offboard任务启动失败

Kerloud UAV (无人机)
1

任务执行的各终端日志如下：
roslaunch


(base) ubuntu@ubuntu:~$ roslaunch mavros px4.launch fcu_url:="/dev/ttyPixhawk:921600"
... logging to /home/ubuntu/.ros/log/d64b58fc-11cc-11ef-b7de-60fb008ea472/roslaunch-ubuntu-11166.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://ubuntu:34405/

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /mavros/camera/frame_id: base_link
 * /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/horizontal_fov_ratio: 1.0
 * /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/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0
 * /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/ttyPixhawk:9...
 * /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/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/fcu/odom_child_id_des: base_link
 * /mavros/odometry/fcu/odom_parent_id_des: map
 * /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: 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: odom
 * /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: odom
 * /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: odom
 * /mavros/wheel_odometry/tf/send: False
 * /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: melodic
 * /rosversion: 1.14.13

NODES
  /
    mavros (mavros/mavros_node)

auto-starting new master
process[master]: started with pid [11181]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to d64b58fc-11cc-11ef-b7de-60fb008ea472
process[rosout-1]: started with pid [11199]
started core service [/rosout]
process[mavros-2]: started with pid [11217]
[ INFO] [1715675696.377608422]: FCU URL: /dev/ttyPixhawk:921600
[ INFO] [1715675696.395212592]: serial0: device: /dev/ttyPixhawk @ 921600 bps
[ INFO] [1715675696.398885653]: GCS bridge disabled
[ INFO] [1715675696.449351865]: Plugin 3dr_radio loaded
[ INFO] [1715675696.457124846]: Plugin 3dr_radio initialized
[ INFO] [1715675696.457496369]: Plugin actuator_control loaded
[ INFO] [1715675696.489366502]: Plugin actuator_control initialized
[ INFO] [1715675696.490607053]: Plugin altitude loaded
[ INFO] [1715675696.497544347]: Plugin altitude initialized
[ INFO] [1715675696.498003492]: Plugin command loaded
[ INFO] [1715675696.555696494]: Plugin command initialized
[ INFO] [1715675696.556202343]: Plugin ftp loaded
[ INFO] [1715675696.615266897]: Plugin ftp initialized
[ INFO] [1715675696.615685507]: Plugin geofence loaded
[ INFO] [1715675696.645459168]: Plugin geofence initialized
[ INFO] [1715675696.646536910]: Plugin global_position loaded
[ INFO] [1715675696.808279776]: Plugin global_position initialized
[ INFO] [1715675696.809295469]: Plugin hil loaded
[ INFO] [1715675696.933497639]: Plugin hil initialized
[ INFO] [1715675696.934837416]: Plugin home_position loaded
[ INFO] [1715675696.970120909]: Plugin home_position initialized
[ INFO] [1715675696.971078166]: Plugin imu loaded
[ INFO] [1715675697.048638141]: Plugin imu initialized
[ INFO] [1715675697.049631087]: Plugin local_position loaded
[ INFO] [1715675697.110454403]: Plugin local_position initialized
[ INFO] [1715675697.111678858]: Plugin manual_control loaded
[ INFO] [1715675697.141407320]: Plugin manual_control initialized
[ INFO] [1715675697.142709776]: Plugin nav_controller_output loaded
[ INFO] [1715675697.149796322]: Plugin nav_controller_output initialized
[ INFO] [1715675697.150127379]: Plugin param loaded
[ INFO] [1715675697.179059848]: Plugin param initialized
[ INFO] [1715675697.180333597]: Plugin rallypoint loaded
[ INFO] [1715675697.206043508]: Plugin rallypoint initialized
[ INFO] [1715675697.206493164]: Plugin rc_io loaded
[ INFO] [1715675697.245727193]: Plugin rc_io initialized
[ INFO] [1715675697.245883674]: Plugin safety_area blacklisted
[ INFO] [1715675697.246168729]: Plugin setpoint_accel loaded
[ INFO] [1715675697.277922659]: Plugin setpoint_accel initialized
[ INFO] [1715675697.278348723]: Plugin setpoint_attitude loaded
[ INFO] [1715675697.371857824]: Plugin setpoint_attitude initialized
[ INFO] [1715675697.372631312]: Plugin setpoint_position loaded
[ INFO] [1715675697.534486953]: Plugin setpoint_position initialized
[ INFO] [1715675697.534873281]: Plugin setpoint_raw loaded
[ INFO] [1715675697.626618730]: Plugin setpoint_raw initialized
[ INFO] [1715675697.627051443]: Plugin setpoint_trajectory loaded
[ INFO] [1715675697.667967415]: Plugin setpoint_trajectory initialized
[ INFO] [1715675697.669239598]: Plugin setpoint_velocity loaded
[ INFO] [1715675697.720876193]: Plugin setpoint_velocity initialized
[ INFO] [1715675697.722677599]: Plugin sys_status loaded
[ INFO] [1715675697.822698117]: Plugin sys_status initialized
[ INFO] [1715675697.823476464]: Plugin sys_time loaded
[ INFO] [1715675697.883719664]: TM: Timesync mode: MAVLINK
[ INFO] [1715675697.886892672]: TM: Not publishing sim time
[ INFO] [1715675697.899547463]: Plugin sys_time initialized
[ INFO] [1715675697.899925096]: Plugin vfr_hud loaded
[ INFO] [1715675697.906242341]: Plugin vfr_hud initialized
[ INFO] [1715675697.907167516]: Plugin waypoint loaded
[ INFO] [1715675697.941619639]: Plugin waypoint initialized
[ INFO] [1715675697.942051521]: Plugin wind_estimation loaded
[ INFO] [1715675697.945027001]: Plugin wind_estimation initialized
[ INFO] [1715675697.945448047]: Built-in SIMD instructions: ARM NEON
[ INFO] [1715675697.945592796]: Built-in MAVLink package version: 2022.12.30
[ INFO] [1715675697.945769833]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1715675697.945993798]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1715675697.946338536]: IMU: Attitude quaternion IMU detected!
[ INFO] [1715675697.947312397]: IMU: High resolution IMU detected!
[ INFO] [1715675697.948058169]: RC_CHANNELS message detected!
[ INFO] [1715675697.952518960]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1715675697.963923050]: IMU: Scaled IMU message used.
[ INFO] [1715675697.964088515]: IMU: High resolution IMU detected!
[ INFO] [1715675697.964226455]: IMU: Attitude quaternion IMU detected!
[ INFO] [1715675697.965281290]: RC_CHANNELS message detected!
[ERROR] [1715675698.761796814]: FCU: Onboard controller lost
[ INFO] [1715675698.968550240]: GF: Using MISSION_ITEM_INT
[ INFO] [1715675698.969252450]: RP: Using MISSION_ITEM_INT
[ INFO] [1715675698.969874132]: WP: Using MISSION_ITEM_INT
[ INFO] [1715675698.970326191]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1715675698.970796281]: VER: 1.1: Flight software:     010a0000 (c45bd6e872000000)
[ INFO] [1715675698.971316528]: VER: 1.1: Middleware software: 010a0000 (c45bd6e872000000)
[ INFO] [1715675698.971532536]: VER: 1.1: OS software:         071d00ff (427238133be2b0ec)
[ INFO] [1715675698.971615749]: VER: 1.1: Board hardware:      00000011
[ INFO] [1715675698.971746881]: VER: 1.1: VID/PID:             26ac:0011
[ INFO] [1715675698.971842658]: VER: 1.1: UID:                 3335510837373430
[ WARN] [1715675698.972167453]: CMD: Unexpected command 520, result 0
[ INFO] [1715675699.055004965]: FCU: Onboard controller regained
[ INFO] [1715675701.232657391]: FCU: ARMED by Arm/Disarm component command
[ INFO] [1715675701.286969864]: FCU: [logger] file: /fs/microsd/log/2024-05-14/08_35_0
[ INFO] [1715675707.960364047]: HP: requesting home position
[ WARN] [1715675709.020135386]: CMD: Unexpected command 176, result 0
[ERROR] [1715675711.211814346]: FCU: REJECT OFFBOARD
[ INFO] [1715675711.280602765]: FCU: DISARMED by Auto disarm initiated
[ INFO] [1715675712.962459679]: GF: mission received
[ERROR] [1715675712.965472825]: FCU: IGN REQUEST LIST: Busy
[ INFO] [1715675712.976872902]: WP: item #0* F:6 C: 22 p: 15 0 0 nan x: 396205793 y: 1181552942 z: 2
[ INFO] [1715675712.980427704]: WP: item #1  F:6 C: 16 p: 0 0 0 nan x: 396204662 y: 1181554316 z: 2
[ INFO] [1715675712.985196142]: WP: item #2  F:2 C:178 p: 1 0.5 -1 0 x: 0 y: 0 z: 0
[ INFO] [1715675712.985354121]: WP: mission received
[ WARN] [1715675713.959869771]: RP: timeout, retries left 2
[ INFO] [1715675713.970165441]: RP: mission received
[ INFO] [1715675717.959449772]: HP: requesting home position
[ INFO] [1715675727.959407664]: HP: requesting home position
[ INFO] [1715675737.959305518]: HP: requesting home position
[ INFO] [1715675747.959309874]: HP: requesting home position
[ INFO] [1715675757.959443078]: HP: requesting home position
[ INFO] [1715675767.959230481]: HP: requesting home position
[ INFO] [1715675770.157655071]: FCU: ARMED by Arm/Disarm component command
[ INFO] [1715675770.216924254]: FCU: [logger] file: /fs/microsd/log/2024-05-14/08_36_1
[ WARN] [1715675770.218955684]: CMD: Unexpected command 176, result 1
[ INFO] [1715675777.959654419]: HP: requesting home position
[ INFO] [1715675780.214064799]: FCU: DISARMED by Auto disarm initiated
[ERROR] [1715675783.189221669]: FCU: REJECT POSITION CONTROL
[ INFO] [1715675787.959387434]: HP: requesting home position
[ INFO] [1715675797.959375133]: HP: requesting home position
[ INFO] [1715675807.959617671]: HP: requesting home position
[ INFO] [1715675817.959319550]: HP: requesting home position
[ INFO] [1715675827.959299274]: HP: requesting home position
[ WARN] [1715675829.928186240]: CMD: Unexpected command 512, result 3
[ INFO] [1715675837.959373531]: HP: requesting home position
[ INFO] [1715675847.959448151]: HP: requesting home position
[ERROR] [1715675851.661611427]: FCU: Data link lost
[ WARN] [1715675851.996496714]: CMD: Unexpected command 519, result 0
[ INFO] [1715675852.022973038]: FCU: Data link regained
[ INFO] [1715675857.959313474]: HP: requesting home position
[ INFO] [1715675867.959357900]: HP: requesting home position
[ INFO] [1715675877.959357155]: HP: requesting home position
[ INFO] [1715675887.959399285]: HP: requesting home position
[ INFO] [1715675897.959389979]: HP: requesting home position
[ INFO] [1715675904.268346051]: WP: seems GCS requesting mission
[ INFO] [1715675904.269123604]: WP: scheduling pull after GCS is done
[ INFO] [1715675907.959641576]: HP: requesting home position
[ INFO] [1715675909.272729842]: WP: mission received
[ INFO] [1715675917.959349790]: HP: requesting home position
[ INFO] [1715675919.467535147]: WP: seems GCS requesting mission
[ INFO] [1715675919.468321520]: WP: scheduling pull after GCS is done
[ INFO] [1715675924.478845156]: WP: item #0* F:6 C: 22 p: 15 0 0 nan x: 396205557 y: 1181553145 z: 50
[ INFO] [1715675924.481860202]: WP: item #1  F:6 C: 16 p: 0 0 0 nan x: 396205389 y: 1181554630 z: 50
[ INFO] [1715675924.482051416]: WP: mission received
[ INFO] [1715675925.676943206]: FCU: ARMED by Arm/Disarm component command
[ WARN] [1715675925.723924462]: CMD: Unexpected command 176, result 1
[ INFO] [1715675925.736471220]: FCU: [logger] file: /fs/microsd/log/2024-05-14/08_38_4
[ INFO] [1715675927.960145305]: HP: requesting home position
[ INFO] [1715675935.750942670]: FCU: DISARMED by Auto disarm initiated
[ INFO] [1715675937.959345960]: HP: requesting home position
[ INFO] [1715675947.959333213]: HP: requesting home position
[ INFO] [1715675957.959455360]: HP: requesting home position
[ INFO] [1715675967.959403974]: HP: requesting home position
[ INFO] [1715675977.959543660]: HP: requesting home position
[ INFO] [1715675987.959381384]: HP: requesting home position
[ INFO] [1715675989.482054554]: WP: seems GCS requesting mission
[ INFO] [1715675989.482814017]: WP: scheduling pull after GCS is done
[ INFO] [1715675994.495579809]: WP: item #0* F:2 C:178 p: 1 0.5 -1 0 x: 0 y: 0 z: 0
[ INFO] [1715675994.502682479]: WP: item #1  F:6 C: 22 p: 15 0 0 nan x: 396205557 y: 1181553145 z: 2
[ INFO] [1715675994.510599395]: WP: item #2  F:6 C: 16 p: 0 0 0 nan x: 396205389 y: 1181554630 z: 2
[ INFO] [1715675994.514962111]: WP: item #3  F:2 C: 20 p: 0 0 0 0 x: 0 y: 0 z: 0
[ INFO] [1715675994.515124025]: WP: mission received
[ INFO] [1715675997.959096571]: HP: requesting home position
[ INFO] [1715675999.197854917]: FCU: ARMED by Arm/Disarm component command
[ WARN] [1715675999.239175477]: CMD: Unexpected command 176, result 1
[ INFO] [1715675999.252850485]: FCU: [logger] file: /fs/microsd/log/2024-05-14/08_39_5
[ INFO] [1715676007.959544276]: HP: requesting home position
[ INFO] [1715676009.252371020]: FCU: DISARMED by Auto disarm initiated
[ INFO] [1715676017.959338028]: HP: requesting home position
[ERROR] [1715676020.638230663]: FCU: REJECT OFFBOARD
[ERROR] [1715676021.636798871]: FCU: REJECT OFFBOARD
[ERROR] [1715676022.688375534]: FCU: REJECT OFFBOARD
[ INFO] [1715676027.959324036]: HP: requesting home position
[ INFO] [1715676037.959378294]: HP: requesting home position
^C[mavros-2] killing on exit
Debug:   mavconn: serial0: recv: v2.0 !CRC Message-Id: 42 [1 bytes] IDs: 1.1 Seq: 254
Debug:   mavconn: serial0: recv: v2.0 !CRC Message-Id: 331 [230 bytes] IDs: 1.1 Seq: 255
Debug:   mavconn: serial0: recv: v2.0 !CRC Message-Id: 32 [28 bytes] IDs: 1.1 Seq: 0
Debug:   mavconn: serial0: recv: v2.0 !CRC Message-Id: 140 [40 bytes] IDs: 1.1 Seq: 1
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

mavros_run

(base) ubuntu@ubuntu:~/src/uav_space/pythonuav_ros$ python3 px4_mavros_run.py /home/ubuntu/src/uav_space/pythonuav_ros/px4_mavros_run.py:100: SyntaxWarning: "is" with a literal. Did you mean "=="?
  if (self.state is "LAND") and (self.local_pose.pose.position.z < -1.0):
Px4 Controller Initialized!
Received New Position Task!
body FLU frame
Vehicle Took Off Failed!

commander

(base) ubuntu@ubuntu:~/src/uav_space/pythonuav_ros$ python commander.py

无法执行代码中的示例程序，该如何调整

2

认真看下用户手册和教程吧，或者用仿真环境先跑起来

3

可以邮件联系contact@cloudkernel.cn说明下购买产品型号，联系人和单位，以及使用我们Dasa u盘作为仿真工具，可以节省很多调试时间

4

[ INFO] [1715743506.628320841]: HP: requesting home position
[ERROR] [1715743512.738984719]: FCU: REJECT OFFBOARD
[ERROR] [1715743515.449661046]: FCU: REJECT OFFBOARD
[ERROR] [1715743516.143539713]: FCU: REJECT OFFBOARD
[ INFO] [1715743516.628298184]: HP: requesting home position
[ERROR] [1715743516.892622280]: FCU: REJECT POSITION CONTROL
[ERROR] [1715743518.762857175]: FCU: REJECT POSITION CONTROL
[ERROR] [1715743519.357228832]: FCU: REJECT POSITION CONTROL
[ERROR] [1715743520.143918166]: FCU: REJECT POSITION CONTROL
[ERROR] [1715743520.920179612]: FCU: REJECT AUTO MISSION
[ERROR] [1715743522.332768712]: FCU: REJECT POSITION CONTROL
[ERROR] [1715743524.209976928]: FCU: REJECT OFFBOARD
[ INFO] [1715743526.628226826]: HP: requesting home position
[ERROR] [1715743529.053655773]: FCU: REJECT OFFBOARD
[ERROR] [1715743530.895965732]: FCU: REJECT OFFBOARD
[ERROR] [1715743531.537090044]: FCU: REJECT OFFBOARD
[ERROR] [1715743532.268534484]: FCU: REJECT OFFBOARD
[ERROR] [1715743532.770711798]: FCU: REJECT OFFBOARD
[ERROR] [1715743536.418565260]: FCU: REJECT OFFBOARD
[ INFO] [1715743536.628317664]: HP: requesting home position
[ERROR] [1715743537.448311422]: FCU: REJECT OFFBOARD
[ERROR] [1715743538.479805747]: FCU: REJECT OFFBOARD
[ERROR] [1715743539.342036650]: FCU: REJECT OFFBOARD
[ERROR] [1715743540.139895318]: FCU: REJECT OFFBOARD
[ERROR] [1715743541.162554015]: FCU: REJECT OFFBOARD
[ERROR] [1715743541.720856004]: FCU: REJECT OFFBOARD
[ERROR] [1715743542.784737241]: FCU: REJECT OFFBOARD
[ERROR] [1715743543.915834472]: FCU: REJECT POSITION CONTROL
在节点启动后，切换通道失败，且无法启动POSITION模式，网上并为找到类似https://discuss.px4.io/t/omnibusf4sd-runs-px4-reject-position-control/11648方案，检查ekf2的状态结果如下：

图片
图片1280×196 62.8 KB

各个传感器状态如下：
图片
图片1280×378 109 KB

所有无人机在起飞前全部校准
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图片1280×432 32.4 KB

但是依然会出现模式切换失败的信息：
图片
图片1280×98 8.01 KB

图片
图片1280×98 6.39 KB

请问是这个ekf2的一些控制参数需要修改吗？还是需要调整哪些地方，谢谢解答
图片
图片1280×715 263 KB

5

position control： 进入的要求是无人机定位正常。这个可以在地面站中的mavlink console通过listener vehicle_local_position查看各方向的位置是否有效。

offboard control：进入的要求是机载电脑有输入的控制信号（比如来自mavros端的控制信号），至少是20Hz以上，在我们提供的例程中是需要先启动ros节点，才能切换到offboard的。

参考链接最后的实际飞行的步骤，可以看到offboard切换是软件启动最后才做的动作。
https://kerlouduav.readthedocs.io/en/latest/tutorials_zh/offboard_zh.html#tutorial-offboard-zh

6

More infor on offboard control mode:

https://docs.px4.io/v1.11/en/flight_modes/offboard.html

A stream of setpoint commands must be received by the vehicle prior to engaging the mode, and in order to remain in the mode (if the message rate falls below 2Hz the vehicle will stop). In order to hold position while in this mode, the vehicle must receive a stream of setpoints for the current position.