ubuntu@drone:~$ roslaunch mavros apm.launch ... logging to /home/ubuntu/.ros/log/713656ea-d0dc-11e5-99c0-b827ebc77bb9/roslaunch-drone-3182.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://10.42.0.1:38099/ 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: 42.0 * /mavros/fake_gps/geo_origin/lat: 59.3538 * /mavros/fake_gps/geo_origin/lon: 18.0638 * /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/ttyAMA0:921600 * /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: True * /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://10.42.0.1:11311 process[mavros-1]: started with pid [3200] [ INFO] [1455211792.060661192]: FCU URL: /dev/ttyAMA0:921600 [ INFO] [1455211792.081096355]: serial0: device: /dev/ttyAMA0 @ 921600 bps [ INFO] [1455211792.082738743]: GCS bridge disabled [ INFO] [1455211792.212023280]: Plugin 3dr_radio loaded [ INFO] [1455211792.223818275]: Plugin 3dr_radio initialized [ INFO] [1455211792.224013691]: Plugin actuator_control blacklisted [ INFO] [1455211792.266416977]: Plugin adsb loaded [ INFO] [1455211792.340118447]: Plugin adsb initialized [ INFO] [1455211792.340404435]: Plugin altitude blacklisted [ INFO] [1455211792.341199796]: Plugin cam_imu_sync loaded [ INFO] [1455211792.347838879]: Plugin cam_imu_sync initialized [ INFO] [1455211792.348692156]: Plugin command loaded [ INFO] [1455211792.435966530]: Plugin command initialized [ INFO] [1455211792.437220378]: Plugin companion_process_status loaded [ INFO] [1455211792.492095636]: Plugin companion_process_status initialized [ INFO] [1455211792.492495321]: Plugin debug_value blacklisted [ INFO] [1455211792.493763284]: Plugin distance_sensor loaded [ INFO] [1455211792.617965814]: Plugin distance_sensor initialized [ INFO] [1455211792.619055340]: Plugin fake_gps loaded [ INFO] [1455211792.837993249]: Plugin fake_gps initialized [ INFO] [1455211792.838434184]: Plugin ftp blacklisted [ INFO] [1455211792.839445846]: Plugin global_position loaded [ INFO] [1455211793.092438228]: Plugin global_position initialized [ INFO] [1455211793.093437077]: Plugin gps_rtk loaded [ INFO] [1455211793.142480384]: Plugin gps_rtk initialized [ INFO] [1455211793.142969652]: Plugin hil blacklisted [ INFO] [1455211793.144132042]: Plugin home_position loaded [ INFO] [1455211793.223217340]: Plugin home_position initialized [ INFO] [1455211793.224041868]: Plugin imu loaded [ INFO] [1455211793.358877836]: Plugin imu initialized [ INFO] [1455211793.362338236]: Plugin local_position loaded [ INFO] [1455211793.462322028]: Plugin local_position initialized [ INFO] [1455211793.463250617]: Plugin log_transfer loaded [ INFO] [1455211793.520155813]: Plugin log_transfer initialized [ INFO] [1455211793.520996122]: Plugin manual_control loaded [ INFO] [1455211793.582520098]: Plugin manual_control initialized [ INFO] [1455211793.583274209]: Plugin mocap_pose_estimate loaded [ INFO] [1455211793.669330151]: Plugin mocap_pose_estimate initialized [ INFO] [1455211793.670055512]: Plugin obstacle_distance loaded [ INFO] [1455211793.727063520]: Plugin obstacle_distance initialized [ INFO] [1455211793.728177994]: Plugin odom loaded [ INFO] [1455211793.826527679]: Plugin odom initialized [ INFO] [1455211793.827674548]: Plugin param loaded [ INFO] [1455211793.875251299]: Plugin param initialized [ INFO] [1455211793.875910880]: Plugin px4flow blacklisted [ INFO] [1455211793.878820397]: Plugin rangefinder loaded [ INFO] [1455211793.885572292]: Plugin rangefinder initialized [ INFO] [1455211793.886864160]: Plugin rc_io loaded [ INFO] [1455211793.987122170]: Plugin rc_io initialized [ INFO] [1455211793.987362221]: Plugin safety_area blacklisted [ INFO] [1455211793.989400857]: Plugin setpoint_accel loaded [ INFO] [1455211794.076110754]: Plugin setpoint_accel initialized [ INFO] [1455211794.077038614]: Plugin setpoint_attitude loaded [ INFO] [1455211794.260576484]: Plugin setpoint_attitude initialized [ INFO] [1455211794.261998665]: Plugin setpoint_position loaded [ INFO] [1455211794.506614316]: Plugin setpoint_position initialized [ INFO] [1455211794.507535353]: Plugin setpoint_raw loaded [ INFO] [1455211794.665127723]: Plugin setpoint_raw initialized [ INFO] [1455211794.666680320]: Plugin setpoint_velocity loaded [ INFO] [1455211794.774868187]: Plugin setpoint_velocity initialized [ INFO] [1455211794.775756307]: Plugin sys_status loaded [ INFO] [1455211794.939148493]: Plugin sys_status initialized [ INFO] [1455211794.941381659]: Plugin sys_time loaded [ INFO] [1455211795.035155221]: TM: Timesync mode: MAVLINK [ INFO] [1455211795.045586733]: Plugin sys_time initialized [ INFO] [1455211795.046406156]: Plugin trajectory loaded [ INFO] [1455211795.157056095]: Plugin trajectory initialized [ INFO] [1455211795.158583223]: Plugin vfr_hud loaded [ INFO] [1455211795.165651679]: Plugin vfr_hud initialized [ INFO] [1455211795.166176572]: Plugin vibration blacklisted [ INFO] [1455211795.167211775]: Plugin vision_pose_estimate loaded [ INFO] [1455211795.314442580]: Plugin vision_pose_estimate initialized [ INFO] [1455211795.314920182]: Plugin vision_speed_estimate blacklisted [ INFO] [1455211795.315787209]: Plugin waypoint loaded [ INFO] [1455211795.390030343]: Plugin waypoint initialized [ INFO] [1455211795.390621538]: Plugin wheel_odometry blacklisted [ INFO] [1455211795.391620075]: Plugin wind_estimation loaded [ INFO] [1455211795.403558455]: Plugin wind_estimation initialized [ INFO] [1455211795.403990693]: Autostarting mavlink via USB on PX4 [ INFO] [1455211795.404289702]: Built-in SIMD instructions: None [ INFO] [1455211795.404655585]: Built-in MAVLink package version: 2019.3.3 [ INFO] [1455211795.404911105]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta [ INFO] [1455211795.405086833]: MAVROS started. MY ID 1.240, TARGET ID 1.1 [ INFO] [1455211795.622701259]: FCU: EKF2 IMU0 is using external nav data [ INFO] [1455211795.624620260]: FCU: EKF2 IMU0 initial pos NED = 0.1,0.1,-0.1 (m) [ INFO] [1455211795.625944733]: FCU: EKF2 IMU1 is using external nav data [ INFO] [1455211795.626496137]: FCU: EKF2 IMU1 initial pos NED = 0.1,0.1,-0.1 (m) [ERROR] [1455211795.669665982]: FCU: GPS Glitch [ERROR] [1455211795.760278673]: FCU: GPS Glitch cleared [ INFO] [1455211795.761135075]: CON: Got HEARTBEAT, connected. FCU: ArduPilot [ INFO] [1455211796.780662117]: VER: 1.1: Capabilities 0x0000000000003bcf [ INFO] [1455211796.780845866]: VER: 1.1: Flight software: 03070000 ( 69882d9) [ INFO] [1455211796.780976178]: VER: 1.1: Middleware software: 00000000 ( ) [ INFO] [1455211796.781068521]: VER: 1.1: OS software: 00000000 ( d443078) [ INFO] [1455211796.781164146]: VER: 1.1: Board hardware: 00000000 [ INFO] [1455211796.781255447]: VER: 1.1: VID/PID: 0000:0000 [ INFO] [1455211796.781358624]: VER: 1.1: UID: 0000000000000000 [ WARN] [1455211796.781588675]: CMD: Unexpected command 520, result 0 [ INFO] [1455211805.763613708]: HP: requesting home position [ INFO] [1455211805.786309224]: FCU: ArduCopter V3.7.0-dev (69882d98) [ INFO] [1455211805.793239138]: FCU: ChibiOS: d443078c [ INFO] [1455211805.793854083]: FCU: Pixhawk4 002C0034 31375106 36353937 [ INFO] [1455211805.794732986]: FCU: Frame: QUAD [ INFO] [1455211810.768205351]: WP: mission received [ INFO] [1455211815.762655377]: HP: requesting home position [ WARN] [1455211821.744746348]: PR: Param STAT_RUNTIME (65535/1013): 86896 different index: 792/1013 [ INFO] [1455211825.762600168]: HP: requesting home position [ WARN] [1455211827.246438995]: PR: request param #624 timeout, retries left 2, and 7 params still missing [ INFO] [1455211827.579372920]: PR: parameters list received [ INFO] [1455211835.762289907]: HP: requesting home position [ INFO] [1455211845.762474801]: HP: requesting home position