关于jMAVSim仿真的问题

Dingyi

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

1. zdy@zdy-Inspiron-7577:~/src/Firmware$ make px4_sitl jmavsim
   
2. [0/1] cd /home/zdy/src/Firmware/build/...dy/src/Firmware/build/px4_sitl_default
   
3. SITL ARGS
   
4. sitl_bin: /home/zdy/src/Firmware/build/px4_sitl_default/bin/px4
   
5. debugger: none
   
6. program: jmavsim
   
7. model: none
   
8. src_path: /home/zdy/src/Firmware
   
9. build_path: /home/zdy/src/Firmware/build/px4_sitl_default
   
10. empty model, setting iris as default
    
11. 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
    
12. INFO  [px4] Creating symlink /home/zdy/src/Firmware/ROMFS/px4fmu_common -> /home/zdy/src/Firmware/build/px4_sitl_default/tmp/rootfs/etc
    
13. 0 WARNING: setRealtimeSched failed (not run as root?)
    
14. 
    
15. ______  __   __    ___
    
16. | ___ \ \ \ / /   /   |
    
17. | |_/ /  \ V /   / /| |
    
18. |  __/   /   \  / /_| |
    
19. | |     / /^\ \ \___  |
    
20. \_|     \/   \/     |_/
    
21. 
    
22. px4 starting.
    
23. 
    
24. INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
    
25.   SYS_AUTOSTART: curr: 0 -> new: 10016
    
26.   BAT_N_CELLS: curr: 0 -> new: 3
    
27.   CAL_ACC0_ID: curr: 0 -> new: 1311244
    
28.   CAL_ACC_PRIME: curr: 0 -> new: 1311244
    
29.   CAL_GYRO0_ID: curr: 0 -> new: 2294028
    
30.   CAL_GYRO_PRIME: curr: 0 -> new: 2294028
    
31.   CAL_MAG0_ID: curr: 0 -> new: 197388
    
32.   CAL_MAG_PRIME: curr: 0 -> new: 197388
    
33.   CAL_BARO_PRIME: curr: 0 -> new: 6620172
    
34.   COM_DISARM_LAND: curr: -1.0000 -> new: 0.1000
    
35.   COM_OBL_ACT: curr: 0 -> new: 2
    
36.   COM_OF_LOSS_T: curr: 0.0000 -> new: 5.0000
    
37.   COM_RC_IN_MODE: curr: 0 -> new: 1
    
38.   EKF2_ANGERR_INIT: curr: 0.1000 -> new: 0.0100
    
39.   EKF2_GBIAS_INIT: curr: 0.1000 -> new: 0.0100
    
40.   EKF2_REQ_GPS_H: curr: 10.0000 -> new: 0.5000
    
41.   MC_PITCH_P: curr: 6.5000 -> new: 6.0000
    
42.   MC_PITCHRATE_P: curr: 0.1500 -> new: 0.2000
    
43.   MC_ROLL_P: curr: 6.5000 -> new: 6.0000
    
44.   MC_ROLLRATE_P: curr: 0.1500 -> new: 0.2000
    
45.   MPC_HOLD_MAX_Z: curr: 0.6000 -> new: 2.0000
    
46.   MPC_Z_VEL_I: curr: 0.0200 -> new: 0.1500
    
47.   MPC_Z_VEL_P: curr: 0.2000 -> new: 0.6000
    
48.   MPC_XY_P: curr: 0.9500 -> new: 0.8000
    
49.   MPC_XY_VEL_P: curr: 0.0900 -> new: 0.2000
    
50.   MPC_XY_VEL_D: curr: 0.0100 -> new: 0.0160
    
51.   MPC_JERK_MIN: curr: 8.0000 -> new: 10.0000
    
52.   MPC_ACC_HOR_MAX: curr: 10.0000 -> new: 3.0000
    
53.   NAV_ACC_RAD: curr: 10.0000 -> new: 2.0000
    
54.   NAV_DLL_ACT: curr: 0 -> new: 2
    
55.   RTL_DESCEND_ALT: curr: 30.0000 -> new: 5.0000
    
56.   RTL_LAND_DELAY: curr: -1.0000 -> new: 5.0000
    
57.   RTL_RETURN_ALT: curr: 60.0000 -> new: 30.0000
    
58.   SDLOG_MODE: curr: 0 -> new: 1
    
59.   SDLOG_PROFILE: curr: 3 -> new: 131
    
60.   SDLOG_DIRS_MAX: curr: 0 -> new: 7
    
61.   SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000
    
62.   SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010
    
63. * RTL_DESCEND_ALT: curr: 5.0000 -> new: 10.0000
    
64. * RTL_LAND_DELAY: curr: 5.0000 -> new: 0.0000
    
65.   PWM_MAX: curr: 2000 -> new: 1950
    
66.   PWM_MIN: curr: 1000 -> new: 1075
    
67. INFO  [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
    
68. INFO  [simulator] Waiting for simulator to connect on TCP port 4560
    
69. Buildfile: /home/zdy/src/Firmware/Tools/jMAVSim/build.xml
    
70. 
    
71. make_dirs:
    
72. 
    
73. compile:
    
74. 
    
75. create_run_jar:
    
76. 
    
77. copy_res:
    
78. 
    
79. BUILD SUCCESSFUL
    
80. Total time: 0 seconds
    
81. Options parsed, starting Sim.
    
82. Starting GUI...
    
83. Exception in thread "main" java.lang.reflect.InvocationTargetException
    
84.         at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
    
85.         at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
    
86.         at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
    
87.         at java.lang.reflect.Method.invoke(Method.java:498)
    
88.         at org.eclipse.jdt.internal.jarinjarloader.JarRsrcLoader.main(JarRsrcLoader.java:61)
    
89. Caused by: java.awt.AWTError: Assistive Technology not found: org.GNOME.Accessibility.AtkWrapper
    
90.         at java.awt.Toolkit.loadAssistiveTechnologies(Toolkit.java:807)
    
91.         at java.awt.Toolkit.getDefaultToolkit(Toolkit.java:886)
    
92.         at java.awt.Window.getToolkit(Window.java:1358)
    
93.         at java.awt.Window.init(Window.java:506)
    
94.         at java.awt.Window.<init>(Window.java:537)
    
95.         at java.awt.Frame.<init>(Frame.java:420)
    
96.         at java.awt.Frame.<init>(Frame.java:385)
    
97.         at javax.swing.JFrame.<init>(JFrame.java:189)
    
98.         at me.drton.jmavsim.Visualizer3D.<init>(Visualizer3D.java:107)
    
99.         at me.drton.jmavsim.Simulator.<init>(Simulator.java:183)
    
100.         at me.drton.jmavsim.Simulator.main(Simulator.java:913)
     
101.         ... 5 more
     
102. INFO  [px4_work_queue] creating: wq:hp_default, priority: 87, stack: 16384 bytes
     
103. INFO  [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
     
104. INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 14570 remote port 14550
     
105. INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
     
106. INFO  [logger] logger started (mode=all)
     
107. INFO  [logger] Start file log (type: full)
     
108. INFO  [logger] Opened full log file: ./log/2019-06-25/06_33_44.ulg
     
109. INFO  [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
     
110. INFO  [px4] Startup script returned successfully
     
111. pxh> commander takeoff
     
112. ERROR [commander] rejecting takeoff, no position lock yet. Please retry..
     
113. Command 'commander' failed, returned 1.
     
114. 
     

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AmovlabQYP

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

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

要是Ubuntu系统，你装上显卡就能解决这个问题了。

libin

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

后来怎么解决的啊，大佬们

zhihao8013

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)