WP: timed out

[zhanghaijason]

This is only bug and feature tracker, please use it
to report bugs or request features.

---

Issue details

Hello, I am using mindracer https://docs.px4.io/v1.9.0/en/flight_controller/mindracer.html follwing this tutorial trying to using mocap and raspberry pi to control the drone, following .. I got the mocap data to pi and relay it to mavros/vision_pose/pose. And I can echo this topic to see the position and orientation.

After roslaunch mavros px4.launch fcu_url:=/dev/ttyAMA0:921600 gcs_url:=udp://@192.168.0.105:14550 I can connect to gcs but it first gave the warning on VER CMD PR WP and finally an error wp: timed out. Could you help me figure this out? It seems even my diagnostic is really different from others.

MAVROS version and platform

Mavros: rosversion mavros 0.32.0
ROS: Kinetic
Ubuntu: 16.04

Autopilot type and version

PX4 (mindracer running px4)

Version: 1.9.2

Node logs

ubuntu@ubiquityrobot:~$ roslaunch mavros px4.launch fcu_url:=/dev/ttyAMA0:921600 gcs_url:=udp://@192.168.0.103:14550
... logging to /home/ubuntu/.ros/log/74c743f0-d0dc-11e5-b87a-2d7b7667a309/roslaunch-ubiquityrobot-5558.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubiquityrobot.local:37841/

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/ttyAMA0:921600
 * /mavros/gcs_url: udp://@192.168.0....
 * /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/mocap/use_pose: True
 * /mavros/mocap/use_tf: False
 * /mavros/odometry/in/child_frame_id: base_link
 * /mavros/odometry/in/frame_id: odom
 * /mavros/odometry/in/frame_tf/body_frame_orientation: flu
 * /mavros/odometry/in/frame_tf/local_frame: local_origin_ned
 * /mavros/odometry/out/frame_tf/body_frame_orientation: frd
 * /mavros/odometry/out/frame_tf/local_frame: vision_ned
 * /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: map
 * /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: map
 * /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: map
 * /mavros/wheel_odometry/tf/send: True
 * /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)

ROS_MASTER_URI=http://ubiquityrobot.local:11311

process[mavros-1]: started with pid [5576]
[ INFO] [1455208844.137705489]: FCU URL: /dev/ttyAMA0:921600
[ INFO] [1455208844.153752885]: serial0: device: /dev/ttyAMA0 @ 921600 bps
[ INFO] [1455208844.154985385]: GCS URL: udp://@192.168.0.103:14550
[ INFO] [1455208844.155989760]: udp1: Bind address: 0.0.0.0:14555
[ INFO] [1455208844.156744395]: udp1: Remote address: 192.168.0.103:14550
[ INFO] [1455208844.282556270]: Plugin 3dr_radio loaded
[ INFO] [1455208844.295163562]: Plugin 3dr_radio initialized
[ INFO] [1455208844.296170333]: Plugin actuator_control loaded
[ INFO] [1455208844.369661687]: Plugin actuator_control initialized
[ INFO] [1455208844.406550229]: Plugin adsb loaded
[ INFO] [1455208844.474679656]: Plugin adsb initialized
[ INFO] [1455208844.475962781]: Plugin altitude loaded
[ INFO] [1455208844.495081635]: Plugin altitude initialized
[ INFO] [1455208844.496303041]: Plugin cam_imu_sync loaded
[ INFO] [1455208844.506808041]: Plugin cam_imu_sync initialized
[ INFO] [1455208844.507841375]: Plugin command loaded
[ INFO] [1455208844.592390229]: Plugin command initialized
[ INFO] [1455208844.593133666]: Plugin companion_process_status loaded
[ INFO] [1455208844.644659499]: Plugin companion_process_status initialized
[ INFO] [1455208844.645804812]: Plugin debug_value loaded
[ INFO] [1455208844.743173249]: Plugin debug_value initialized
[ INFO] [1455208844.743863874]: Plugin distance_sensor blacklisted
[ INFO] [1455208844.745333510]: Plugin fake_gps loaded
[ INFO] [1455208844.915524656]: udp1: Remote address: 192.168.0.103:14550
[ INFO] [1455208844.966293770]: Plugin fake_gps initialized
[ INFO] [1455208844.969737624]: Plugin ftp loaded
[ INFO] [1455208845.080501895]: Plugin ftp initialized
[ INFO] [1455208845.081731426]: Plugin global_position loaded
[ INFO] [1455208845.300934291]: Plugin global_position initialized
[ INFO] [1455208845.301611791]: Plugin gps_rtk loaded
[ INFO] [1455208845.350077416]: Plugin gps_rtk initialized
[ INFO] [1455208845.351020958]: Plugin hil loaded
[ INFO] [1455208845.566911270]: Plugin hil initialized
[ INFO] [1455208845.570086530]: Plugin home_position loaded
[ INFO] [1455208845.639278197]: Plugin home_position initialized
[ INFO] [1455208845.641824082]: Plugin imu loaded
[ INFO] [1455208845.733780332]: Plugin imu initialized
[ INFO] [1455208845.734611843]: Plugin landing_target loaded
[ INFO] [1455208845.935620176]: Plugin landing_target initialized
[ INFO] [1455208845.937561426]: Plugin local_position loaded
[ INFO] [1455208846.046700280]: Plugin local_position initialized
[ INFO] [1455208846.047413353]: Plugin log_transfer loaded
[ INFO] [1455208846.087128197]: Plugin log_transfer initialized
[ INFO] [1455208846.088955905]: Plugin manual_control loaded
[ INFO] [1455208846.168727103]: Plugin manual_control initialized
[ INFO] [1455208846.171205332]: Plugin mocap_pose_estimate loaded
[ INFO] [1455208846.260380020]: Plugin mocap_pose_estimate initialized
[ INFO] [1455208846.262383874]: Plugin mount_control loaded
[ INFO] [1455208846.308658145]: Plugin mount_control initialized
[ INFO] [1455208846.309568041]: Plugin obstacle_distance loaded
[ INFO] [1455208846.351094811]: Plugin obstacle_distance initialized
[ INFO] [1455208846.354215645]: Plugin odom loaded
[ INFO] [1455208846.484418145]: Plugin odom initialized
[ INFO] [1455208846.485190280]: Plugin param loaded
[ INFO] [1455208846.531907572]: Plugin param initialized
[ INFO] [1455208846.534620124]: Plugin px4flow loaded
[ INFO] [1455208846.623070645]: Plugin px4flow initialized
[ INFO] [1455208846.623580228]: Plugin rangefinder blacklisted
[ INFO] [1455208846.624627572]: Plugin rc_io loaded
[ INFO] [1455208846.665486113]: Plugin rc_io initialized
[ INFO] [1455208846.665779603]: Plugin safety_area blacklisted
[ INFO] [1455208846.667205853]: Plugin setpoint_accel loaded
[ INFO] [1455208846.706575540]: Plugin setpoint_accel initialized
[ INFO] [1455208846.707523613]: Plugin setpoint_attitude loaded
[ INFO] [1455208846.803785592]: Plugin setpoint_attitude initialized
[ INFO] [1455208846.804666009]: Plugin setpoint_position loaded
[ INFO] [1455208846.937990436]: Plugin setpoint_position initialized
[ INFO] [1455208846.938840697]: Plugin setpoint_raw loaded
[ INFO] [1455208847.031368040]: Plugin setpoint_raw initialized
[ INFO] [1455208847.032840696]: Plugin setpoint_velocity loaded
[ INFO] [1455208847.116040124]: Plugin setpoint_velocity initialized
[ INFO] [1455208847.117174603]: Plugin sys_status loaded
[ INFO] [1455208847.235383769]: Plugin sys_status initialized
[ INFO] [1455208847.236845384]: Plugin sys_time loaded
[ INFO] [1455208847.294460019]: TM: Timesync mode: MAVLINK
[ INFO] [1455208847.304029811]: Plugin sys_time initialized
[ INFO] [1455208847.304848561]: Plugin trajectory loaded
[ INFO] [1455208847.397672103]: Plugin trajectory initialized
[ INFO] [1455208847.400273873]: Plugin vfr_hud loaded
[ INFO] [1455208847.408627103]: Plugin vfr_hud initialized
[ INFO] [1455208847.408981061]: Plugin vibration blacklisted
[ INFO] [1455208847.410391842]: Plugin vision_pose_estimate loaded
[ INFO] [1455208847.560413665]: Plugin vision_pose_estimate initialized
[ INFO] [1455208847.561259915]: Plugin vision_speed_estimate loaded
[ INFO] [1455208847.646714134]: Plugin vision_speed_estimate initialized
[ INFO] [1455208847.647960488]: Plugin waypoint loaded
[ INFO] [1455208847.704178821]: Plugin waypoint initialized
[ INFO] [1455208847.704669446]: Plugin wheel_odometry blacklisted
[ INFO] [1455208847.706804498]: Plugin wind_estimation loaded
[ INFO] [1455208847.715676217]: Plugin wind_estimation initialized
[ INFO] [1455208847.716422780]: Autostarting mavlink via USB on PX4
[ INFO] [1455208847.718213665]: IMU: High resolution IMU detected!
[ INFO] [1455208847.720885436]: Built-in SIMD instructions: None
[ INFO] [1455208847.721108457]: Built-in MAVLink package version: 2019.7.7
[ INFO] [1455208847.721828457]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1455208847.722277363]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1455208847.727645800]: IMU: Attitude quaternion IMU detected!
[ INFO] [1455208848.423404915]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1455208848.441301008]: IMU: Attitude quaternion IMU detected!
[ INFO] [1455208848.444132050]: IMU: High resolution IMU detected!
[ WARN] [1455208850.435204237]: VER: broadcast request timeout, retries left 4
[ WARN] [1455208851.433375851]: VER: broadcast request timeout, retries left 3
[ WARN] [1455208857.438288557]: CMD: Command 520 -- wait ack timeout
[ WARN] [1455208857.442436474]: VER: unicast request timeout, retries left 2
[ INFO] [1455208858.424864442]: HP: requesting home position
[ WARN] [1455208862.454343972]: CMD: Command 520 -- wait ack timeout
[ WARN] [1455208862.458450951]: PR: request list timeout, retries left 2
[ WARN] [1455208862.462701003]: VER: unicast request timeout, retries left 1
[ WARN] [1455208863.483537721]: CMD: Command 410 -- wait ack timeout
[ WARN] [1455208863.487047617]: PR: request list timeout, retries left 1
[ WARN] [1455208864.486989127]: WP: timeout, retries left 2
[ WARN] [1455208864.488762721]: PR: request list timeout, retries left 0
[ WARN] [1455208865.488584700]: WP: timeout, retries left 1
[ WARN] [1455208866.489168241]: WP: timeout, retries left 0
[ WARN] [1455208867.482719335]: CMD: Command 520 -- wait ack timeout
[ WARN] [1455208867.485498397]: VER: unicast request timeout, retries left 0
[ERROR] [1455208867.491541522]: WP: timed out.
[ INFO] [1455208868.425593032]: HP: requesting home position
[ WARN] [1455208872.499300635]: CMD: Command 520 -- wait ack timeout
[ WARN] [1455208872.500450843]: VER: your FCU don't support AUTOPILOT_VERSION, switched to default capabilities
[ WARN] [1455208873.431819228]: CMD: Command 410 -- wait ack timeout
[ INFO] [1455208875.947794227]: RC_CHANNELS message detected!
[ INFO] [1455208878.424890060]: HP: requesting home position
[ WARN] [1455208883.443769953]: CMD: Command 410 -- wait ack timeout
[ INFO] [1455208888.425140420]: HP: requesting home position
[ WARN] [1455208893.440044898]: CMD: Command 410 -- wait ack timeout
[ INFO] [1455208898.425330989]: HP: requesting home position
[ WARN] [1455208903.454113175]: CMD: Command 410 -- wait ack timeout
[ INFO] [1455208908.429613850]: HP: requesting home position

Diagnostics

ubuntu@ubiquityrobot:~$ rostopic echo -n1 /diagnostics 
header: 
  seq: 138
  stamp: 
    secs: 1455208246
    nsecs: 880497800
  frame_id: ''
status: 
  - 
    level: 2
    name: "joy_node: Joystick Driver Status"
    message: "Joystick not open."
    hardware_id: "none"
    values: 
      - 
        key: "topic"
        value: "/joy"
      - 
        key: "device"
        value: "/dev/input/js0"
      - 
        key: "device name"
        value: ''
      - 
        key: "dead zone"
        value: "0.05"
      - 
        key: "autorepeat rate (Hz)"
        value: "20"
      - 
        key: "coalesce interval (s)"
        value: "0.001"
      - 
        key: "recent joystick event rate (Hz)"
        value: "0"
      - 
        key: "recent publication rate (Hz)"
        value: "0"
      - 
        key: "subscribers"
        value: "1"
      - 
        key: "default trig val"
        value: "False"
      - 
        key: "sticky buttons"
        value: "False"
---

Check ID

ubuntu@ubiquityrobot:~$ rosrun mavros checkid
OK. I got messages from 1:1.

---
Received 4555 messages, from 4 addresses
sys:comp   list of messages
 191:102   212
  0:0     1
  1:1     32, 1, 2, 245, 36, 230, 105, 74, 140, 141, 111, 76, 241, 83, 147, 4, 0, 30, 31
 130:154   28

[zhanghaijason]

This morning I got a different diagnostics
`ubuntu@ubiquityrobot:~$ rostopic echo -n1 /diagnostics
header:
seq: 37
stamp:
secs: 1564054776
nsecs: 979021734
frame_id: ''
status:

level: 0
name: "mavros: FCU connection"
message: "connected"
hardware_id: "/dev/ttyAMA0:921600"
values: 
  - 
    key: "Received packets:"
    value: "10346"
  - 
    key: "Dropped packets:"
    value: "0"
  - 
    key: "Buffer overruns:"
    value: "0"
  - 
    key: "Parse errors:"
    value: "0"
  - 
    key: "Rx sequence number:"
    value: "137"
  - 
    key: "Tx sequence number:"
    value: "125"
  - 
    key: "Rx total bytes:"
    value: "449911"
  - 
    key: "Tx total bytes:"
    value: "189501"
  - 
    key: "Rx speed:"
    value: "19469.000000"
  - 
    key: "Tx speed:"
    value: "3650.000000"

• level: 2
  name: "mavros: GPS"
  message: "No satellites"
  hardware_id: "/dev/ttyAMA0:921600"
  values:

  key: "Satellites visible"
  value: "0"
  

  • key: "Fix type"
    value: "0"
  • key: "EPH (m)"
    value: "Unknown"
  • key: "EPV (m)"
    value: "Unknown"

• level: 0
  name: "mavros: Heartbeat"
  message: "Normal"
  hardware_id: "/dev/ttyAMA0:921600"
  values:

  key: "Heartbeats since startup"
  value: "26"
  

  • key: "Frequency (Hz)"
    value: "0.952378"
  • 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 health"
  hardware_id: "/dev/ttyAMA0:921600"
  values:

  key: "Sensor present"
  value: "0x0000002C"
  

  • key: "Sensor enabled"
    value: "0x0021000F"
  • key: "Sensor health"
    value: "0x0000002C"
  • key: "3D gyro"
    value: "Fail"
  • key: "3D accelerometer"
    value: "Fail"
  • 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: "36.0"
  • 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
  name: "mavros: Battery"
  message: "Low voltage"
  hardware_id: "/dev/ttyAMA0:921600"
  values:

  key: "Voltage"
  value: "8.92"
  

  • key: "Current"
    value: "0.0"
  • key: "Remaining"
    value: "100.0"

• level: 2
  name: "mavros: Time Sync"
  message: "No events recorded."
  hardware_id: "/dev/ttyAMA0:921600"
  values:

  key: "Timesyncs since startup"
  value: "0"
  

  • key: "Frequency (Hz)"
    value: "0.000000"
  • key: "Last RTT (ms)"
    value: "0.000000"
  • key: "Mean RTT (ms)"
    value: "0.000000"
  • key: "Last remote time (s)"
    value: "0.000000000"
  • key: "Estimated time offset (s)"
    value: "0.000000000"
    ---`

[zhanghaijason]

As I disconnect RX on autopilot to TX on raspi, it gives the same inforamtion. So I guess RX on autopilot is not working.

[zhanghaijason]

It is because the RX on minracer is kind of specified for usb connection. After switching to USB connection from mindracer to raspi. The problem solved.