mavros offboard 电机时断时续（视频见附件）

jack

刷好pixhwk的固件后(1.10.1)，标定什么准备号后，修改参数：COM_ARM_SWIBTN:arm switch is a button这项
CBRK_IO_SAFETY:22017
CBRK_USB_CHK:197848
飞控通过USB连接电脑用于调试，运行roslaunch mavros px4.launch(里面参数默认，修改端口为ttyACM0:576000)

SUMMARY
========

CLEAR PARAMETERS
* /mavros/

PARAMETERS
* /mavros/cmd/use_comp_id_system_control: False
* /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/hrlv_ez4_pub/field_of_view: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
* /mavros/distance_sensor/hrlv_ez4_pub/id: 0
* /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
* /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
* /mavros/distance_sensor/laser_1_sub/id: 3
* /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
* /mavros/distance_sensor/laser_1_sub/subscriber: True
* /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
* /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
* /mavros/distance_sensor/lidarlite_pub/id: 1
* /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
* /mavros/distance_sensor/lidarlite_pub/send_tf: True
* /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
* /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
* /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
* /mavros/distance_sensor/sonar_1_sub/id: 2
* /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
* /mavros/distance_sensor/sonar_1_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/ttyACM0:57600
* /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: 0.0003490659 // 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/mission/use_mission_item_int: True
* /mavros/mocap/use_pose: True
* /mavros/mocap/use_tf: False
* /mavros/odometry/fcu/odom_child_id_des: base_link
* /mavros/odometry/fcu/odom_parent_id_des: map
* /mavros/plugin_blacklist: ['safety_area', '...
* /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: 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: odom
* /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: odom
* /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: odom
* /mavros/wheel_odometry/tf/send: False
* /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)

auto-starting new master
process[master]: started with pid [12509]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 7e43b100-dc7d-11ea-9586-000c291eaebd
process[rosout-1]: started with pid [12522]
started core service [/rosout]
process[mavros-2]: started with pid [12540]
[ INFO] [1597224214.254650355]: FCU URL: /dev/ttyACM0:57600
[ INFO] [1597224214.255690672]: serial0: device: /dev/ttyACM0 @ 57600 bps
[ INFO] [1597224214.492271727]: GCS bridge disabled
[ INFO] [1597224214.503693644]: Plugin 3dr_radio loaded
[ INFO] [1597224214.505748602]: Plugin 3dr_radio initialized
[ INFO] [1597224214.505840689]: Plugin actuator_control loaded
[ INFO] [1597224214.510710393]: Plugin actuator_control initialized
[ INFO] [1597224214.513084827]: Plugin adsb loaded
[ INFO] [1597224214.518727804]: Plugin adsb initialized
[ INFO] [1597224214.518897926]: Plugin altitude loaded
[ INFO] [1597224214.520340498]: Plugin altitude initialized
[ INFO] [1597224214.520421764]: Plugin cam_imu_sync loaded
[ INFO] [1597224214.521108005]: Plugin cam_imu_sync initialized
[ INFO] [1597224214.521187685]: Plugin command loaded
[ INFO] [1597224214.529550383]: Plugin command initialized
[ INFO] [1597224214.529687908]: Plugin companion_process_status loaded
[ INFO] [1597224214.534597965]: Plugin companion_process_status initialized
[ INFO] [1597224214.534771175]: Plugin debug_value loaded
[ INFO] [1597224214.542242263]: Plugin debug_value initialized
[ INFO] [1597224214.542292827]: Plugin distance_sensor blacklisted
[ INFO] [1597224214.542381770]: Plugin fake_gps loaded
[ INFO] [1597224214.560804732]: Plugin fake_gps initialized
[ INFO] [1597224214.560923690]: Plugin ftp loaded
[ INFO] [1597224214.567574088]: Plugin ftp initialized
[ INFO] [1597224214.567732400]: Plugin global_position loaded
[ INFO] [1597224214.586586571]: Plugin global_position initialized
[ INFO] [1597224214.586687657]: Plugin gps_rtk loaded
[ INFO] [1597224214.590101608]: Plugin gps_rtk initialized
[ INFO] [1597224214.590255459]: Plugin hil loaded
[ INFO] [1597224214.608674342]: Plugin hil initialized
[ INFO] [1597224214.608791417]: Plugin home_position loaded
[ INFO] [1597224214.613124783]: Plugin home_position initialized
[ INFO] [1597224214.613225625]: Plugin imu loaded
[ INFO] [1597224214.623439348]: Plugin imu initialized
[ INFO] [1597224214.623544061]: Plugin landing_target loaded
[ INFO] [1597224214.641993765]: Plugin landing_target initialized
[ INFO] [1597224214.642118925]: Plugin local_position loaded
[ INFO] [1597224214.649913391]: Plugin local_position initialized
[ INFO] [1597224214.650006063]: Plugin log_transfer loaded
[ INFO] [1597224214.653290798]: Plugin log_transfer initialized
[ INFO] [1597224214.653386359]: Plugin manual_control loaded
[ INFO] [1597224214.657128292]: Plugin manual_control initialized
[ INFO] [1597224214.657293315]: Plugin mocap_pose_estimate loaded
[ INFO] [1597224214.661817993]: Plugin mocap_pose_estimate initialized
[ INFO] [1597224214.661910958]: Plugin mount_control loaded
[ INFO] [1597224214.665906624]: Plugin mount_control initialized
[ INFO] [1597224214.666017428]: Plugin obstacle_distance loaded
[ INFO] [1597224214.669490628]: Plugin obstacle_distance initialized
[ INFO] [1597224214.669609963]: Plugin odom loaded
[ INFO] [1597224214.674509940]: Plugin odom initialized
[ INFO] [1597224214.674607970]: Plugin onboard_computer_status loaded
[ INFO] [1597224214.677582922]: Plugin onboard_computer_status initialized
[ INFO] [1597224214.677711130]: Plugin param loaded
[ INFO] [1597224214.680520490]: Plugin param initialized
[ INFO] [1597224214.680601427]: Plugin px4flow loaded
[ INFO] [1597224214.689116760]: Plugin px4flow initialized
[ INFO] [1597224214.689165355]: Plugin rangefinder blacklisted
[ INFO] [1597224214.689257869]: Plugin rc_io loaded
[ INFO] [1597224214.695146035]: Plugin rc_io initialized
[ INFO] [1597224214.695194451]: Plugin safety_area blacklisted
[ INFO] [1597224214.695281597]: Plugin setpoint_accel loaded
[ INFO] [1597224214.699135099]: Plugin setpoint_accel initialized
[ INFO] [1597224214.699260166]: Plugin setpoint_attitude loaded
[ INFO] [1597224214.710671591]: Plugin setpoint_attitude initialized
[ INFO] [1597224214.710799925]: Plugin setpoint_position loaded
[ INFO] [1597224214.732807167]: Plugin setpoint_position initialized
[ INFO] [1597224214.732938869]: Plugin setpoint_raw loaded
[ INFO] [1597224214.742955864]: Plugin setpoint_raw initialized
[ INFO] [1597224214.743081793]: Plugin setpoint_trajectory loaded
[ INFO] [1597224214.748356566]: Plugin setpoint_trajectory initialized
[ INFO] [1597224214.748467095]: Plugin setpoint_velocity loaded
[ INFO] [1597224214.755398041]: Plugin setpoint_velocity initialized
[ INFO] [1597224214.755548380]: Plugin sys_status loaded
[ INFO] [1597224214.768022774]: Plugin sys_status initialized
[ INFO] [1597224214.768180831]: Plugin sys_time loaded
[ INFO] [1597224214.775404362]: TM: Timesync mode: MAVLINK
[ INFO] [1597224214.776745864]: Plugin sys_time initialized
[ INFO] [1597224214.776849565]: Plugin trajectory loaded
[ INFO] [1597224214.783217326]: Plugin trajectory initialized
[ INFO] [1597224214.783322393]: Plugin vfr_hud loaded
[ INFO] [1597224214.784002707]: Plugin vfr_hud initialized
[ INFO] [1597224214.784035759]: Plugin vibration blacklisted
[ INFO] [1597224214.784095445]: Plugin vision_pose_estimate loaded
[ INFO] [1597224214.794748871]: Plugin vision_pose_estimate initialized
[ INFO] [1597224214.794850891]: Plugin vision_speed_estimate loaded
[ INFO] [1597224214.799374703]: Plugin vision_speed_estimate initialized
[ INFO] [1597224214.799508142]: Plugin waypoint loaded
[ INFO] [1597224214.804932395]: Plugin waypoint initialized
[ INFO] [1597224214.805013815]: Plugin wheel_odometry blacklisted
[ INFO] [1597224214.805125523]: Plugin wind_estimation loaded
[ INFO] [1597224214.805701171]: Plugin wind_estimation initialized
[ INFO] [1597224214.805742851]: Autostarting mavlink via USB on PX4
[ INFO] [1597224214.805795467]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1597224214.805831462]: Built-in MAVLink package version: 2020.7.7
[ INFO] [1597224214.805866493]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1597224214.805880410]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1597224214.955406560]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1597224215.153867606]: IMU: High resolution IMU detected!
[ INFO] [1597224215.204147521]: IMU: Attitude quaternion IMU detected!
[ WARN] [1597224215.889711569]: TM : RTT too high for timesync: 12.19 ms.
[ INFO] [1597224215.969695507]: WP: Using MISSION_ITEM_INT
[ INFO] [1597224215.969771121]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1597224215.969803703]: VER: 1.1: Flight software:     010a01ff (e0f016c2b3000000)
[ INFO] [1597224215.969846006]: VER: 1.1: Middleware software: 010a01ff (e0f016c2b3000000)
[ INFO] [1597224215.969890549]: VER: 1.1: OS software:         071d00ff (427238133be2b0ec)
[ INFO] [1597224215.969907904]: VER: 1.1: Board hardware:      00000032
[ INFO] [1597224215.969919846]: VER: 1.1: VID/PID:             26ac:0032
[ INFO] [1597224215.969932072]: VER: 1.1: UID:                 3138511730383233
[ WARN] [1597224215.978959983]: CMD: Unexpected command 520, result 0

[ INFO] [1597224224.959030639]: HP: requesting home position



运行官方提供的offboard_node例程，飞机电机出现转一会儿，停下，又开始转了，px4.launch端日志显示如下：
[ INFO] [1597224229.667189120]: FCU: ARMED by Arm/Disarm component command
[ INFO] [1597224229.712920913]: FCU: [logger] file: /fs/microsd/log/2020-08-07/20_10_0
[ INFO] [1597224230.002673187]: WP: mission received


[ INFO] [1597224239.384543053]: FCU: DISARMED by Auto disarm initiated
[ INFO] [1597224240.080404734]: FCU: ARMED by Arm/Disarm component command
[ INFO] [1597224240.126620137]: FCU: [logger] file: /fs/microsd/log/2020-08-07/20_10_1


官方的节点日志如下：
[ INFO] [1597224227.269309101]: OFFBOARD enabled
[ INFO] [1597224229.359002890]: Vehicle armed
[ INFO] [1597224240.080500806]: Vehicle armed


其中订阅了/mavros/state
header:
  seq: 61
  stamp:
    secs: 1597226285
    nsecs: 766788228
  frame_id: ''
connected: True
armed: True
guided: True
manual_input: False
mode: "OFFBOARD"
system_status: 4

显示状态一直是offboard模式，并且一直是上述状态。

希望各位大佬指点一二，非常感谢。

amov_msq已获得悬赏 3 阿木币

最佳答案

offboard模式的维持需要 不断发送期望的速度或者位置 来维持这个模式 当没有发送这个消息了 就退出了offbard模式

• amov_msq
• 发表于2020-08-13
• 详细答案 >

maxiou

你这个是其他家翻译后的例程吧，有可能有问题哦。可以试试我们仿真开发课程里面的例程。

amov_msq

offboard模式的维持需要 不断发送期望的速度或者位置 来维持这个模式 当没有发送这个消息了 就退出了offbard模式

chasing

没看到你的附件~从提供的内容看不出有什么问题，官方的历程也没问题~

jack

amov_msq 发表于 2020-8-13 15:22
offboard模式的维持需要 不断发送期望的速度或者位置 来维持这个模式 当没有发送这个消息了 就退出了offbar ...

连了位置反馈还是不行哦，这个是日志文件的链接：https://logs.px4.io/plot_app?log ... b-8c8b-124fbfee04c9；https://logs.px4.io/plot_app?log ... 1-9409-57dabf5b0b48

jack

amov_msq 发表于 2020-8-13 15:22
offboard模式的维持需要 不断发送期望的速度或者位置 来维持这个模式 当没有发送这个消息了 就退出了offbar ...

连了位置反馈还是不行哦，这个是日志文件的链接：https://logs.px4.io/plot_app?log ... b-8c8b-124fbfee04c9；https://logs.px4.io/plot_app?log ... 1-9409-57dabf5b0b48