Quadcopter made up of cylinders/fixed joints causes IMU problems in gazebo9 with lib gazebo_imu_plugin

asked 2018-12-14 14:29:45 -0600

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I understand this may be a px4 issue and I'll post it to their forums, but I'm wondering if anyone knows what I am doing wrong.

I am working on a quadcopter model. Initially I modified the 3DR Solo model to just change the mesh, inertia, and rotor joints to match my geometry. The aircraft flies fine (other than poorly tuned controller gains).

I wanted the motors modelled, since they currently aren't in my mesh so I added in 4 cylinders attached to the base with fixed joints. When I do this I get a bunch of IMU problems and the accelerometers reading incorrect values.

> pxh> INFO  [mavlink] partner IP: 127.0.0.1
INFO  [ecl/EKF] EKF aligned, (pressure height, IMU buf: 22, OBS buf: 14)
[Wrn] [GuiIface.cc:120] Failed to get QCocoaScreen for NSObject(0x0)
[Wrn] [Publisher.cc:141] Queue limit reached for topic /gazebo/default/quad_x_custom/motor_speed/3, deleting message. This warning is printed only once.
WARN  [commander] Preflight Fail: Accel Range, hold still on arming
[Wrn] [Publisher.cc:141] Queue limit reached for topic /gazebo/default/quad_x_custom/motor_speed/1, deleting message. This warning is printed only once.
INFO  [ecl/EKF] EKF GPS checks passed (WGS-84 origin set)
INFO  [ecl/EKF] EKF commencing GPS fusion
WARN  [ecl/EKF] EKF baro hgt timeout - reset to baro
WARN  [ecl/EKF] EKF baro hgt timeout - reset to baro
WARN  [ecl/EKF] EKF baro hgt timeout - reset to baro
[Wrn] [Publisher.cc:141] Queue limit reached for topic /gazebo/default/quad_x_custom/motors, deleting message. This warning is printed only once.
[Wrn] [Publisher.cc:141] Queue limit reached for topic /gazebo/default/quad_x_custom/motor_speed/2, deleting message. This warning is printed only once.
WARN  [ecl/EKF] EKF baro hgt timeout - reset to baro
WARN  [ecl/EKF] EKF baro hgt timeout - reset to baro
WARN  [ecl/EKF] EKF baro hgt timeout - reset to baro
WARN  [ecl/EKF] EKF baro hgt timeout - reset to baro
WARN  [ecl/EKF] EKF baro hgt timeout - reset to baro
WARN  [ecl/EKF] EKF baro hgt timeout - reset to baro
px4>sensors status
INFO  [sensors] gyro status:
INFO  [ecl/validation] validator: best: 0, prev best: 0, failsafe: NO (0 events)
INFO  [ecl/validation] sensor #0, prio: 100, state: OK
INFO  [ecl/validation]  val:  -0.0238, lp:  -0.0377 mean dev:   0.0000 RMS:   0.0086 conf:   1.0000
INFO  [ecl/validation]  val:  -0.0310, lp:  -0.0137 mean dev:   0.0001 RMS:   0.0084 conf:   1.0000
INFO  [ecl/validation]  val:  -0.0096, lp:  -0.0122 mean dev:  -0.0001 RMS:   0.0083 conf:   1.0000
INFO  [sensors] accel status:
INFO  [ecl/validation] validator: best: 0, prev best: 0, failsafe: NO (0 events)
INFO  [ecl/validation] sensor #0, prio: 100, state: OK
INFO  [ecl/validation]  val:  -0.0478, lp:   0.0485 mean dev:   0.0037 RMS:   0.1045 conf:   1.0000
INFO  [ecl/validation]  val:  -2.4719, lp:  -2.5461 mean dev:   0.0070 RMS:   0.1087 conf:   1.0000
INFO  [ecl/validation]  val:  -2 ...
(more)
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