00
[ INFO] [1455211764.462209632]: Object detection limit        : -1.00
[ INFO] [1455211764.559832704]: Subscribed to /joy topic (joystick)
[ INFO] [1455211764.594462464]: Subscribed to /trails_dnn/network/output topic (DNN based planner)
[ INFO] [1455211764.625883552]: Subscribed to /object_dnn/network/output topic (object detection DNN)
[ INFO] [1455211764.626152768]: Initializing DNN Autopilot...
[ INFO] [1455211764.626408096]: Waiting for FCU board...
[ INFO] [1455211764.626613088]: Connected to FCU board.
[ INFO] [1455211764.629450752]: Getting current pose...
[ INFO] [1455211765.777114016]: Pos:2.48, -3.48, -0.03, Att:0.03, -0.48, 109.18, SetAlt:0.00
[ INFO] [1455211767.777018464]: Pos:1.96, -3.62, -0.27, Att:0.18, -0.45, 109.19, SetAlt:0.00
[ INFO] [1455211769.626659488]: Sending warmup messages...
[ INFO] [1455211769.777078016]: Pos:1.51, -3.35, -0.19, Att:0.01, -0.44, 109.20, SetAlt:-0.11
[ INFO] [1455211771.777030528]: Pos:1.08, -3.68, -0.44, Att:0.15, -0.44, 109.22, SetAlt:-0.11
[ INFO] [1455211773.777078016]: Pos:0.60, -3.43, -0.20, Att:179.89, -179.55, -70.78, SetAlt:-0.11
[ INFO] [1455211774.626632640]: Switching to GUIDED and arming...
[ INFO] [1455211774.626941312]: Vehicle was already armed
[ INFO] [1455211774.627173952]: PX4Controller is processing requests...
[ INFO] [1455211774.627357472]: Armed mode.
[ INFO] [1455211774.627534496]: Switching to Takeoff...
[ INFO] [1455211774.677433472]: Takeoff mode. Distance to end point = 0.000000
[ INFO] [1455211774.677709344]: Switching to Navigate. Altitude: -0.201661
[ INFO] [1455211775.727936832]: Pos:0.19, -3.38, -0.11, Att:179.93, -179.56, -70.77, SetAlt:-0.20
[ INFO] [1455211776.777763680]: Pos:-0.09, -3.31, -0.04, Att:179.90, -179.54, -70.76, SetAlt:-0.20
[ INFO] [1455211776.977848000]: joy controls: lin=0.338070, ang=0.000000, yaw=0.000000, alt=0.000000, use_dnn=0
[ INFO] [1455211776.978246784]: joy controls: lin=0.435729, ang=0.000000, yaw=0.000000, alt=0.000000, use_dnn=0
[ INFO] [1455211776.978588544]: joy controls: lin=0.544246, ang=0.000000, yaw=0.000000, alt=0.000000, use_dnn=0
[ INFO] [1455211777.027681120]: joy controls: lin=0.782997, ang=0.000000, yaw=0.000000, alt=0.000000, use_dnn=0
[ INFO] [1455211777.028070336]: joy controls: lin=0.880689, ang=0.000000, yaw=0.000000, alt=0.000000, use_dnn=0
[ INFO] [1455211777.028749920]: joy controls: lin=1.000000, ang=0.000000, yaw=0.000000, alt=0.000000, use_dnn=0
[ INFO] [1455211777.029184928]: joy controls: lin=1.000000, ang=0.000000, yaw=0.000000, alt=0.000000, use_dnn=0
[ INFO] [1455211777.029652864]: joy controls: lin=1.000000, ang=0.000000, yaw=0.000000, alt=0.000000, use_dnn=0
[ INFO] [1455211777.077772800]: joy controls: lin=1.000000, ang=0.000000, yaw=0.000000, alt=0.000000, use_dnn=0
[ INFO] [1455211777.078166528]: joy controls: lin=1.000000, ang=0.000000, yaw=0.000000, alt=0.000000, use_dnn=0
[ INFO] [1455211777.127690752]: joy controls: lin=1.000000, ang=0.000000, yaw=0.000000, alt=0.000000, use_dnn=0

When it says ‘joy controls,’ the rover does not respond.

Connected telem2 of pixhawk to J17 of TX2 as explained in Redtail.

roslaunch mavros apm.launch fcu_url:="/dev/ttyTHS2:921600" gcs_url:="udp://@<my_ip>" (my_ip is actually an ip address)

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: /dev/ttyTHS2:921600
 * /mavros/gcs_url: udp://@129.210.19...
 * /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: 0.0003490659 // 0...
 * /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/landing_target/camera/fov_x: 2.0071286398
 * /mavros/landing_target/camera/fov_y: 2.0071286398
 * /mavros/landing_target/image/height: 480
 * /mavros/landing_target/image/width: 640
 * /mavros/landing_target/land_target_type: VISION_FIDUCIAL
 * /mavros/landing_target/listen_lt: False
 * /mavros/landing_target/mav_frame: LOCAL_NED
 * /mavros/landing_target/target_size/x: 0.3
 * /mavros/landing_target/target_size/y: 0.3
 * /mavros/landing_target/tf/child_frame_id: camera_center
 * /mavros/landing_target/tf/frame_id: landing_target
 * /mavros/landing_target/tf/listen: False
 * /mavros/landing_target/tf/rate_limit: 10.0
 * /mavros/landing_target/tf/send: True
 * /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: 0.118682
 * /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_raw/thrust_scaling: 1.0
 * /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
 * /mavros/wheel_odometry/child_frame_id: base_link
 * /mavros/wheel_odometry/count: 2
 * /mavros/wheel_odometry/frame_id: map
 * /mavros/wheel_odometry/send_raw: True
 * /mavros/wheel_odometry/send_twist: False
 * /mavros/wheel_odometry/tf/child_frame_id: base_link
 * /mavros/wheel_odometry/tf/frame_id: map
 * /mavros/wheel_odometry/tf/send: True
 * /mavros/wheel_odometry/use_rpm: False
 * /mavros/wheel_odometry/vel_error: 0.1
 * /mavros/wheel_odometry/wheel0/radius: 0.05
 * /mavros/wheel_odometry/wheel0/x: 0.0
 * /mavros/wheel_odometry/wheel0/y: -0.15
 * /mavros/wheel_odometry/wheel1/radius: 0.05
 * /mavros/wheel_odometry/wheel1/x: 0.0
 * /mavros/wheel_odometry/wheel1/y: 0.15
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    mavros (mavros/mavros_node)

ROS_MASTER_URI=http://<my_ip>:11311

process[mavros-1]: started with pid [7058]
[ INFO] [1455212023.713869248]: FCU URL: /dev/ttyTHS2:921600
[ INFO] [1455212023.720263456]: serial0: device: /dev/ttyTHS2 @ 921600 bps
[ INFO] [1455212023.730947776]: GCS URL: udp://@129.210.19.125
[ INFO] [1455212023.731862176]: udp1: Bind address: 0.0.0.0:14555
[ INFO] [1455212023.732198176]: udp1: Remote address: <my_ip>:14550
[ INFO] [1455212023.798425152]: Plugin 3dr_radio loaded
[ INFO] [1455212023.808082944]: Plugin 3dr_radio initialized
[ INFO] [1455212023.808243744]: Plugin actuator_control blacklisted
[ INFO] [1455212023.827395552]: Plugin adsb loaded
[ INFO] [1455212023.847582176]: Plugin adsb initialized
[ INFO] [1455212023.847767072]: Plugin altitude blacklisted
[ INFO] [1455212023.848437920]: Plugin cam_imu_sync loaded
[ INFO] [1455212023.853220704]: Plugin cam_imu_sync initialized
[ INFO] [1455212023.853956128]: Plugin command loaded
[ INFO] [1455212023.904098912]: Plugin command initialized
[ INFO] [1455212023.905060672]: Plugin companion_process_status loaded
[ INFO] [1455212023.937655808]: Plugin companion_process_status initialized
[ INFO] [1455212023.937954912]: Plugin debug_value blacklisted
[ INFO] [1455212023.939052352]: Plugin distance_sensor loaded
[ INFO] [1455212024.051769792]: Plugin distance_sensor initialized
[ INFO] [1455212024.053458080]: Plugin fake_gps loaded
[ INFO] [1455212024.240107968]: Plugin fake_gps initialized
[ INFO] [1455212024.240420896]: Plugin ftp blacklisted
[ INFO] [1455212024.241823456]: Plugin global_position loaded
[ INFO] [1455212024.442373952]: Plugin global_position initialized
[ INFO] [1455212024.443530592]: Plugin gps_rtk loaded
[ INFO] [1455212024.476334144]: Plugin gps_rtk initialized
[ INFO] [1455212024.476715904]: Plugin hil blacklisted
[ INFO] [1455212024.477877984]: Plugin home_position loaded
[ INFO] [1455212024.524493312]: Plugin home_position initialized
[ INFO] [1455212024.525597504]: Plugin imu loaded
[ INFO] [1455212024.630192288]: Plugin imu initialized
[ INFO] [1455212024.631793792]: Plugin landing_target loaded
[ INFO] [1455212024.825789024]: Plugin landing_target initialized
[ INFO] [1455212024.827152320]: Plugin local_position loaded
[ INFO] [1455212024.911533120]: Plugin local_position initialized
[ INFO] [1455212024.912915584]: Plugin log_transfer loaded
[ INFO] [1455212024.949177824]: Plugin log_transfer initialized
[ INFO] [1455212024.950588832]: Plugin manual_control loaded
[ INFO] [1455212024.990496256]: Plugin manual_control initialized
[ INFO] [1455212024.991744288]: Plugin mocap_pose_estimate loaded
[ INFO] [1455212025.047585760]: Plugin mocap_pose_estimate initialized
[ INFO] [1455212025.048997248]: Plugin mount_control loaded
[ INFO] [1455212025.081267456]: Plugin mount_control initialized
[ INFO] [1455212025.082599872]: Plugin obstacle_distance loaded
[ INFO] [1455212025.116371008]: Plugin obstacle_distance initialized
[ INFO] [1455212025.117484928]: Plugin odom loaded
[ INFO] [1455212025.187707776]: Plugin odom initialized
[ INFO] [1455212025.189482816]: Plugin param loaded
[ INFO] [1455212025.226526016]: Plugin param initialized
[ INFO] [1455212025.226848064]: Plugin px4flow blacklisted
[ INFO] [1455212025.228017856]: Plugin rangefinder loaded
[ INFO] [1455212025.236121952]: Plugin rangefinder initialized
[ INFO] [1455212025.237509056]: Plugin rc_io loaded
[ INFO] [1455212025.281592064]: Plugin rc_io initialized
[ INFO] [1455212025.281940512]: Plugin safety_area blacklisted
[ INFO] [1455212025.282849632]: Plugin setpoint_accel loaded
[ INFO] [1455212025.325524512]: Plugin setpoint_accel initialized
[ INFO] [1455212025.327008704]: Plugin setpoint_attitude loaded
[ INFO] [1455212025.444137664]: Plugin setpoint_attitude initialized
[ INFO] [1455212025.445818624]: Plugin setpoint_position loaded
[ INFO] [1455212025.631642272]: Plugin setpoint_position initialized
[ INFO] [1455212025.633165728]: Plugin setpoint_raw loaded
[ INFO] [1455212025.751327328]: Plugin setpoint_raw initialized
[ INFO] [1455212025.752903776]: Plugin setpoint_velocity loaded
[ INFO] [1455212025.832516224]: Plugin setpoint_velocity initialized
[ INFO] [1455212025.834212544]: Plugin sys_status loaded
[ INFO] [1455212025.957670688]: Plugin sys_status initialized
[ INFO] [1455212025.959096576]: Plugin sys_time loaded
[ INFO] [1455212026.035122976]: TM: Timesync mode: MAVLINK
[ INFO] [1455212026.051949120]: Plugin sys_time initialized
[ INFO] [1455212026.053523456]: Plugin trajectory loaded
[ INFO] [1455212026.125565792]: Plugin trajectory initialized
[ INFO] [1455212026.126622880]: Plugin vfr_hud loaded
[ INFO] [1455212026.134608544]: Plugin vfr_hud initialized
[ INFO] [1455212026.134937504]: Plugin vibration blacklisted
[ INFO] [1455212026.136006432]: Plugin vision_pose_estimate loaded
[ INFO] [1455212026.243563648]: Plugin vision_pose_estimate initialized
[ INFO] [1455212026.243941440]: Plugin vision_speed_estimate blacklisted
[ INFO] [1455212026.245028544]: Plugin waypoint loaded
[ INFO] [1455212026.292022752]: Plugin waypoint initialized
[ INFO] [1455212026.292371872]: Plugin wheel_odometry blacklisted
[ INFO] [1455212026.293841280]: Plugin wind_estimation loaded
[ INFO] [1455212026.302035360]: Plugin wind_estimation initialized
[ INFO] [1455212026.302475712]: Built-in SIMD instructions: ARM NEON
[ INFO] [1455212026.302756480]: Built-in MAVLink package version: 2019.7.7
[ INFO] [1455212026.303067744]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1455212026.303323360]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1455212026.518742432]: CON: Got HEARTBEAT, connected. FCU: ArduPilot
[ INFO] [1455212026.683573760]: RC_CHANNELS message detected!
[ INFO] [1455212026.699292416]: IMU: Raw IMU message used.
[ WARN] [1455212026.701654304]: TM: Wrong FCU time.
[ INFO] [1455212027.540339680]: VER: 1.1: Capabilities         0x00000000000031cf
[ INFO] [1455212027.540882688]: VER: 1.1: Flight software:     030501ff ( 71093b8)
[ INFO] [1455212027.541246304]: VER: 1.1: Middleware software: 00000000 (        )
[ INFO] [1455212027.541528896]: VER: 1.1: OS software:         00000000 ( 35ad8a7)
[ INFO] [1455212027.541800096]: VER: 1.1: Board hardware:      00000000
[ INFO] [1455212027.542218976]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1455212027.542497888]: VER: 1.1: UID:                 0000000000000000
[ WARN] [1455212027.543056128]: CMD: Unexpected command 520, result 0
[ WARN] [1455212031.740444160]: TM : RTT too high for timesync: 1288.11 ms.
[ WARN] [1455212032.460031424]: TM : RTT too high for timesync: 1307.73 ms.
[ WARN] [1455212033.140442048]: TM : RTT too high for timesync: 1188.06 ms.
[ WARN] [1455212033.840289248]: TM : RTT too high for timesync: 987.96 ms.
[ WARN] [1455212034.520839136]: TM : RTT too high for timesync: 667.89 ms.
[ WARN] [1455212036.359690816]: TM : RTT too high for timesync: 506.84 ms.
[ INFO] [1455212036.519380448]: HP: requesting home position
[ INFO] [1455212036.542242976]: FCU: ArduRover V3.5.1 (71093b86)
[ INFO] [1455212036.543384128]: FCU: ChibiOS: 35ad8a79
[ INFO] [1455212036.544217472]: FCU: fmuv2 002D002C 3337510C 32343735
[ WARN] [1455212037.521256928]: PR: request list timeout, retries left 2
[ WARN] [1455212038.522315200]: PR: request list timeout, retries left 1
[ WARN] [1455212039.523412000]: PR: request list timeout, retries left 0
[ WARN] [1455212041.531443296]: CMD: Command 410 -- wait ack timeout
[ WARN] [1455212041.533191680]: CMD: Unexpected command 410, result 0
[ WARN] [1455212041.546007008]: TM : RTT too high for timesync: 1455210899401.42 ms.
[ WARN] [1455212041.585651040]: TM : RTT too high for timesync: 4532.82 ms.
[ INFO] [1455212041.586906560]: FCU: ArduRover V3.5.1 (71093b86)
[ INFO] [1455212041.587286976]: FCU: ChibiOS: 35ad8a79
[ INFO] [1455212041.587715104]: FCU: fmuv2 002D002C 3337510C 32343735
[ WARN] [1455212041.598727712]: TM : RTT too high for timesync: 3945.97 ms.
[ WARN] [1455212041.619665088]: TM : RTT too high for timesync: 3367.42 ms.
[ INFO] [1455212041.639989440]: FCU: ArduRover V3.5.1 (71093b86)
[ INFO] [1455212041.641014848]: FCU: ChibiOS: 35ad8a79
[ INFO] [1455212041.642008832]: FCU: fmuv2 002D002C 3337510C 32343735
[ WARN] [1455212041.658700512]: TM : RTT too high for timesync: 406.67 ms.
[ INFO] [1455212041.678801504]: WP: mission received
[ WARN] [1455212042.119491168]: TM : RTT too high for timesync: 5066.63 ms.

From my research, RTT too high for timesync is an expected bug.

I am confused because the rover will not move when I give it joystick commands.

(mtbsteve) #5

I am not done yet with all implementations, but so far I have not experienced any noticeable lags. Which Mavlink version are you using?
I do have Jetpack 4.2.1/UBUNTU 18.04, APSync and ROS Melodic installed on my TX2.
With APSync I am using mavlink-router to connect via ROS since mavproxy is reported to have timing issues. See here how to setup:
http://ardupilot.org/dev/docs/ros-connecting.html

(Xistrik) #6

Hello,

Turns out that the issue did not have to do with the Pixhawk or TX2!

Latency issues were due to CPU and memory being eaten by Google Chrome processes on ground station computer, where joystick was connected.

Thanks for replying!

1 Like