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szobov/MAV_1_MODE=Normal

Created July 29, 2019 15:40
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Pixhawk CUBE, px4 1.9.2, Onboard communication problems
Raw
MAV_1_MODE=Normal
$ rostopic echo -n1 /diagnostics
header:
seq: 16
stamp:
secs: 1564406373
nsecs: 813920028
frame_id: ''
status:
-
level: 0
name: "mavros: FCU connection"
message: "connected"
hardware_id: "serial:///dev/ttySAC0:921600"
values:
-
key: "Received packets:"
value: "3330"
-
key: "Dropped packets:"
value: "0"
-
key: "Buffer overruns:"
value: "0"
-
key: "Parse errors:"
value: "0"
-
key: "Rx sequence number:"
value: "50"
-
key: "Tx sequence number:"
value: "54"
-
key: "Rx total bytes:"
value: "139673"
-
key: "Tx total bytes:"
value: "8099"
-
key: "Rx speed:"
value: "14094.000000"
-
key: "Tx speed:"
value: "810.000000"
-
level: 0
name: "mavros: GPS"
message: "3D fix"
hardware_id: "serial:///dev/ttySAC0:921600"
values:
-
key: "Satellites visible"
value: "6"
-
key: "Fix type"
value: "3"
-
key: "EPH (m)"
value: "5.45"
-
key: "EPV (m)"
value: "3.32"
-
level: 0
name: "mavros: Heartbeat"
message: "Normal"
hardware_id: "serial:///dev/ttySAC0:921600"
values:
-
key: "Heartbeats since startup"
value: "15"
-
key: "Frequency (Hz)"
value: "0.999969"
-
key: "Vehicle type"
value: "Quadrotor"
-
key: "Autopilot type"
value: "PX4 Autopilot"
-
key: "Mode"
value: "MANUAL"
-
key: "System status"
value: "Standby"
-
level: 2
name: "mavros: System"
message: "Sensor helth"
hardware_id: "serial:///dev/ttySAC0:921600"
values:
-
key: "Sensor present"
value: "0x000E002F"
-
key: "Sensor enabled"
value: "0x0021000F"
-
key: "Sensor helth"
value: "0x000E002F"
-
key: "3D gyro"
value: "Ok"
-
key: "3D accelerometer"
value: "Ok"
-
key: "3D magnetometer"
value: "Ok"
-
key: "absolute pressure"
value: "Ok"
-
key: "rc receiver"
value: "Fail"
-
key: "AHRS subsystem health"
value: "Fail"
-
key: "CPU Load (%)"
value: "45.5"
-
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: "serial:///dev/ttySAC0:921600"
values:
-
key: "Voltage"
value: "23.24"
-
key: "Current"
value: "0.0"
-
key: "Remaining"
value: "68.0"
-
level: 0
name: "mavros: Time Sync"
message: "Normal"
hardware_id: "serial:///dev/ttySAC0:921600"
values:
-
key: "Timesyncs since startup"
value: "145"
-
key: "Frequency (Hz)"
value: "9.999715"
-
key: "Last RTT (ms)"
value: "1.824756"
-
key: "Mean RTT (ms)"
value: "3.839843"
-
key: "Last remote time (s)"
value: "239.182236000"
-
key: "Estimated time offset (s)"
value: "1564406134.535161018"
---
$ rostopic echo -n1 /mavros/state
header:
seq: 32
stamp:
secs: 1564406390
nsecs: 443602927
frame_id: ''
connected: True
armed: False
guided: False
mode: "MANUAL"
system_status: 3
---
Raw
MAV_1_MODE=Onboard
$ rostopic echo -n1 /diagnostics
header:
seq: 148
stamp:
secs: 1564406541
nsecs: 813263694
frame_id: ''
status:
-
level: 1
name: "mavros: FCU connection"
message: "not connected"
hardware_id: "serial:///dev/ttySAC0:921600"
values:
-
key: "Received packets:"
value: "21732"
-
key: "Dropped packets:"
value: "0"
-
key: "Buffer overruns:"
value: "0"
-
key: "Parse errors:"
value: "0"
-
key: "Rx sequence number:"
value: "112"
-
key: "Tx sequence number:"
value: "245"
-
key: "Rx total bytes:"
value: "927680"
-
key: "Tx total bytes:"
value: "86821"
-
key: "Rx speed:"
value: "441.000000"
-
key: "Tx speed:"
value: "460.000000"
-
level: 0
name: "mavros: GPS"
message: "3D fix"
hardware_id: "serial:///dev/ttySAC0:921600"
values:
-
key: "Satellites visible"
value: "5"
-
key: "Fix type"
value: "3"
-
key: "EPH (m)"
value: "9.47"
-
key: "EPV (m)"
value: "5.47"
-
level: 2
name: "mavros: Heartbeat"
message: "No events recorded."
hardware_id: "serial:///dev/ttySAC0:921600"
values:
-
key: "Heartbeats since startup"
value: "120"
-
key: "Frequency (Hz)"
value: "0.000000"
-
key: "Vehicle type"
value: "Quadrotor"
-
key: "Autopilot type"
value: "PX4 Autopilot"
-
key: "Mode"
value: "MANUAL"
-
key: "System status"
value: "Standby"
-
level: 2
name: "mavros: System"
message: "Sensor helth"
hardware_id: "serial:///dev/ttySAC0:921600"
values:
-
key: "Sensor present"
value: "0x000E002F"
-
key: "Sensor enabled"
value: "0x0021000F"
-
key: "Sensor helth"
value: "0x000E002F"
-
key: "3D gyro"
value: "Ok"
-
key: "3D accelerometer"
value: "Ok"
-
key: "3D magnetometer"
value: "Ok"
-
key: "absolute pressure"
value: "Ok"
-
key: "rc receiver"
value: "Fail"
-
key: "AHRS subsystem health"
value: "Fail"
-
key: "CPU Load (%)"
value: "42.4"
-
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: "serial:///dev/ttySAC0:921600"
values:
-
key: "Voltage"
value: "23.22"
-
key: "Current"
value: "0.0"
-
key: "Remaining"
value: "68.0"
-
level: 0
name: "mavros: Time Sync"
message: "Normal"
hardware_id: "serial:///dev/ttySAC0:921600"
values:
-
key: "Timesyncs since startup"
value: "548"
-
key: "Frequency (Hz)"
value: "10.000619"
-
key: "Last RTT (ms)"
value: "4.261838"
-
key: "Mean RTT (ms)"
value: "3.571231"
-
key: "Last remote time (s)"
value: "62.380050000"
-
key: "Estimated time offset (s)"
value: "1564406479.339093685"
---
$ rostopic echo -n1 /mavros/state
header:
seq: 121
stamp:
secs: 1564406488
nsecs: 440964735
frame_id: ''
connected: False
armed: False
guided: False
mode: ''
system_status: 0
---
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