普罗米修斯踩坑解法大合集

无人机调试记录(一) 阅读详情

主流1.仿真环境下报错 Not arming:geofence RTL requiers valid home;以及Compass Sensors inconsistent等

去年买的跑个仿真还有地理围栏和校准传感器,显然是不合理的。

现象:无法正常解锁arm

解法:将电脑存储的历史仿真参数清空

rm ~/.ros/eeprom/parameters*
rm -rf ~/.ros/sitl*

上面的解法有一定的道理和作用,但仍未能解决问题,实际解法如下

真·解法:    将开启仿真的.launch文件中的 env name="PX4_ESTIMATOR" 的 value 改为 ekf2

原理浅析:查看注释提及的文件~/prometheus_px4/ROMFS/px4fmu_common/init.d-posix/rcS

得知两种模式ekf2和ekf2_vision分别对应GPS和slam作为定位来源(官方注释瞎jb写,哪来的ekf2_gps),没有这个来源自然会报错,因此即使将GF_ACTION改为none或warning也会报错

Arming denied! Global position requ

mavros与PX4建立连接(仿真) mavros与PX4建立连接 阅读详情

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