建立地面站与虚拟环境的连接
问题背景：
SITL在WSL中启动，QGroudControl地面站在Windows中启动，默认状态QGroundControl无法与PX4_SITL建立连接。
参考资料：
解决方法：
-
将仿真器信息在PX4_SITL终端中,使能
mavlink的广播模式，并指定端口为14550pxh> mavlink start -p -o 14550
-
将WSL2的
14550转发至地面站软件所在机器的14550端口
-
即可正常连接
root@biiigwang-ITX:~/UAV/PX4-Autopilot# roslaunch px4 fast_test.launch
... logging to /root/.ros/log/07221df0-66c2-11ee-b5e7-00155de86db7/roslaunch-biiigwang-ITX-1008.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://biiigwang-ITX:39587/
SUMMARY
========
CLEAR PARAMETERS
* /mavros/
PARAMETERS
* /gazebo/enable_ros_network: True
* /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: udp://:14540@loca...
* /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: noetic
* /rosversion: 1.16.0
* /use_sim_time: True
NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
mavros (mavros/mavros_node)
sitl (px4/px4)
vehicle_spawn_biiigwang_ITX_1008_6706295632280466183 (gazebo_ros/spawn_model)
auto-starting new master
process[master]: started with pid [1048]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 07221df0-66c2-11ee-b5e7-00155de86db7
process[rosout-1]: started with pid [1058]
started core service [/rosout]
process[sitl-2]: started with pid [1066]
Creating symlink /root/UAV/PX4-Autopilot/build/px4_sitl_default/etc -> /root/.ros/etc
______ __ __ ___
| ___ \ \ \ / / / |
| |_/ / \ V / / /| |
| __/ / \ / /_| |
| | / /^\ \ \___ |
\_| \/ \/ |_/
px4 starting.
INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
process[gazebo-3]: started with pid [1074]
INFO [init] found model autostart file as SYS_AUTOSTART=10016
INFO [param] selected parameter default file eeprom/parameters_10016
INFO [parameters] BSON document size 312 bytes, decoded 312 bytes (INT32:13, FLOAT:3)
[param] Loaded: eeprom/parameters_10016
process[gazebo_gui-4]: started with pid [1085]
process[vehicle_spawn_biiigwang_ITX_1008_6706295632280466183-5]: started with pid [1095]
process[mavros-6]: started with pid [1106]
[ INFO] [1696869403.039446190]: FCU URL: udp://:14540@localhost:14557
[ INFO] [1696869403.043278934]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1696869403.043438968]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1696869403.043536203]: GCS bridge disabled
[ INFO] [1696869403.056814040]: Plugin 3dr_radio loaded
[ INFO] [1696869403.059838291]: Plugin 3dr_radio initialized
[ INFO] [1696869403.060018723]: Plugin actuator_control loaded
[ INFO] [1696869403.063042801]: Plugin actuator_control initialized
[ INFO] [1696869403.066044067]: Plugin adsb loaded
[ INFO] [1696869403.068907844]: Plugin adsb initialized
[ INFO] [1696869403.069136819]: Plugin altitude loaded
[ INFO] [1696869403.070226858]: Plugin altitude initialized
[ INFO] [1696869403.070335844]: Plugin cam_imu_sync loaded
[ INFO] [1696869403.070985648]: Plugin cam_imu_sync initialized
[ INFO] [1696869403.071092761]: Plugin camera loaded
[ INFO] [1696869403.071713065]: Plugin camera initialized
[ INFO] [1696869403.071858602]: Plugin cellular_status loaded
[ INFO] [1696869403.073826728]: Plugin cellular_status initialized
[ INFO] [1696869403.074018883]: Plugin command loaded
[ INFO] [1696869403.080541621]: Plugin command initialized
[ INFO] [1696869403.080654665]: Plugin companion_process_status loaded
[ INFO] [1696869403.082177488]: Plugin companion_process_status initialized
[ INFO] [1696869403.082281365]: Plugin debug_value loaded
[ INFO] [1696869403.084661712]: Plugin debug_value initialized
[ INFO] [1696869403.084710515]: Plugin distance_sensor blacklisted
[ INFO] [1696869403.084788543]: Plugin esc_status loaded
[ INFO] [1696869403.085610210]: Plugin esc_status initialized
[ INFO] [1696869403.085737812]: Plugin esc_telemetry loaded
[ INFO] [1696869403.086188289]: Plugin esc_telemetry initialized
[ INFO] [1696869403.086337602]: Plugin fake_gps loaded
[ INFO] [1696869403.095598707]: Plugin fake_gps initialized
[ INFO] [1696869403.095735115]: Plugin ftp loaded
[ INFO] [1696869403.098871037]: Plugin ftp initialized
[ INFO] [1696869403.098981016]: Plugin geofence loaded
[ INFO] [1696869403.100903056]: Plugin geofence initialized
[ INFO] [1696869403.101050776]: Plugin global_position loaded
[ INFO] [1696869403.111578504]: Plugin global_position initialized
[ INFO] [1696869403.111716285]: Plugin gps_input loaded
[ INFO] [1696869403.113283834]: Plugin gps_input initialized
[ INFO] [1696869403.113379455]: Plugin gps_rtk loaded
[ INFO] [1696869403.115035355]: Plugin gps_rtk initialized
[ INFO] [1696869403.115124244]: Plugin gps_status loaded
[ INFO] [1696869403.116498151]: Plugin gps_status initialized
[ INFO] [1696869403.116624661]: Plugin guided_target loaded
[ INFO] [1696869403.119451245]: Plugin guided_target initialized
[ INFO] [1696869403.119575982]: Plugin hil loaded
[ INFO] [1696869403.126978170]: Plugin hil initialized
[ INFO] [1696869403.127216993]: Plugin home_position loaded
[ INFO] [1696869403.129398024]: Plugin home_position initialized
[ INFO] [1696869403.129501781]: Plugin imu loaded
[ INFO] [1696869403.134347656]: Plugin imu initialized
[ INFO] [1696869403.134523369]: Plugin landing_target loaded
[ INFO] [1696869403.144009613]: Plugin landing_target initialized
INFO [dataman] data manager file './dataman' size is 7866640 bytes
[ INFO] [1696869403.144246733]: Plugin local_position loaded
[ INFO] [1696869403.148187792]: Plugin local_position initialized
[ INFO] [1696869403.148335723]: Plugin log_transfer loaded
[ INFO] [1696869403.150738786]: Plugin log_transfer initialized
[ INFO] [1696869403.150863182]: Plugin mag_calibration_status loaded
[ INFO] [1696869403.151560151]: Plugin mag_calibration_status initialized
[ INFO] [1696869403.151699927]: Plugin manual_control loaded
[ INFO] [1696869403.153861910]: Plugin manual_control initialized
[ INFO] [1696869403.154003469]: Plugin mocap_pose_estimate loaded
[ INFO] [1696869403.157194532]: Plugin mocap_pose_estimate initialized
[ INFO] [1696869403.157422394]: Plugin mount_control loaded
[ WARN] [1696869403.165246723]: Could not retrive negate_measured_roll parameter value, using default (0)
[ WARN] [1696869403.165754157]: Could not retrive negate_measured_pitch parameter value, using default (0)
[ WARN] [1696869403.166446680]: Could not retrive negate_measured_yaw parameter value, using default (0)
[ WARN] [1696869403.168022183]: Could not retrive debounce_s parameter value, using default (4.000000)
[ WARN] [1696869403.168392766]: Could not retrive err_threshold_deg parameter value, using default (10.000000)
[ INFO] [1696869403.168453371]: Plugin mount_control initialized
[ INFO] [1696869403.168557559]: Plugin nav_controller_output loaded
[ INFO] [1696869403.169211950]: Plugin nav_controller_output initialized
[ INFO] [1696869403.169309465]: Plugin obstacle_distance loaded
[ INFO] [1696869403.171622814]: Plugin obstacle_distance initialized
[ INFO] [1696869403.171816782]: Plugin odom loaded
[ INFO] [1696869403.176648872]: Plugin odom initialized
[ INFO] [1696869403.176857989]: Plugin onboard_computer_status loaded
[ INFO] [1696869403.179433190]: Plugin onboard_computer_status initialized
[ INFO] [1696869403.179649390]: Plugin param loaded
[ INFO] [1696869403.182531097]: Plugin param initialized
[ INFO] [1696869403.182724013]: Plugin play_tune loaded
[ INFO] [1696869403.185213848]: Plugin play_tune initialized
[ INFO] [1696869403.185378541]: Plugin px4flow loaded
[ INFO] [1696869403.192253468]: Plugin px4flow initialized
[ INFO] [1696869403.192498203]: Plugin rallypoint loaded
[ INFO] [1696869403.195626349]: Plugin rallypoint initialized
[ INFO] [1696869403.195768248]: Plugin rangefinder blacklisted
[ INFO] [1696869403.195968688]: Plugin rc_io loaded
[ INFO] [1696869403.201062916]: Plugin rc_io initialized
[ INFO] [1696869403.201177153]: Plugin safety_area blacklisted
[ INFO] [1696869403.201340533]: Plugin setpoint_accel loaded
[ INFO] [1696869403.203947811]: Plugin setpoint_accel initialized
[ INFO] [1696869403.204134746]: Plugin setpoint_attitude loaded
PX4 SIM HOST: localhost
INFO [simulator] Waiting for simulator to accept connection on TCP port 4560
[ INFO] [1696869403.210984205]: Plugin setpoint_attitude initialized
[ INFO] [1696869403.211187491]: Plugin setpoint_position loaded
[ INFO] [1696869403.223585080]: Plugin setpoint_position initialized
[ INFO] [1696869403.223798745]: Plugin setpoint_raw loaded
[ INFO] [1696869403.230337154]: Plugin setpoint_raw initialized
[ INFO] [1696869403.230468974]: Plugin setpoint_trajectory loaded
[ INFO] [1696869403.233560331]: Plugin setpoint_trajectory initialized
[ INFO] [1696869403.233677583]: Plugin setpoint_velocity loaded
[ INFO] [1696869403.236795370]: Plugin setpoint_velocity initialized
[ INFO] [1696869403.236926950]: Plugin sys_status loaded
[ INFO] [1696869403.245032513]: Plugin sys_status initialized
[ INFO] [1696869403.245192898]: Plugin sys_time loaded
[ INFO] [1696869403.249454626]: TM: Timesync mode: MAVLINK
[ INFO] [1696869403.249755860]: TM: Not publishing sim time
[ INFO] [1696869403.250478870]: Plugin sys_time initialized
[ INFO] [1696869403.250584691]: Plugin terrain loaded
[ INFO] [1696869403.250960424]: Plugin terrain initialized
[ INFO] [1696869403.251122411]: Plugin trajectory loaded
[ INFO] [1696869403.254245859]: Plugin trajectory initialized
[ INFO] [1696869403.254372980]: Plugin tunnel loaded
[ INFO] [1696869403.257094936]: Plugin tunnel initialized
[ INFO] [1696869403.257302861]: Plugin vfr_hud loaded
[ INFO] [1696869403.257836104]: Plugin vfr_hud initialized
[ INFO] [1696869403.257898502]: Plugin vibration blacklisted
[ INFO] [1696869403.258036584]: Plugin vision_pose_estimate loaded
[ INFO] [1696869403.263250198]: Plugin vision_pose_estimate initialized
[ INFO] [1696869403.263410702]: Plugin vision_speed_estimate loaded
[ INFO] [1696869403.265655814]: Plugin vision_speed_estimate initialized
[ INFO] [1696869403.265764470]: Plugin waypoint loaded
[ INFO] [1696869403.268322856]: Plugin waypoint initialized
[ INFO] [1696869403.268374564]: Plugin wheel_odometry blacklisted
[ INFO] [1696869403.268487669]: Plugin wind_estimation loaded
[ INFO] [1696869403.268973051]: Plugin wind_estimation initialized
[ INFO] [1696869403.269411763]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1696869403.269449936]: Built-in MAVLink package version: 2023.9.9
[ INFO] [1696869403.269480494]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all csAirLink cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1696869403.269517113]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[INFO] [1696869403.344405, 0.000000]: Loading model XML from file /root/UAV/PX4-Autopilot/Tools/sitl_gazebo/models/iris_D435i/iris_D435i.sdf
[INFO] [1696869403.346716, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1696869403.419220543]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1696869403.420773356]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1696869403.471258772]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1696869403.472890740]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1696869405.174605171]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1696869405.188375298, 633.192000000]: Physics dynamic reconfigure ready.
[INFO] [1696869405.456924, 633.453000]: Calling service /gazebo/spawn_sdf_model
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
[ INFO] [1696869405.694519532, 633.533000000]: <initialOrientationAsReference> is unset, using default value of false to comply with REP 145 (world as orientation reference)
[ WARN] [1696869405.694646423, 633.533000000]: missing <robotNamespace>, set to default: /iris_D435i/
[ INFO] [1696869405.694704313, 633.533000000]: <topicName> set to: camera_imu
[ INFO] [1696869405.694729942, 633.533000000]: <frameName> set to: imu_link_stereo
[ INFO] [1696869405.694801518, 633.533000000]: <updateRateHZ> set to: 500
[ INFO] [1696869405.694864688, 633.533000000]: <gaussianNoise> set to: 0
[ INFO] [1696869405.694937506, 633.533000000]: <xyzOffset> set to: 0 0 0
[ INFO] [1696869405.694999774, 633.533000000]: <rpyOffset> set to: 0 -0 0
[ INFO] [1696869406.112754717, 633.533000000]: Camera Plugin: The 'robotNamespace' param was empty
[ INFO] [1696869406.112961710, 633.533000000]: Camera Plugin: The 'robotNamespace' param was empty
[ INFO] [1696869406.115593813, 633.533000000]: Camera Plugin (ns = iris_D435i) <tf_prefix_>, set to ""
[ INFO] [1696869406.115807532, 633.533000000]: Camera Plugin (ns = iris_D435i) <tf_prefix_>, set to ""
[INFO] [1696869406.117534, 633.533000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1696869406.162478645, 633.533000000]: Camera Plugin: The 'robotNamespace' param was empty
[ INFO] [1696869406.166112752, 633.533000000]: Camera Plugin (ns = iris_D435i) <tf_prefix_>, set to ""
INFO [simulator] Simulator connected on TCP port 4560.
INFO [commander] LED: open /dev/led0 failed (22)
INFO [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO [init] setting PWM_AUX_OUT none
INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
INFO [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280
[ INFO] [1696869406.577644849, 633.843000000]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1696869406.577890794, 633.843000000]: IMU: High resolution IMU detected!
INFO [logger] logger started (mode=all)
INFO [logger] Start file log (type: full)
INFO [logger] [logger] ./log/2023-10-09/16_36_46.ulg
INFO [logger] Opened full log file: ./log/2023-10-09/16_36_46.ulg
INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO [px4] Startup script returned successfully
pxh> INFO [mavlink] partner IP: 127.0.0.1
[vehicle_spawn_biiigwang_ITX_1008_6706295632280466183-5] process has finished cleanly
log file: /root/.ros/log/07221df0-66c2-11ee-b5e7-00155de86db7/vehicle_spawn_biiigwang_ITX_1008_6706295632280466183-5*.log
[ INFO] [1696869407.613216653, 634.775000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1696869407.661430331, 634.823000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1696869407.662963199, 634.824000000]: IMU: High resolution IMU detected!
[ INFO] [1696869407.673324306, 634.835000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1696869408.671381151, 635.831000000]: GF: Using MISSION_ITEM_INT
[ INFO] [1696869408.671492453, 635.831000000]: RP: Using MISSION_ITEM_INT
[ INFO] [1696869408.671577744, 635.831000000]: WP: Using MISSION_ITEM_INT
[ INFO] [1696869408.671650893, 635.831000000]: VER: 1.1: Capabilities 0x000000000000e4ff
[ INFO] [1696869408.671713582, 635.831000000]: VER: 1.1: Flight software: 010d0000 (8cc6d02af3000000)
[ INFO] [1696869408.671772514, 635.831000000]: VER: 1.1: Middleware software: 010d0000 (8cc6d02af3000000)
[ INFO] [1696869408.671829582, 635.831000000]: VER: 1.1: OS software: 050f5aff (91bece51afbe7da9)
[ INFO] [1696869408.671878365, 635.831000000]: VER: 1.1: Board hardware: 00000001
[ INFO] [1696869408.671930935, 635.831000000]: VER: 1.1: VID/PID: 0000:0000
[ INFO] [1696869408.671984466, 635.831000000]: VER: 1.1: UID: 4954414c44494e4f
[ WARN] [1696869408.675429314, 635.835000000]: CMD: Unexpected command 520, result 0
INFO [tone_alarm] home set
INFO [tone_alarm] notify negative
[ INFO] [1696869422.679392334, 649.823000000]: GF: mission received
[ INFO] [1696869422.680512398, 649.824000000]: RP: mission received
[ INFO] [1696869422.680614802, 649.824000000]: WP: mission received
pxh> mavlink start -p -o 14550
INFO [mavlink] mode: Normal, data rate: 2880 B/s on udp port 14556 remote port 14550
pxh> INFO [mavlink] using network interface eth0, IP: 172.26.175.124
INFO [mavlink] with netmask: 255.255.240.0
INFO [mavlink] and broadcast IP: 172.26.175.255
INFO [mavlink] partner IP: 172.26.160.1
[ WARN] [1696869500.428433635, 727.471000000]: CMD: Unexpected command 512, result 0