Unstable drone after takeoff crashes

rishab26201 · June 18, 2019, 6:24am

Hey,
So I have a few problems with the copter in Gazebo simulations.

Sometimes (once in 3 times maybe) I arm the drone and takeoff. After reaching the given height the drone continues moving upwards, starts oscillating violently and then crashes. I was not able to find any fix for this. Is this a bug?
For the few times my copter is stable, it keeps oscillating +/- 2m on either side unless I give it some commands (like setpoint_velocity/cmd_vel). But the oscillations always exist.
When using the setpoint_raw/attitude topic, I am able to acheive stable path for my drone in SITL. However in Gazebo the same values cause it to crash.

Is there any way of overcoming these issues?

Thanks

KiloNovemberDelta · June 18, 2019, 11:40am

Hello,

Can you upload your logs file ? In which mode are you flying (GUIDED ?) ?
I guess you are using ROS, is it possible to see your “main code” for the navigation, if you are using one ?
Are you using Lidar or barometer for the navigation ?

I suggest you to add in your title name the word “Gazebo”, to be more specific about your topic

rishab26201 · June 18, 2019, 11:52am

Yes I am flying in guided mode, I dont use a lidar or barometer
Here are the logs

started roslaunch server http://rishab-HP-Notebook:46761/

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://:14550@
 * /mavros/gcs_url: 
 * /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_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://localhost:11311

process[mavros-1]: started with pid [15003]
[ INFO] [1560858322.615260329, 37.155000000]: FCU URL: udp://:14550@
[ INFO] [1560858322.620990359, 37.157500000]: udp0: Bind address: 0.0.0.0:14550
[ INFO] [1560858322.621709292, 37.157500000]: GCS bridge disabled
[ INFO] [1560858322.721312723, 37.167500000]: Plugin 3dr_radio loaded
[ INFO] [1560858322.737518296, 37.167500000]: Plugin 3dr_radio initialized
[ INFO] [1560858322.737725115, 37.167500000]: Plugin actuator_control blacklisted
[ INFO] [1560858322.759731935, 37.170000000]: Plugin adsb loaded
[ INFO] [1560858322.782277847, 37.177500000]: Plugin adsb initialized
[ INFO] [1560858322.782468799, 37.177500000]: Plugin altitude blacklisted
[ INFO] [1560858322.782944608, 37.177500000]: Plugin cam_imu_sync loaded
[ INFO] [1560858322.786836377, 37.177500000]: Plugin cam_imu_sync initialized
[ INFO] [1560858322.787098197, 37.177500000]: Plugin command loaded
[ INFO] [1560858322.834706758, 37.182500000]: Plugin command initialized
[ INFO] [1560858322.835549690, 37.182500000]: Plugin companion_process_status loaded
[ INFO] [1560858322.860675266, 37.187500000]: Plugin companion_process_status initialized
[ INFO] [1560858322.861607058, 37.187500000]: Plugin debug_value blacklisted
[ INFO] [1560858322.862833970, 37.187500000]: Plugin distance_sensor loaded
[ INFO] [1560858322.967236173, 37.212500000]: Plugin distance_sensor initialized
[ INFO] [1560858322.967644570, 37.212500000]: Plugin fake_gps loaded
[ INFO] [1560858323.088161672, 37.262500000]: Plugin fake_gps initialized
[ INFO] [1560858323.088263070, 37.262500000]: Plugin ftp blacklisted
[ INFO] [1560858323.088533587, 37.262500000]: Plugin global_position loaded
[ INFO] [1560858323.225276561, 37.310000000]: Plugin global_position initialized
[ INFO] [1560858323.225466422, 37.310000000]: Plugin gps_rtk loaded
[ INFO] [1560858323.232564831, 37.315000000]: Plugin gps_rtk initialized
[ INFO] [1560858323.232764933, 37.315000000]: Plugin hil blacklisted
[ INFO] [1560858323.233039755, 37.315000000]: Plugin home_position loaded
[ INFO] [1560858323.259942370, 37.325000000]: Plugin home_position initialized
[ INFO] [1560858323.260272819, 37.325000000]: Plugin imu loaded
[ INFO] [1560858323.322010439, 37.352500000]: Plugin imu initialized
[ INFO] [1560858323.323548409, 37.352500000]: Plugin local_position loaded
[ INFO] [1560858323.386496539, 37.367500000]: Plugin local_position initialized
[ INFO] [1560858323.386705993, 37.367500000]: Plugin log_transfer loaded
[ INFO] [1560858323.400838418, 37.372500000]: Plugin log_transfer initialized
[ INFO] [1560858323.401073594, 37.372500000]: Plugin manual_control loaded
[ INFO] [1560858323.437786216, 37.382500000]: Plugin manual_control initialized
[ INFO] [1560858323.438288096, 37.382500000]: Plugin mocap_pose_estimate loaded
[ INFO] [1560858323.464409137, 37.390000000]: Plugin mocap_pose_estimate initialized
[ INFO] [1560858323.464592051, 37.390000000]: Plugin obstacle_distance loaded
[ INFO] [1560858323.485361328, 37.402500000]: Plugin obstacle_distance initialized
[ INFO] [1560858323.485751524, 37.402500000]: Plugin odom loaded
[ INFO] [1560858323.531394900, 37.420000000]: Plugin odom initialized
[ INFO] [1560858323.532027961, 37.420000000]: Plugin param loaded
[ INFO] [1560858323.553312602, 37.422500000]: Plugin param initialized
[ INFO] [1560858323.553648775, 37.422500000]: Plugin px4flow blacklisted
[ INFO] [1560858323.554590761, 37.422500000]: Plugin rangefinder loaded
[ INFO] [1560858323.561907171, 37.425000000]: Plugin rangefinder initialized
[ INFO] [1560858323.562580843, 37.425000000]: Plugin rc_io loaded
[ INFO] [1560858323.596289430, 37.435000000]: Plugin rc_io initialized
[ INFO] [1560858323.596357155, 37.435000000]: Plugin safety_area blacklisted
[ INFO] [1560858323.596612748, 37.435000000]: Plugin setpoint_accel loaded
[ INFO] [1560858323.627426922, 37.445000000]: Plugin setpoint_accel initialized
[ INFO] [1560858323.628001175, 37.445000000]: Plugin setpoint_attitude loaded
[ INFO] [1560858323.681294754, 37.467500000]: Plugin setpoint_attitude initialized
[ INFO] [1560858323.681540088, 37.467500000]: Plugin setpoint_position loaded
[ INFO] [1560858323.796585598, 37.500000000]: Plugin setpoint_position initialized
[ INFO] [1560858323.796948000, 37.500000000]: Plugin setpoint_raw loaded
[ INFO] [1560858323.844652441, 37.515000000]: Plugin setpoint_raw initialized
[ INFO] [1560858323.844925038, 37.515000000]: Plugin setpoint_velocity loaded
[ INFO] [1560858323.903027404, 37.527500000]: Plugin setpoint_velocity initialized
[ INFO] [1560858323.903354085, 37.527500000]: Plugin sys_status loaded
[ INFO] [1560858323.988981918, 37.570000000]: Plugin sys_status initialized
[ INFO] [1560858323.989896366, 37.570000000]: Plugin sys_time loaded
[ INFO] [1560858324.055552962, 37.590000000]: TM: Timesync mode: MAVLINK
[ INFO] [1560858324.059656103, 37.592500000]: Plugin sys_time initialized
[ INFO] [1560858324.059871451, 37.592500000]: Plugin trajectory loaded
[ INFO] [1560858324.095773407, 37.607500000]: Plugin trajectory initialized
[ INFO] [1560858324.096533112, 37.607500000]: Plugin vfr_hud loaded
[ INFO] [1560858324.101520349, 37.607500000]: Plugin vfr_hud initialized
[ INFO] [1560858324.101702994, 37.607500000]: Plugin vibration blacklisted
[ INFO] [1560858324.101947991, 37.607500000]: Plugin vision_pose_estimate loaded
[ INFO] [1560858324.203096013, 37.650000000]: Plugin vision_pose_estimate initialized
[ INFO] [1560858324.203181612, 37.650000000]: Plugin vision_speed_estimate blacklisted
[ INFO] [1560858324.203409443, 37.650000000]: Plugin waypoint loaded
[ INFO] [1560858324.230554229, 37.657500000]: Plugin waypoint initialized
[ INFO] [1560858324.230866030, 37.657500000]: Plugin wheel_odometry blacklisted
[ INFO] [1560858324.231136960, 37.657500000]: Plugin wind_estimation loaded
[ INFO] [1560858324.234138608, 37.657500000]: Plugin wind_estimation initialized
[ INFO] [1560858324.234655478, 37.657500000]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1560858324.234702498, 37.657500000]: Built-in MAVLink package version: 2019.4.4
[ INFO] [1560858324.234736025, 37.657500000]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1560858324.234778475, 37.657500000]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1560858333.839181971, 41.025000000]: udp0: Remote address: 127.0.0.1:55397
[ INFO] [1560858333.840660490, 41.027500000]: CON: Got HEARTBEAT, connected. FCU: ArduPilot
[ INFO] [1560858334.883587011, 41.362500000]: FCU: ArduCopter V3.7.0-dev (f21e4d83)
[ INFO] [1560858334.883763608, 41.362500000]: FCU: 21be32fa82fa4f5796098745c848d41a
[ INFO] [1560858334.883840097, 41.362500000]: FCU: Frame: QUAD
[ INFO] [1560858335.212200396, 41.480000000]: FCU: Barometer 1 calibration complete
[ WARN] [1560858335.615457038, 41.607500000]: PR: Param INS_ACC_ID (65535/1149): <value><i4>2753028</i4></value> different index: 218/1149
[ WARN] [1560858335.616510559, 41.610000000]: PR: Param INS_ACC2_ID (65535/1149): <value><i4>2753036</i4></value> different index: 219/1149
[ WARN] [1560858336.034200329, 41.727500000]: PR: Param GND_ABS_PRESS (65535/1149): <value><double>94503.9375</double></value> different index: 563/1149
[ WARN] [1560858336.790432128, 42.010000000]: TM : RTT too high for timesync: 117.50 ms.
[ INFO] [1560858336.923883128, 42.035000000]: VER: 1.1: Capabilities         0x0000000000003bcf
[ INFO] [1560858336.923975751, 42.035000000]: VER: 1.1: Flight software:     03070000 ( f21e4d8)
[ INFO] [1560858336.924032200, 42.035000000]: VER: 1.1: Middleware software: 00000000 (        )
[ INFO] [1560858336.924101641, 42.035000000]: VER: 1.1: OS software:         00000000 (        )
[ INFO] [1560858336.924155692, 42.035000000]: VER: 1.1: Board hardware:      00000000
[ INFO] [1560858336.924208571, 42.035000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1560858336.924259242, 42.035000000]: VER: 1.1: UID:                 0000000000000000
[ WARN] [1560858336.926753308, 42.037500000]: CMD: Unexpected command 520, result 0
[ INFO] [1560858337.718896245, 42.292500000]: RC_CHANNELS message detected!
[ INFO] [1560858337.720031909, 42.292500000]: IMU: Raw IMU message used.
[ WARN] [1560858337.726053044, 42.295000000]: GP: No GPS fix
[ INFO] [1560858337.926559181, 42.342500000]: FCU: GPS 1: detected as u-blox at 115200 baud
[ INFO] [1560858343.501512392, 44.197500000]: FCU: EKF2 IMU0 initial yaw alignment complete
[ INFO] [1560858343.507169594, 44.197500000]: FCU: EKF2 IMU1 initial yaw alignment complete
[ INFO] [1560858349.324784659, 46.132500000]: FCU: EKF2 IMU1 tilt alignment complete
[ INFO] [1560858351.751710575, 46.922500000]: FCU: EKF2 IMU0 tilt alignment complete
[ INFO] [1560858363.195307778, 51.027500000]: HP: requesting home position
[ INFO] [1560858363.310211637, 51.027500000]: FCU: ArduCopter V3.7.0-dev (f21e4d83)
[ INFO] [1560858363.314034487, 51.027500000]: FCU: 21be32fa82fa4f5796098745c848d41a
[ INFO] [1560858363.316851601, 51.027500000]: FCU: Frame: QUAD
[ INFO] [1560858365.694571793, 51.827500000]: PR: parameters list received
[ WARN] [1560858366.051296481, 51.927500000]: TM : RTT too high for timesync: 335.00 ms.
[ INFO] [1560858369.889080699, 53.375000000]: FCU: EKF2 IMU0 Origin set to GPS
[ INFO] [1560858369.893041676, 53.375000000]: FCU: EKF2 IMU1 Origin set to GPS
[ INFO] [1560858376.576548700, 56.027500000]: WP: mission received

I have attached the diagnostics as well

header: 
  seq: 149
  stamp: 
    secs: 189
    nsecs: 157500000
  frame_id: ''
status: 
  - 
    level: 0
    name: "mavros: FCU connection"
    message: "connected"
    hardware_id: "udp://:14550@"
    values: 
      - 
        key: "Received packets:"
        value: "19021"
      - 
        key: "Dropped packets:"
        value: "0"
      - 
        key: "Buffer overruns:"
        value: "0"
      - 
        key: "Parse errors:"
        value: "0"
      - 
        key: "Rx sequence number:"
        value: "76"
      - 
        key: "Tx sequence number:"
        value: "5"
      - 
        key: "Rx total bytes:"
        value: "627450"
      - 
        key: "Tx total bytes:"
        value: "43004"
      - 
        key: "Rx speed:"
        value: "1865.500000"
      - 
        key: "Tx speed:"
        value: "143.500000"
  - 
    level: 0
    name: "mavros: GPS"
    message: "3D fix"
    hardware_id: "udp://:14550@"
    values: 
      - 
        key: "Satellites visible"
        value: "10"
      - 
        key: "Fix type"
        value: "6"
      - 
        key: "EPH (m)"
        value: "1.21"
      - 
        key: "EPV (m)"
        value: "2.00"
  - 
    level: 0
    name: "mavros: Heartbeat"
    message: "Normal"
    hardware_id: "udp://:14550@"
    values: 
      - 
        key: "Heartbeats since startup"
        value: "152"
      - 
        key: "Frequency (Hz)"
        value: "1.047619"
      - 
        key: "Vehicle type"
        value: "Quadrotor"
      - 
        key: "Autopilot type"
        value: "ArduPilot"
      - 
        key: "Mode"
        value: "STABILIZE"
      - 
        key: "System status"
        value: "Standby"
  - 
    level: 0
    name: "mavros: System"
    message: "Normal"
    hardware_id: "udp://:14550@"
    values: 
      - 
        key: "Sensor present"
        value: "0x0361FCAF"
      - 
        key: "Sensor enabled"
        value: "0x02619CAF"
      - 
        key: "Sensor helth"
        value: "0x03719CAF"
      - 
        key: "3D gyro"
        value: "Ok"
      - 
        key: "3D accelerometer"
        value: "Ok"
      - 
        key: "3D magnetometer"
        value: "Ok"
      - 
        key: "absolute pressure"
        value: "Ok"
      - 
        key: "GPS"
        value: "Ok"
      - 
        key: "computer vision position"
        value: "Ok"
      - 
        key: "3D angular rate control"
        value: "Ok"
      - 
        key: "attitude stabilization"
        value: "Ok"
      - 
        key: "yaw position"
        value: "Ok"
      - 
        key: "motor outputs / control"
        value: "Ok"
      - 
        key: "rc receiver"
        value: "Ok"
      - 
        key: "AHRS subsystem health"
        value: "Ok"
      - 
        key: "Terrain subsystem health"
        value: "Ok"
      - 
        key: "Battery"
        value: "Ok"
      - 
        key: "CPU Load (%)"
        value: "0.0"
      - 
        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: 0
    name: "mavros: Battery"
    message: "Normal"
    hardware_id: "udp://:14550@"
    values: 
      - 
        key: "Voltage"
        value: "12.59"
      - 
        key: "Current"
        value: "0.0"
      - 
        key: "Remaining"
        value: "100.0"
  - 
    level: 0
    name: "mavros: Time Sync"
    message: "Normal"
    hardware_id: "udp://:14550@"
    values: 
      - 
        key: "Timesyncs since startup"
        value: "1481"
      - 
        key: "Frequency (Hz)"
        value: "10.000000"
      - 
        key: "Last RTT (ms)"
        value: "20.000000"
      - 
        key: "Mean RTT (ms)"
        value: "13.720459"
      - 
        key: "Last remote time (s)"
        value: "189.056998000"
      - 
        key: "Estimated time offset (s)"
        value: "0.051284979"
---

Thanks

rishab26201 · June 18, 2019, 11:55am

There does seem to be a barometer, could this cause the error?

KiloNovemberDelta · June 18, 2019, 11:59am

No, this is not an error. To my knowledge, there is by default a barometer. And it is a good thing to see this message.

And do you have the logs from the SITL ? It is a .log from the drone itself.
To get it, I use a GCS, which is interfacing directly with the simulated drone, and I download the log from it. Let me know if you don’t understand, I can show you how to do it.

rishab26201 · June 18, 2019, 12:05pm

Do you mean this?

SIM_VEHICLE: Start
SIM_VEHICLE: Killing tasks
SIM_VEHICLE: Starting up at -35.363261,149.165230,584,353 (CMAC)
SIM_VEHICLE: WAF build
SIM_VEHICLE: Configure waf
SIM_VEHICLE: "/home/rishab/ardupilot/modules/waf/waf-light" "configure" "--board" "sitl"
Setting top to                           : /home/rishab/ardupilot 
Setting out to                           : /home/rishab/ardupilot/build 
Autoconfiguration                        : enabled 
GCOV code coverage analysis              : no 
Setting board to                         : sitl 
Using toolchain                          : native 
Checking for 'g++' (C++ compiler)        : /usr/bin/g++ 
Checking for 'gcc' (C compiler)          : /usr/bin/gcc 
Checking for c flags '-MMD'              : yes 
Checking for cxx flags '-MMD'            : yes 
Checking for need to link with librt     : not necessary 
Checking for HAVE_CMATH_ISFINITE         : yes 
Checking for HAVE_CMATH_ISINF            : yes 
Checking for HAVE_CMATH_ISNAN            : yes 
Checking for NEED_CMATH_ISFINITE_STD_NAMESPACE : yes 
Checking for NEED_CMATH_ISINF_STD_NAMESPACE    : yes 
Checking for NEED_CMATH_ISNAN_STD_NAMESPACE    : yes 
Checking for header endian.h                   : yes 
Checking for header byteswap.h                 : yes 
Checking for HAVE_MEMRCHR                      : yes 
Checking for program 'python'                  : /usr/bin/python 
Checking for python version >= 2.7.0           : 2.7.12 
Checking for program 'python'                  : /usr/bin/python 
Checking for python version >= 2.7.0           : 2.7.12 
Source is git repository                       : yes 
Update submodules                              : yes 
Checking for program 'git'                     : /usr/bin/git 
Checking for program 'size'                    : /usr/bin/size 
Benchmarks                                     : disabled 
Unit tests                                     : enabled 
Scripting                                      : disabled 
Scripting runtime checks                       : enabled 
Checking for program 'rsync'                   : /usr/bin/rsync 
'configure' finished successfully (1.726s)
SIM_VEHICLE: Building
SIM_VEHICLE: "/home/rishab/ardupilot/modules/waf/waf-light" "build" "--target" "bin/arducopter"
Waf: Entering directory `/home/rishab/ardupilot/build/sitl'
Waf: Leaving directory `/home/rishab/ardupilot/build/sitl'

BUILD SUMMARY
Build directory: /home/rishab/ardupilot/build/sitl
Target          Text     Data  BSS    Total  
---------------------------------------------
bin/arducopter  1873165  2446  66016  1941627

Build commands will be stored in build/sitl/compile_commands.json
'build' finished successfully (5.399s)
SIM_VEHICLE: Using defaults from (/home/rishab/ardupilot/Tools/autotest/default_params/copter.parm,/home/rishab/ardupilot/Tools/autotest/default_params/gazebo-iris.parm)
SIM_VEHICLE: Run ArduCopter
SIM_VEHICLE: "/home/rishab/ardupilot/Tools/autotest/run_in_terminal_window.sh" "ArduCopter" "/home/rishab/ardupilot/build/sitl/bin/arducopter" "-S" "-I0" "--home" "-35.363261,149.165230,584,353" "--model" "gazebo-iris" "--speedup" "1" "--defaults" "/home/rishab/ardupilot/Tools/autotest/default_params/copter.parm,/home/rishab/ardupilot/Tools/autotest/default_params/gazebo-iris.parm"
SIM_VEHICLE: Run MavProxy
SIM_VEHICLE: "mavproxy.py" "--master" "tcp:127.0.0.1:5760" "--sitl" "127.0.0.1:5501" "--out" "127.0.0.1:14550" "--out" "127.0.0.1:14551" "--mav10" "--console"
RiTW: Starting ArduCopter : /home/rishab/ardupilot/build/sitl/bin/arducopter -S -I0 --home -35.363261,149.165230,584,353 --model gazebo-iris --speedup 1 --defaults /home/rishab/ardupilot/Tools/autotest/default_params/copter.parm,/home/rishab/ardupilot/Tools/autotest/default_params/gazebo-iris.parm
Connect tcp:127.0.0.1:5760 source_system=255
Loaded module console
Log Directory: 
Telemetry log: mav.tlog
Waiting for heartbeat from tcp:127.0.0.1:5760
 MAV> STABILIZE> Received 1149 parameters
Saved 1149 parameters to mav.parm

KiloNovemberDelta · June 18, 2019, 1:55pm

Almost
I recommand to download QGroundControl. When you execute it, it will recognize automatically your drone if your SITL and mavros are already running in the back.
Then, follow this : https://docs.qgroundcontrol.com/en/analyze_view/log_download.html
Download your last logs (*.logs) , and put it here.

rishab26201 · June 18, 2019, 2:30pm

Hey so Im not sure if this is what you want

KiloNovemberDelta · June 18, 2019, 3:02pm

We are getting close, do you have others ? I don’t recognize this kind of .log. Have you followed the tutorial that I have given ?

By the way, which model are you using in Gazebo ? Is it the Iris one ?
If all is working well with only the SITL, I suspect a problem in the definition of your model. Gazebo can easily misbehave if a parameter like the inertia is not well defined.

rishab26201 · June 18, 2019, 3:20pm

Is this what you were expecting?log_225_2019-6-18-20-46-27.bin (873.1 KB)

Im using iris in Gazebo 7.

KiloNovemberDelta · June 18, 2019, 3:21pm

Yes perfect !
From a first quick read, the altitude seems ok. The GPS is working. Keep trying to see where it can comes from.
I will be on vacation, I come back on Thusday. If no one helped you since then, ask me again

rishab26201 · June 18, 2019, 5:08pm

Thanks, will work on it and come back on Thursday if it isnt resolved

Olizm · January 17, 2025, 1:52pm

Could you solve the problem?

dkemxr · January 17, 2025, 9:42pm

If you have an issue you need help with create a new post in the right place with the details. I guess he didn’t come back on Thursday 6 yrs ago…