ethz-asl/asctec_mav_framework

Random errors with asctec_mav_framework

rbellido1 opened this issue · 3 comments

rbellido1 commented

Hi @markusachtelik,
I am doing a research project using an Asctec Hummingbird and try to communicate the HL processor with my laptop using the asctec_mav_framework.
I flashed the main.elf, from asctec_hl_firmware, into HL processor and then I launch the fcu.launch file.
The package works with mainly two issues:

  1. I constantly get checksum errors warnings:
    checksum error for packet 5 ,resyncing
    checksum error for packet 5 ,resyncing
    checksum error for packet 5 ,resyncing
    checksum error for packet 5 ,resyncing
    checksum error for packet 4 ,resyncing
    checksum error for packet 5 ,resyncing
  2. Fatal error:
    [ERROR] [1464106356.577814093]: sending SSDK parameters failed, tried 5 times
    [FATAL] [1464106356.577867841]: Could not send SSDK parameters to the HLP! Shutting down the node

The first error doesn't kill the node but my concern is if i am getting corrupted data
The second error is fatal. To work around with this error I normally reboot the quad it seems that help.
Do you know if there is a patch for these errors? Could you please provide any input about where to check or how to fix it?

Many thanks in advance for your help!

Robert

giovannisalierno commented

I am having a similar problem, could you fix yours?

roslaunch asctec_hl_interface fcu.launch
... logging to /home/giovanni/.ros/log/c7b255be-523f-11e8-bf30-00265e82a72d/roslaunch-giovanni-E5500-4962.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://giovanni-E5500:45725/

SUMMARY

CLEAR PARAMETERS

  • /fcu/

PARAMETERS

  • /fcu/fcu/baudrate: 57600
  • /fcu/fcu/frame_id: fcu
  • /fcu/fcu/mav_type: firefly
  • /fcu/fcu/max_velocity_xy: 0.5
  • /fcu/fcu/max_velocity_z: 0.5
  • /fcu/fcu/packet_rate_ekf_state: 100.0
  • /fcu/fcu/packet_rate_gps: 5.0
  • /fcu/fcu/packet_rate_imu: 100.0
  • /fcu/fcu/packet_rate_rc: 20.0
  • /fcu/fcu/packet_rate_ssdk_debug: 10.0
  • /fcu/fcu/position_control: False
  • /fcu/fcu/serial_port: /dev/ttyUSB0
  • /fcu/fcu/state_estimation: False
  • /fcu/ssdk/omega_0_xy: 2.5
  • /fcu/ssdk/omega_0_z: 8.0
  • /fcu/ssdk/p16: 5.0
  • /fcu/ssdk/p17: 15.0
  • /fcu/ssdk/p18: 4.0
  • /fcu/ssdk/p20: 32.0
  • /fcu/ssdk/p21: 12.0
  • /fcu/ssdk/p22: 5.0
  • /fcu/ssdk/p23: 1.3
  • /fcu/ssdk/p24: 2.0
  • /fcu/ssdk/p35: 18.01
  • /fcu/ssdk/p36: 45.18
  • /fcu/ssdk/p37: 0.45
  • /fcu/ssdk/p38: 1.0
  • /fcu/ssdk/p39: 1.0
  • /fcu/ssdk/p40: 1.0
  • /fcu/ssdk/p41: 18.01
  • /fcu/ssdk/p42: 45.18
  • /fcu/ssdk/p43: 0.45
  • /fcu/ssdk/p45: 1.0
  • /fcu/ssdk/p46: 0.5
  • /fcu/ssdk/p48: 2.0
  • /fcu/ssdk/p49: 2.0
  • /fcu/ssdk/p9: 15.0
  • /fcu/ssdk/tf_ref_frame_id: world
  • /fcu/ssdk/tf_tracked_frame_id: pelican
  • /fcu/ssdk/zeta_xy: 1.0
  • /fcu/ssdk/zeta_z: 1.0
  • /rosdistro: kinetic
  • /rosversion: 1.12.13

NODES
/
fcu (asctec_hl_interface/hl_node)

ROS_MASTER_URI=http://localhost:11311

process[fcu-1]: started with pid [4980]
[ INFO] [1525729492.110433898]: INFO: opened serial port /dev/ttyUSB0 with baudrate 57600
[ INFO] [1525729492.110863055]: configured serial port(s), checking connection ...
checksum error for packet 5 ,resyncing
waiting for acknowledged packet timed out
checksum error for packet 1 ,resyncing
waiting for acknowledged packet timed out
[ INFO] [1525729493.214223845]: ok
[ERROR] [1525729493.554670607]: battery voltage critical - land now !!!: 0 V
checksum error for packet 14 ,resyncing
checksum error for packet 3 ,resyncing
checksum error for packet 14 ,resyncing
checksum error for packet 14 ,resyncing
checksum error for packet 14 ,resyncing
checksum error for packet 14 ,resyncing
checksum error for packet 14 ,resyncing
checksum error for packet 207 ,resyncing
checksum error for packet 14 ,resyncing
checksum error for packet 14 ,resyncing
checksum error for packet 14 ,resyncing
waiting for acknowledged packet timed out
rx timeout
waiting for acknowledged packet timed out
rx timeout
waiting for acknowledged packet timed out
rx timeout
waiting for acknowledged packet timed out
rx timeout
waiting for acknowledged packet timed out
[ERROR] [1525729498.756950912]: sending SSDK parameters failed, tried 5 times
[FATAL] [1525729498.757190767]: Could not send SSDK parameters to the HLP! Shutting down the node
rx timeout
[fcu-1] process has finished cleanly
log file: /home/giovanni/.ros/log/c7b255be-523f-11e8-bf30-00265e82a72d/fcu-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Thanks,

rbellido1 commented

No never fixed it. I ended up using the ACI Asctec libarray, http://wiki.asctec.de/display/AR/ACI+Introduction to communicate my Laptop with the HL proccessor. There are good examples for a C communication interface and I wrote a small ROS wrapper to integrate this C interface. With this approach I haven't got the previous problem.

giovannisalierno commented

Thank you.
Now I am trying to communicate in the LL processor.