how to increase the update frequency of imu in ardupilot?

[cheslee-z]

Issue details

I use usb to ttl module to connect pixhawk with PC, and I want to read pixhawk built-in imu data through mavros. Everything is fine now. But when I run the command rostopic hz /mavros/imu/data_raw, I find that the frequency of imu is only about 30hz, see below.

subscribed to [/mavros/imu/data_raw]
average rate: 25.047
	min: 0.032s max: 0.048s std dev: 0.00372s window: 25
average rate: 25.002
	min: 0.032s max: 0.048s std dev: 0.00353s window: 50
 average rate: 24.966
	min: 0.032s max: 0.048s std dev: 0.00350s window: 75
average rate: 25.002
	min: 0.032s max: 0.048s std dev: 0.00341s window: 100
average rate: 24.988
	min: 0.032s max: 0.048s std dev: 0.00330s window: 125
average rate: 24.990
	min: 0.032s max: 0.048s std dev: 0.00330s window: 150
average rate: 24.992
	min: 0.032s max: 0.048s std dev: 0.00327s window: 175
average rate: 24.988
	min: 0.032s max: 0.048s std dev: 0.00320s window: 200
average rate: 24.986
	min: 0.032s max: 0.048s std dev: 0.00313s window: 225
^Caverage rate: 24.991
	min: 0.032s max: 0.048s std dev: 0.00316s window: 239

I don't know why the update frequency of IMU is so low, but I want to increase its update frequency, so I used this command rosrun mavros mavsys rate --all 100, but the update frequency of IMU is still very low (reference below). I don't know where the problem is, maybe it's not the problem of mavros?

subscribed to [/mavros/imu/data_raw]
average rate: 34.737
	min: 0.026s max: 0.035s std dev: 0.00231s window: 34
average rate: 34.815
	min: 0.024s max: 0.035s std dev: 0.00234s window: 69
average rate: 34.485
	min: 0.024s max: 0.035s std dev: 0.00246s window: 103
average rate: 34.595
	min: 0.022s max: 0.035s std dev: 0.00254s window: 138
average rate: 34.605
	min: 0.022s max: 0.035s std dev: 0.00253s window: 173
average rate: 34.645
	min: 0.022s max: 0.035s std dev: 0.00262s window: 208
average rate: 34.707
	min: 0.022s max: 0.035s std dev: 0.00261s window: 243
average rate: 34.734
	min: 0.022s max: 0.035s std dev: 0.00269s window: 278
average rate: 34.710
	min: 0.022s max: 0.035s std dev: 0.00266s window: 312
^Caverage rate: 34.716
	min: 0.022s max: 0.035s std dev: 0.00265s window: 317

MAVROS version and platform

Mavros: maybe1.16.0?(to be honest, i don't know how to check the version of mavros)
ROS: noetic
Ubuntu: 20.04

Autopilot type and version

[ √ ] ArduPilot
[ ] PX4

Version: ArduCopter V4.3.6 (0c5e999c)

Node logs

... logging to /home/zcl/.ros/log/339b68c4-df5d-11ed-823e-ab32ba1ed91a/roslaunch-zcl-20590.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://zcl:42923/

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /mavros/cmd/use_comp_id_system_control: False
 * /mavros/conn/heartbeat_mav_type: ONBOARD_CONTROLLER
 * /mavros/conn/heartbeat_rate: 1.0
 * /mavros/conn/system_time_rate: 1.0
 * /mavros/conn/timeout: 10.0
 * /mavros/conn/timesync_rate: 0.0
 * /mavros/distance_sensor/rangefinder_pub/field_of_view: 0.0
 * /mavros/distance_sensor/rangefinder_pub/frame_id: lidar
 * /mavros/distance_sensor/rangefinder_pub/id: 0
 * /mavros/distance_sensor/rangefinder_pub/send_tf: False
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/rangefinder_sub/id: 1
 * /mavros/distance_sensor/rangefinder_sub/orientation: PITCH_270
 * /mavros/distance_sensor/rangefinder_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_id: 4
 * /mavros/fake_gps/gps_rate: 5.0
 * /mavros/fake_gps/horiz_accuracy: 0.5
 * /mavros/fake_gps/mocap_transform: False
 * /mavros/fake_gps/mocap_withcovariance: False
 * /mavros/fake_gps/satellites_visible: 6
 * /mavros/fake_gps/speed_accuracy: 0.0
 * /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_hil_gps: True
 * /mavros/fake_gps/use_mocap: True
 * /mavros/fake_gps/use_vision: False
 * /mavros/fake_gps/vert_accuracy: 0.5
 * /mavros/fcu_protocol: v2.0
 * /mavros/fcu_url: /dev/ttyUSB0:921600
 * /mavros/gcs_url: 
 * /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/guided_target/tf/child_frame_id: target_position
 * /mavros/guided_target/tf/frame_id: map
 * /mavros/guided_target/tf/listen: False
 * /mavros/guided_target/tf/rate_limit: 50.0
 * /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/mission/use_mission_item_int: True
 * /mavros/mocap/use_pose: True
 * /mavros/mocap/use_tf: False
 * /mavros/mount/debounce_s: 4.0
 * /mavros/mount/err_threshold_deg: 10.0
 * /mavros/mount/negate_measured_pitch: False
 * /mavros/mount/negate_measured_roll: False
 * /mavros/mount/negate_measured_yaw: False
 * /mavros/odometry/estimator_type: 3
 * /mavros/odometry/frame_tf/desired_frame: ned
 * /mavros/plugin_blacklist: ['actuator_contro...
 * /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: False
 * /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: noetic
 * /rosversion: 1.16.0

NODES
  /
    mavros (mavros/mavros_node)

auto-starting new master
process[master]: started with pid [20598]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 339b68c4-df5d-11ed-823e-ab32ba1ed91a
process[rosout-1]: started with pid [20608]
started core service [/rosout]
process[mavros-2]: started with pid [20616]
[ INFO] [1681982691.326290456]: FCU URL: /dev/ttyUSB0:921600
[ INFO] [1681982691.327022145]: serial0: device: /dev/ttyUSB0 @ 921600 bps
[ INFO] [1681982691.328244944]: GCS bridge disabled
[ INFO] [1681982691.331762462]: Plugin 3dr_radio loaded
[ INFO] [1681982691.332077112]: Plugin 3dr_radio initialized
[ INFO] [1681982691.332083179]: Plugin actuator_control blacklisted
[ INFO] [1681982691.333590043]: Plugin adsb loaded
[ INFO] [1681982691.334236121]: Plugin adsb initialized
[ INFO] [1681982691.334241288]: Plugin altitude blacklisted
[ INFO] [1681982691.334264274]: Plugin cam_imu_sync loaded
[ INFO] [1681982691.334386490]: Plugin cam_imu_sync initialized
[ INFO] [1681982691.334406338]: Plugin camera loaded
[ INFO] [1681982691.334529180]: Plugin camera initialized
[ INFO] [1681982691.334548913]: Plugin cellular_status loaded
[ INFO] [1681982691.335039231]: Plugin cellular_status initialized
[ INFO] [1681982691.335062505]: Plugin command loaded
[ INFO] [1681982691.336380232]: Plugin command initialized
[ INFO] [1681982691.336399739]: Plugin companion_process_status loaded
[ INFO] [1681982691.337315164]: Plugin companion_process_status initialized
[ INFO] [1681982691.337333908]: Plugin debug_value blacklisted
[ INFO] [1681982691.337384485]: Plugin distance_sensor loaded
[ INFO] [1681982691.340977993]: Plugin distance_sensor initialized
[ INFO] [1681982691.341027496]: Plugin esc_status loaded
[ INFO] [1681982691.341823913]: Plugin esc_status initialized
[ INFO] [1681982691.341866266]: Plugin esc_telemetry loaded
[ INFO] [1681982691.342032474]: Plugin esc_telemetry initialized
[ INFO] [1681982691.342075731]: Plugin fake_gps loaded
[ INFO] [1681982691.346321678]: Plugin fake_gps initialized
[ INFO] [1681982691.346333599]: Plugin ftp blacklisted
[ INFO] [1681982691.346375345]: Plugin geofence loaded
[ INFO] [1681982691.347132955]: Plugin geofence initialized
[ INFO] [1681982691.347168204]: Plugin global_position loaded
[ INFO] [1681982691.351935312]: Plugin global_position initialized
[ INFO] [1681982691.351971606]: Plugin gps_input loaded
[ INFO] [1681982691.352851226]: Plugin gps_input initialized
[ INFO] [1681982691.352882577]: Plugin gps_rtk loaded
[ INFO] [1681982691.353792208]: Plugin gps_rtk initialized
[ INFO] [1681982691.353821327]: Plugin gps_status loaded
[ INFO] [1681982691.354455397]: Plugin gps_status initialized
[ INFO] [1681982691.354484084]: Plugin guided_target loaded
[ INFO] [1681982691.356011084]: Plugin guided_target initialized
[ INFO] [1681982691.356017412]: Plugin hil blacklisted
[ INFO] [1681982691.356046560]: Plugin home_position loaded
[ INFO] [1681982691.356870527]: Plugin home_position initialized
[ INFO] [1681982691.356899174]: Plugin imu loaded
[ INFO] [1681982691.358513020]: Plugin imu initialized
[ INFO] [1681982691.358533383]: Plugin landing_target loaded
[ INFO] [1681982691.361384150]: Plugin landing_target initialized
[ INFO] [1681982691.361408386]: Plugin local_position loaded
[ INFO] [1681982691.362776729]: Plugin local_position initialized
[ INFO] [1681982691.362797729]: Plugin log_transfer loaded
[ INFO] [1681982691.363468209]: Plugin log_transfer initialized
[ INFO] [1681982691.363489203]: Plugin mag_calibration_status loaded
[ INFO] [1681982691.363717855]: Plugin mag_calibration_status initialized
[ INFO] [1681982691.363743919]: Plugin manual_control loaded
[ INFO] [1681982691.364336086]: Plugin manual_control initialized
[ INFO] [1681982691.364358548]: Plugin mocap_pose_estimate loaded
[ INFO] [1681982691.365449957]: Plugin mocap_pose_estimate initialized
[ INFO] [1681982691.365472388]: Plugin mount_control loaded
[ WARN] [1681982691.367343338]: Could not retrive negate_measured_roll parameter value, using default (0)
[ WARN] [1681982691.367437949]: Could not retrive negate_measured_pitch parameter value, using default (0)
[ WARN] [1681982691.367527182]: Could not retrive negate_measured_yaw parameter value, using default (0)
[ WARN] [1681982691.367838754]: Could not retrive debounce_s parameter value, using default (4.000000)
[ WARN] [1681982691.367924431]: Could not retrive err_threshold_deg parameter value, using default (10.000000)
[ INFO] [1681982691.367935281]: Plugin mount_control initialized
[ INFO] [1681982691.367966472]: Plugin nav_controller_output loaded
[ INFO] [1681982691.368104223]: Plugin nav_controller_output initialized
[ INFO] [1681982691.368127539]: Plugin obstacle_distance loaded
[ INFO] [1681982691.368708796]: Plugin obstacle_distance initialized
[ INFO] [1681982691.368733342]: Plugin odom loaded
[ INFO] [1681982691.369515835]: Plugin odom initialized
[ INFO] [1681982691.369542573]: Plugin onboard_computer_status loaded
[ INFO] [1681982691.370045570]: Plugin onboard_computer_status initialized
[ INFO] [1681982691.370075265]: Plugin param loaded
[ INFO] [1681982691.370686517]: Plugin param initialized
[ INFO] [1681982691.370712483]: Plugin play_tune loaded
[ INFO] [1681982691.371257712]: Plugin play_tune initialized
[ INFO] [1681982691.371264862]: Plugin px4flow blacklisted
[ INFO] [1681982691.371296846]: Plugin rallypoint loaded
[ INFO] [1681982691.372023366]: Plugin rallypoint initialized
[ INFO] [1681982691.372052067]: Plugin rangefinder loaded
[ INFO] [1681982691.372202662]: Plugin rangefinder initialized
[ INFO] [1681982691.372238103]: Plugin rc_io loaded
[ INFO] [1681982691.373172307]: Plugin rc_io initialized
[ INFO] [1681982691.373181746]: Plugin safety_area blacklisted
[ INFO] [1681982691.373225540]: Plugin setpoint_accel loaded
[ INFO] [1681982691.374114526]: Plugin setpoint_accel initialized
[ INFO] [1681982691.374163198]: Plugin setpoint_attitude loaded
[ INFO] [1681982691.377103088]: Plugin setpoint_attitude initialized
[ INFO] [1681982691.377151988]: Plugin setpoint_position loaded
[ INFO] [1681982691.381305021]: Plugin setpoint_position initialized
[ INFO] [1681982691.381352129]: Plugin setpoint_raw loaded
[ INFO] [1681982691.383266907]: Plugin setpoint_raw initialized
[ INFO] [1681982691.383299518]: Plugin setpoint_trajectory loaded
[ INFO] [1681982691.384325097]: Plugin setpoint_trajectory initialized
[ INFO] [1681982691.384355501]: Plugin setpoint_velocity loaded
[ INFO] [1681982691.385578519]: Plugin setpoint_velocity initialized
[ INFO] [1681982691.385620839]: Plugin sys_status loaded
[ INFO] [1681982691.387855647]: Plugin sys_status initialized
[ INFO] [1681982691.387888387]: Plugin sys_time loaded
[ INFO] [1681982691.389226034]: TM: Timesync mode: MAVLINK
[ INFO] [1681982691.389350056]: TM: Not publishing sim time
[ INFO] [1681982691.389649393]: Plugin sys_time initialized
[ INFO] [1681982691.389687858]: Plugin terrain loaded
[ INFO] [1681982691.389843545]: Plugin terrain initialized
[ INFO] [1681982691.389876337]: Plugin trajectory loaded
[ INFO] [1681982691.391189343]: Plugin trajectory initialized
[ INFO] [1681982691.391219796]: Plugin tunnel loaded
[ INFO] [1681982691.391898458]: Plugin tunnel initialized
[ INFO] [1681982691.391931879]: Plugin vfr_hud loaded
[ INFO] [1681982691.392065001]: Plugin vfr_hud initialized
[ INFO] [1681982691.392072197]: Plugin vibration blacklisted
[ INFO] [1681982691.392104163]: Plugin vision_pose_estimate loaded
[ INFO] [1681982691.393708299]: Plugin vision_pose_estimate initialized
[ INFO] [1681982691.393715508]: Plugin vision_speed_estimate blacklisted
[ INFO] [1681982691.393748636]: Plugin waypoint loaded
[ INFO] [1681982691.394754283]: Plugin waypoint initialized
[ INFO] [1681982691.394762844]: Plugin wheel_odometry blacklisted
[ INFO] [1681982691.394795263]: Plugin wind_estimation loaded
[ INFO] [1681982691.394915708]: Plugin wind_estimation initialized
[ INFO] [1681982691.394944870]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1681982691.394952360]: Built-in MAVLink package version: 2022.12.30
[ INFO] [1681982691.394961672]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1681982691.394972094]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1681982691.395047831]: RC_CHANNELS message detected!
[ INFO] [1681982691.395071622]: IMU: Raw IMU message used.
[ WARN] [1681982691.395086292]: IMU: linear acceleration on RAW_IMU known on APM only.
[ WARN] [1681982691.395097025]: IMU: ~imu/data_raw stores unscaled raw acceleration report.
[ WARN] [1681982691.395117726]: GP: No GPS fix
[ WARN] [1681982691.395142005]: TM: Wrong FCU time.
[ INFO] [1681982691.890164614]: CON: Got HEARTBEAT, connected. FCU: ArduPilot
[ INFO] [1681982691.903476840]: RC_CHANNELS message detected!
[ WARN] [1681982692.908079148]: CMD: Unexpected command 520, result 0
[ INFO] [1681982692.908232513]: GF: Using MISSION_ITEM_INT
[ INFO] [1681982692.908284095]: RP: Using MISSION_ITEM_INT
[ INFO] [1681982692.908358702]: WP: Using MISSION_ITEM_INT
[ INFO] [1681982692.908508516]: VER: 1.1: Capabilities         0x000000000000dbef
[ INFO] [1681982692.908557337]: VER: 1.1: Flight software:     040306ff (0c5e999c)
[ INFO] [1681982692.908601937]: VER: 1.1: Middleware software: 00000000 (        )
[ INFO] [1681982692.908672756]: VER: 1.1: OS software:         00000000 (66e5de0d	AW�)
[ INFO] [1681982692.908739389]: VER: 1.1: Board hardware:      00090000
[ INFO] [1681982692.908795443]: VER: 1.1: VID/PID:             1209:5741
[ INFO] [1681982692.908830893]: VER: 1.1: UID:                 0000000000000000
[ERROR] [1681982699.905235044]: FCU: PreArm: Throttle below failsafe
[ INFO] [1681982701.891679092]: HP: requesting home position
[ INFO] [1681982701.897531728]: FCU: ArduCopter V4.3.6 (0c5e999c)
[ INFO] [1681982701.897638866]: FCU: ChibiOS: 66e5de0d
[ INFO] [1681982701.900252071]: FCU: fmuv3 0020002C 33385115 39323832
[ INFO] [1681982701.900363995]: FCU: RCOut: PWM:1-14
[ INFO] [1681982701.902600376]: FCU: IMU0: fast sampling enabled 8.0kHz/1.0kHz
[ INFO] [1681982701.902711518]: FCU: Frame: QUAD/X
[ WARN] [1681982706.905079033]: FCU: Need mavlink2 for item transfer
[ INFO] [1681982706.905241146]: WP: mission received
[ WARN] [1681982706.907427790]: FCU: Need mavlink2 for item transfer
[ WARN] [1681982707.890679282]: GF: timeout, retries left 2
[ WARN] [1681982707.891934166]: RP: timeout, retries left 2
[ WARN] [1681982707.903929211]: FCU: Need mavlink2 for item transfer
[ WARN] [1681982707.910080380]: FCU: Need mavlink2 for item transfer
[ WARN] [1681982708.891113357]: GF: timeout, retries left 1
[ WARN] [1681982708.892218530]: RP: timeout, retries left 1
[ WARN] [1681982708.910202443]: FCU: Need mavlink2 for item transfer
[ WARN] [1681982708.910349170]: FCU: Need mavlink2 for item transfer
[ WARN] [1681982709.891532206]: GF: timeout, retries left 0
[ WARN] [1681982709.892507765]: RP: timeout, retries left 0
[ WARN] [1681982709.905251038]: FCU: Need mavlink2 for item transfer
[ WARN] [1681982709.908544824]: FCU: Need mavlink2 for item transfer
[ERROR] [1681982710.891952253]: GF: timed out.
[ERROR] [1681982710.892844067]: RP: timed out.
[ INFO] [1681982711.891642493]: HP: requesting home position
[ WARN] [1681982721.418833998]: GP: No GPS fix
[ INFO] [1681982721.891607844]: HP: requesting home position
[ INFO] [1681982725.787002824]: PR: parameters list received
[ERROR] [1681982729.901153032]: FCU: PreArm: Throttle below failsafe
[ INFO] [1681982731.891642423]: HP: requesting home position
[ INFO] [1681982741.891636370]: HP: requesting home position
[ WARN] [1681982751.418422456]: TM: Wrong FCU time.
[ WARN] [1681982751.443434812]: GP: No GPS fix
[ INFO] [1681982751.891592078]: HP: requesting home position
[ERROR] [1681982760.905617693]: FCU: PreArm: Throttle below failsafe
[ INFO] [1681982761.891699014]: HP: requesting home position
[ INFO] [1681982771.891583095]: HP: requesting home position
[ WARN] [1681982781.469703696]: GP: No GPS fix
[ INFO] [1681982781.891533260]: HP: requesting home position
[ INFO] [1681982791.891642314]: HP: requesting home position
[ERROR] [1681982791.904884124]: FCU: PreArm: Throttle below failsafe
[ INFO] [1681982801.891644396]: HP: requesting home position
[ WARN] [1681982811.440998117]: TM: Wrong FCU time.
[ WARN] [1681982811.496152603]: GP: No GPS fix
[ INFO] [1681982811.891621199]: HP: requesting home position
[ INFO] [1681982821.891685447]: HP: requesting home position
[ERROR] [1681982822.899121903]: FCU: PreArm: Throttle below failsafe
[ INFO] [1681982831.891672853]: HP: requesting home position
^C[mavros-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Diagnostics

header: 
  seq: 57
  stamp: 
    secs: 1681982758
    nsecs: 395394619
  frame_id: ''
status: 
  - 
    level: 0
    name: "mavros: FCU connection"
    message: "connected"
    hardware_id: "/dev/ttyUSB0:921600"
    values: 
      - 
        key: "Received packets:"
        value: "48147"
      - 
        key: "Dropped packets:"
        value: "0"
      - 
        key: "Buffer overruns:"
        value: "0"
      - 
        key: "Parse errors:"
        value: "0"
      - 
        key: "Rx sequence number:"
        value: "53"
      - 
        key: "Tx sequence number:"
        value: "0"
      - 
        key: "Rx total bytes:"
        value: "1405959"
      - 
        key: "Tx total bytes:"
        value: "3341"
      - 
        key: "Rx speed:"
        value: "21153.000000"
      - 
        key: "Tx speed:"
        value: "40.000000"
  - 
    level: 2
    name: "mavros: GPS"
    message: "No satellites"
    hardware_id: "/dev/ttyUSB0:921600"
    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/ttyUSB0:921600"
    values: 
      - 
        key: "Mode"
        value: "255"
  - 
    level: 0
    name: "mavros: Heartbeat"
    message: "Normal"
    hardware_id: "/dev/ttyUSB0:921600"
    values: 
      - 
        key: "Heartbeats since startup"
        value: "67"
      - 
        key: "Frequency (Hz)"
        value: "0.962960"
      - 
        key: "Vehicle type"
        value: "Quadrotor"
      - 
        key: "Autopilot type"
        value: "ArduPilot"
      - 
        key: "Mode"
        value: "STABILIZE"
      - 
        key: "System status"
        value: "Standby"
  - 
    level: 2
    name: "mavros: System"
    message: "Sensor health"
    hardware_id: "/dev/ttyUSB0:921600"
    values: 
      - 
        key: "Sensor present"
        value: "0x5770FC0F"
      - 
        key: "Sensor enabled"
        value: "0x50609C0F"
      - 
        key: "Sensor health"
        value: "0x47709C0F"
      - 
        key: "3D gyro"
        value: "Ok"
      - 
        key: "3D accelerometer"
        value: "Ok"
      - 
        key: "3D magnetometer"
        value: "Ok"
      - 
        key: "absolute pressure"
        value: "Ok"
      - 
        key: "3D angular rate control"
        value: "Ok"
      - 
        key: "attitude stabilization"
        value: "Ok"
      - 
        key: "yaw position"
        value: "Ok"
      - 
        key: "motor outputs / control"
        value: "Ok"
      - 
        key: "AHRS subsystem health"
        value: "Ok"
      - 
        key: "Terrain subsystem health"
        value: "Ok"
      - 
        key: "pre-arm check status. Always healthy when armed"
        value: "Fail"
      - 
        key: "propulsion (actuator, esc, motor or propellor)"
        value: "Ok"
      - 
        key: "CPU Load (%)"
        value: "50.4"
      - 
        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: 1
    name: "mavros: Battery"
    message: "Low voltage"
    hardware_id: "/dev/ttyUSB0:921600"
    values: 
      - 
        key: "Voltage"
        value: "0.00"
      - 
        key: "Current"
        value: "-0.0"
      - 
        key: "Remaining"
        value: "-1.0"
  - 
    level: 0
    name: "mavros: APM Memory"
    message: "Normal"
    hardware_id: "/dev/ttyUSB0:921600"
    values: 
      - 
        key: "Free memory (B)"
        value: "53200"
      - 
        key: "Heap top"
        value: "0x0000"
  - 
    level: 0
    name: "mavros: APM Hardware"
    message: "Normal"
    hardware_id: "/dev/ttyUSB0:921600"
    values: 
      - 
        key: "Core voltage"
        value: "4.793000"
      - 
        key: "I2C errors"
        value: "0"
---

Check ID

OK. I got messages from 1:1.

---
Received 11394 messages, from 1 addresses
sys:comp   list of messages
  1:1     0, 1, 2, 136, 24, 152, 27, 29, 30, 33, 35, 36, 163, 165, 42, 178, 62, 193, 65, 74, 77, 111, 241, 116, 125

[ZhongmouLi]

your can increase the freq of imu using mavros mavsys like
rosrun mavros mavsys rate --extra1 200

[TomerW]

it seems there is a rate limit of 50Hz, i am searching for a way to override this limitation.