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Arm state unstable #1227

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nicovanduijn opened this issue Apr 30, 2019 · 6 comments
Closed

Arm state unstable #1227

nicovanduijn opened this issue Apr 30, 2019 · 6 comments
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@nicovanduijn
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nicovanduijn commented Apr 30, 2019 •
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Issue details

In our system we sometimes encounter a situation where the drone is armed, but the mavros on our companion computer is publishing alternating 'True' and 'False' on the /mavros/state/armed topic.

I'm not sure how easy this is to reproduce. It comes and goes quite randomly on our system.

Any ideas what could be causing this?

MAVROS version and platform

Mavros: 0.29.0
ROS: Kinetic
Ubuntu: 16.04

Autopilot type and version

[ ] ArduPilot
[ X] PX4

Version: Upstream

Node logs

image

Rosbag
@nicovanduijn nicovanduijn changed the title [Bug] Arm state unstable Arm state unstable Apr 30, 2019
@vooon vooon added the question label Apr 30, 2019
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vooon commented Apr 30, 2019

Probably you have several sources. Please catch some more full /mavros/state.
Also need to have diagnostics and node logs.

@nicovanduijn
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It's difficult to reproduce, but I'll make sure to log /diagnostics and all mavros topics next time I see it.

What else do you need? I did log mavros/state, right? (In the bag linked above)

@nicovanduijn
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Here's a bag with all mavros topics and the /diagnostics
rosbag

@nicovanduijn
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Turns out we ran into this: #1107

nicovanduijn pushed a commit to nicovanduijn/mavros that referenced this issue May 3, 2019
Filter heartbeats by component id as well
39940bc 
This addresses mavlink#1107 and mavlink#1227, by filtering incoming heartbeats
by component ids before publishing the state.
@nicovanduijn nicovanduijn mentioned this issue May 3, 2019
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TSC21 pushed a commit that referenced this issue May 3, 2019
@TSC21
Filter heartbeats by component id as well
18b6b95 
This addresses #1107 and #1227, by filtering incoming heartbeats
by component ids before publishing the state.
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TSC21 commented May 5, 2019

@nicovanduijn this gets fixed with #1228 right?

@nicovanduijn
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Yes!

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@vooon @TSC21 @nicovanduijn