Can arm in stabilized mode but cannot arm in offboard mode. #2010
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to arm a px4 based drone in Offboard mode, you need to send a stream of Setpoint commands to the device, predominantly done through mavros, have you done this? |
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Issue details
Please describe the problem, or desired feature
I use "rosrun mavros mavsafety arm", before entering the offboard mode and motor spins. But once in offboard mode, when I run that command again, it gives me "Request failed. Check mavros logs".
header:
seq: 400
stamp:
secs: 1733192715
nsecs: 872899236
frame_id: ''
status:
level: 0
name: "mavros: FCU connection"
message: "connected"
hardware_id: "/dev/ttyACM0:57600"
values:
-
key: "Received packets:"
value: "877"
-
key: "Dropped packets:"
value: "0"
-
key: "Buffer overruns:"
value: "0"
-
key: "Parse errors:"
value: "0"
-
key: "Rx sequence number:"
value: "60"
-
key: "Tx sequence number:"
value: "0"
-
key: "Rx total bytes:"
value: "12170209"
-
key: "Tx total bytes:"
value: "331575"
-
key: "Rx speed:"
value: "32498.000000"
-
key: "Tx speed:"
value: "854.000000"
level: 2
name: "mavros: GPS"
message: "No satellites"
hardware_id: "/dev/ttyACM0:57600"
values:
-
key: "Satellites visible"
value: "0"
-
key: "Fix type"
value: "0"
-
key: "EPH (m)"
value: "Unknown"
-
key: "EPV (m)"
value: "Unknown"
level: 1
name: "mavros: Mount"
message: "Can not diagnose in this targeting mode"
hardware_id: "/dev/ttyACM0:57600"
values:
-
key: "Mode"
value: "255"
level: 0
name: "mavros: Heartbeat"
message: "Normal"
hardware_id: "/dev/ttyACM0:57600"
values:
-
key: "Heartbeats since startup"
value: "565"
-
key: "Frequency (Hz)"
value: "1.000001"
-
key: "Vehicle type"
value: "Quadrotor"
-
key: "Autopilot type"
value: "PX4 Autopilot"
-
key: "Mode"
value: "OFFBOARD"
-
key: "System status"
value: "Uninit"
level: 2
name: "mavros: System"
message: "Sensor health"
hardware_id: "/dev/ttyACM0:57600"
values:
-
key: "Sensor present"
value: "0x02210009"
-
key: "Sensor enabled"
value: "0x02210009"
-
key: "Sensor health"
value: "0x2301803F"
-
key: "3D gyro"
value: "Ok"
-
key: "absolute pressure"
value: "Ok"
-
key: "rc receiver"
value: "Ok"
-
key: "AHRS subsystem health"
value: "Fail"
-
key: "Battery"
value: "Ok"
-
key: "CPU Load (%)"
value: "56.7"
-
key: "Drop rate (%)"
value: "0.0"
-
key: "Errors comm"
value: "0"
-
key: "Errors count mavconn library. #1"
value: "0"
-
key: "Errors count Pub/sub for Mavlink.msg #2"
value: "0"
-
key: "Errors count Plugin loading functionality. #3"
value: "0"
-
key: "Errors count Diagnostic mesages. #4"
value: "0"
level: 1
level: 0name: "mavros: Battery"
message: "Low voltage"
hardware_id: "/dev/ttyACM0:57600"
values:
-
key: "Voltage"
value: "7.25"
-
key: "Current"
value: "-6.8"
-
key: "Remaining"
value: "55.0"
name: "mavros: Time Sync"
message: "Normal"
hardware_id: "/dev/ttyACM0:57600"
values:
-
key: "Timesyncs since startup"
value: "5619"
-
key: "Frequency (Hz)"
value: "10.000074"
-
key: "Last RTT (ms)"
value: "1.419962"
-
key: "Mean RTT (ms)"
value: "2.524334"
-
key: "Last remote time (s)"
value: "773.512660000"
-
key: "Estimated time offset (s)"
value: "1733191942.266791105"
PARAMETERS
NODES
/
mavros (mavros/mavros_node)
ROS_MASTER_URI=http://lishuo-ThinkPadP1:11311
process[mavros-1]: started with pid [2615]
[ INFO] [1733192784.986028375]: FCU URL: /dev/ttyACM0:57600
[ INFO] [1733192785.004327579]: serial0: device: /dev/ttyACM0 @ 57600 bps
[ INFO] [1733192785.005860790]: GCS bridge disabled
[ INFO] [1733192785.083890356]: Plugin 3dr_radio loaded
[ INFO] [1733192785.112196407]: Plugin 3dr_radio initialized
[ INFO] [1733192785.113441523]: Plugin actuator_control loaded
[ INFO] [1733192785.144885035]: Plugin actuator_control initialized
[ INFO] [1733192785.165580294]: Plugin adsb loaded
[ INFO] [1733192785.195647875]: Plugin adsb initialized
[ INFO] [1733192785.196364289]: Plugin altitude loaded
[ INFO] [1733192785.206139425]: Plugin altitude initialized
[ INFO] [1733192785.207288893]: Plugin cam_imu_sync loaded
[ INFO] [1733192785.214264422]: Plugin cam_imu_sync initialized
[ INFO] [1733192785.215188387]: Plugin camera loaded
[ INFO] [1733192785.220716912]: Plugin camera initialized
[ INFO] [1733192785.221935916]: Plugin cellular_status loaded
[ INFO] [1733192785.250132527]: Plugin cellular_status initialized
[ INFO] [1733192785.251597867]: Plugin command loaded
[ INFO] [1733192785.324735257]: Plugin command initialized
[ INFO] [1733192785.326272628]: Plugin companion_process_status loaded
[ INFO] [1733192785.352827964]: Plugin companion_process_status initialized
[ INFO] [1733192785.353515258]: Plugin debug_value loaded
[ INFO] [1733192785.452890546]: Plugin debug_value initialized
[ INFO] [1733192785.453059282]: Plugin distance_sensor blacklisted
[ INFO] [1733192785.453817199]: Plugin esc_status loaded
[ INFO] [1733192785.464409164]: Plugin esc_status initialized
[ INFO] [1733192785.465888903]: Plugin esc_telemetry loaded
[ INFO] [1733192785.472559761]: Plugin esc_telemetry initialized
[ INFO] [1733192785.474648170]: Plugin fake_gps loaded
[ INFO] [1733192785.754630606]: Plugin fake_gps initialized
[ INFO] [1733192785.755661003]: Plugin ftp loaded
[ INFO] [1733192785.818304604]: Plugin ftp initialized
[ INFO] [1733192785.819172761]: Plugin geofence loaded
[ INFO] [1733192785.932091941]: Plugin geofence initialized
[ INFO] [1733192785.932955490]: Plugin global_position loaded
[ INFO] [1733192786.197241724]: Plugin global_position initialized
[ INFO] [1733192786.197938426]: Plugin gps_input loaded
MAVROS version and platform
Mavros: 1.20.0
ROS: Noetic
Ubuntu: 20.04
Autopilot type and version
[ ] ArduPilot
[ - ] PX4
Version: ?3.7.1?
Node logs
Diagnostics
Check ID
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