关于jMAVSim仿真的问题

Dingyi · 发表于 2019-6-25 14:44:45

本帖最后由 Dingyi 于 2019-6-25 14:46 编辑

我按照官网教程搭建好了PX4环境，输入“make px4_sitl jmavsim”也正常编译，但是我输入“pxh> commander takeoff”就会报错“ERROR [commander] rejecting takeoff, no position lock yet. Please retry..”，jmavsim的界面也没有出来。请问这个错误出现在哪里，该怎么解决呢？下面是输入“make px4_sitl jmavsim”后的全部代码

zdy@zdy-Inspiron-7577:~/src/Firmware$ make px4_sitl jmavsim
[0/1] cd /home/zdy/src/Firmware/build/...dy/src/Firmware/build/px4_sitl_default
SITL ARGS
sitl_bin: /home/zdy/src/Firmware/build/px4_sitl_default/bin/px4
debugger: none
program: jmavsim
model: none
src_path: /home/zdy/src/Firmware
build_path: /home/zdy/src/Firmware/build/px4_sitl_default
empty model, setting iris as default
SITL COMMAND: "/home/zdy/src/Firmware/build/px4_sitl_default/bin/px4" "/home/zdy/src/Firmware"/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -t "/home/zdy/src/Firmware"/test_data
INFO [px4] Creating symlink /home/zdy/src/Firmware/ROMFS/px4fmu_common -> /home/zdy/src/Firmware/build/px4_sitl_default/tmp/rootfs/etc
0 WARNING: setRealtimeSched failed (not run as root?)
______ __ __ ___
| ___ \ \ \ / / / |
| |_/ / \ V / / /| |
| __/ / \ / /_| |
| | / /^\ \ \___ |
\_| \/ \/ |_/
px4 starting.
INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
SYS_AUTOSTART: curr: 0 -> new: 10016
BAT_N_CELLS: curr: 0 -> new: 3
CAL_ACC0_ID: curr: 0 -> new: 1311244
CAL_ACC_PRIME: curr: 0 -> new: 1311244
CAL_GYRO0_ID: curr: 0 -> new: 2294028
CAL_GYRO_PRIME: curr: 0 -> new: 2294028
CAL_MAG0_ID: curr: 0 -> new: 197388
CAL_MAG_PRIME: curr: 0 -> new: 197388
CAL_BARO_PRIME: curr: 0 -> new: 6620172
COM_DISARM_LAND: curr: -1.0000 -> new: 0.1000
COM_OBL_ACT: curr: 0 -> new: 2
COM_OF_LOSS_T: curr: 0.0000 -> new: 5.0000
COM_RC_IN_MODE: curr: 0 -> new: 1
EKF2_ANGERR_INIT: curr: 0.1000 -> new: 0.0100
EKF2_GBIAS_INIT: curr: 0.1000 -> new: 0.0100
EKF2_REQ_GPS_H: curr: 10.0000 -> new: 0.5000
MC_PITCH_P: curr: 6.5000 -> new: 6.0000
MC_PITCHRATE_P: curr: 0.1500 -> new: 0.2000
MC_ROLL_P: curr: 6.5000 -> new: 6.0000
MC_ROLLRATE_P: curr: 0.1500 -> new: 0.2000
MPC_HOLD_MAX_Z: curr: 0.6000 -> new: 2.0000
MPC_Z_VEL_I: curr: 0.0200 -> new: 0.1500
MPC_Z_VEL_P: curr: 0.2000 -> new: 0.6000
MPC_XY_P: curr: 0.9500 -> new: 0.8000
MPC_XY_VEL_P: curr: 0.0900 -> new: 0.2000
MPC_XY_VEL_D: curr: 0.0100 -> new: 0.0160
MPC_JERK_MIN: curr: 8.0000 -> new: 10.0000
MPC_ACC_HOR_MAX: curr: 10.0000 -> new: 3.0000
NAV_ACC_RAD: curr: 10.0000 -> new: 2.0000
NAV_DLL_ACT: curr: 0 -> new: 2
RTL_DESCEND_ALT: curr: 30.0000 -> new: 5.0000
RTL_LAND_DELAY: curr: -1.0000 -> new: 5.0000
RTL_RETURN_ALT: curr: 60.0000 -> new: 30.0000
SDLOG_MODE: curr: 0 -> new: 1
SDLOG_PROFILE: curr: 3 -> new: 131
SDLOG_DIRS_MAX: curr: 0 -> new: 7
SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000
SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010
* RTL_DESCEND_ALT: curr: 5.0000 -> new: 10.0000
* RTL_LAND_DELAY: curr: 5.0000 -> new: 0.0000
PWM_MAX: curr: 2000 -> new: 1950
PWM_MIN: curr: 1000 -> new: 1075
INFO [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
INFO [simulator] Waiting for simulator to connect on TCP port 4560
Buildfile: /home/zdy/src/Firmware/Tools/jMAVSim/build.xml
make_dirs:
compile:
create_run_jar:
copy_res:
BUILD SUCCESSFUL
Total time: 0 seconds
Options parsed, starting Sim.
Starting GUI...
Exception in thread "main" java.lang.reflect.InvocationTargetException
at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
at java.lang.reflect.Method.invoke(Method.java:498)
at org.eclipse.jdt.internal.jarinjarloader.JarRsrcLoader.main(JarRsrcLoader.java:61)
Caused by: java.awt.AWTError: Assistive Technology not found: org.GNOME.Accessibility.AtkWrapper
at java.awt.Toolkit.loadAssistiveTechnologies(Toolkit.java:807)
at java.awt.Toolkit.getDefaultToolkit(Toolkit.java:886)
at java.awt.Window.getToolkit(Window.java:1358)
at java.awt.Window.init(Window.java:506)
at java.awt.Window.<init>(Window.java:537)
at java.awt.Frame.<init>(Frame.java:420)
at java.awt.Frame.<init>(Frame.java:385)
at javax.swing.JFrame.<init>(JFrame.java:189)
at me.drton.jmavsim.Visualizer3D.<init>(Visualizer3D.java:107)
at me.drton.jmavsim.Simulator.<init>(Simulator.java:183)
at me.drton.jmavsim.Simulator.main(Simulator.java:913)
... 5 more
INFO [px4_work_queue] creating: wq:hp_default, priority: 87, stack: 16384 bytes
INFO [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 14570 remote port 14550
INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO [logger] logger started (mode=all)
INFO [logger] Start file log (type: full)
INFO [logger] Opened full log file: ./log/2019-06-25/06_33_44.ulg
INFO [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
INFO [px4] Startup script returned successfully
pxh> commander takeoff
ERROR [commander] rejecting takeoff, no position lock yet. Please retry..
Command 'commander' failed, returned 1.

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AmovlabQYP · 发表于 2019-6-25 14:44:46

rejecting takeoff, no position lock yet. Please retry.. 这个估计是因为你界面没出来导致的定位失败，定位失败自然不能飞。

可能还是环境安装那里的问题，你去按照jmavsim那里的要求看看是不是漏装了什么，比如java之类的。

然后再试试，可以考虑用地面站来解锁起飞，比较方便。

eason · 发表于 2019-7-2 22:55:30

首先你这个jmavsim都还没有成功启动？肯定不能出现仿真界面呀。你是在虚拟机上面装的Ubuntu16.04环境下装的px4环境吗？

eason · 发表于 2019-7-2 22:58:08

要是Ubuntu系统，你装上显卡就能解决这个问题了。

libin · 发表于 2019-9-29 17:37:32

eason 发表于 2019-7-2 22:58
要是Ubuntu系统，你装上显卡就能解决这个问题了。

我也是同样的问题，请问虚拟机怎么装显卡？

wendy520 · 发表于 2020-4-21 03:04:26

后来怎么解决的啊，大佬们

zhihao8013 · 发表于 2021-8-5 11:34:04

请问这个参数param MAV_BROADCAST = 1是在哪里设置的啊？是在px4_sitl的rcs文件中吗？
INFO [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)

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