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DZhon3
Beginner
1,951 Views

Intel Aero RTF - CRITICAL NAVIGATION FAILURE

Hi!

I was testing Intel Aero RTF with PX4 in POSITION mode and for the most of the time there will be some aggressive behaviors. When I check the logs, the FCU will send back an error. The following is the output of MAVROS:

[ WARN] [1532985278.000720962]: TM : RTT too high for timesync: 46.27 ms.

[ERROR] [1532985278.143875280]: FCU: CRITICAL NAVIGATION FAILURE - CHECK SENSOR CALIBR

[ERROR] [1532985278.197775320]: FCU: Failsafe enabled: no local position

[ INFO] [1532985278.245378081]: FCU: Failsafe mode enabled

[ WARN] [1532985278.597816504]: TM : RTT too high for timesync: 42.97 ms.

I also write a python script to send waypoints missions through MAVROS. The RTF can take off smoothly but cannot reach the correct waypoint. I got the following error:

[ INFO] [1532985449.482349651]: WP: mission cleared

[ INFO] [1532985449.541545251]: FCU: Mission finished, landed.

[ INFO] [1532985449.543720535]: WP: mission sended

[ INFO] [1532985449.625598097]: FCU: Executing Mission

[ INFO] [1532985449.680501045]: FCU: Takeoff to 2.0 meters above home.

[ INFO] [1532985449.728870793]: FCU: Takeoff detected

[ WARN] [1532985450.024027304]: TM : RTT too high for timesync: 43.39 ms.

[ WARN] [1532985450.635279594]: TM : RTT too high for timesync: 54.29 ms.

[ WARN] [1532985452.126519588]: TM : RTT too high for timesync: 45.43 ms.

[ WARN] [1532985453.226403318]: TM : RTT too high for timesync: 45.00 ms.

[ WARN] [1532985454.420344494]: TM : RTT too high for timesync: 39.70 ms.

[ WARN] [1532985455.127577130]: TM : RTT too high for timesync: 46.35 ms.

[ERROR] [1532985455.339997338]: FCU: CRITICAL NAVIGATION FAILURE - CHECK SENSOR CALIBR

[ERROR] [1532985455.424013207]: FCU: Failsafe enabled: no global position

[ INFO] [1532985455.439297617]: FCU: Failsafe mode enabled

[ WARN] [1532985455.722783648]: TM : RTT too high for timesync: 41.41 ms.

i wonder why this critical navigation failure error occurs. This error makes the RTF couldn't perform even the basic tasks. Is this a PX4 issue or a hardware issue with Intel Aero RTF? It seems the sensors are not correctly calibrated. I follow the instructions on QGroundControl to calibrate the senors. But the error still pops out. BTW: I check the GPS information from QGroundControl before each flight. It seems normal and 3D Lock is enabled.

BIOS_VERSION =Aero-01.00.13

OS_VERSION = Ubuntu 16.04.4 LTS"

AIRMAP_VERSION = unknown

FPGA_VERSION = 0xc2

AeroFC firmware version = 1.8.0

Let me know if you need any further information. Thank you in advance!

Desmond

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8 Replies
idata
Community Manager
277 Views

Hi DesmondZ,

 

 

Thank you for your interest in the Intel Aero drone.

 

Could you do an Airframe reset and calibrate the sensors again?

 

https://github.com/intel-aero/meta-intel-aero/wiki/02-Initial-setup# calibration-1

 

 

Let me know if the problem persists.

 

 

Regards,

 

Alexandra
DZhon3
Beginner
277 Views

Hi Alexandra,

I'll try to do it when the weather is good. I'll let you know the results. Thanks!

Best,

Desmond

DZhon3
Beginner
277 Views

Hi Alexandra,

I did what you told me to do but the error still exist. I try to use ardupilot to fly, there is no error and the performance is good. Could it be a problem with PX4? I've submitted a github issue here.

https://github.com/PX4/Firmware/issues/10104 CRITICAL NAVIGATION FAILURE - CHECK SENSOR CALIBR · Issue # 10104 · PX4/Firmware · GitHub

idata
Community Manager
277 Views

Hello DesmondZ,

 

 

Could you please flash the default PX4 firmware version 1.6.5? The firmware is located in /etc/aerofc/px4/

 

 

cd /etc/aerofc/px4/ http://aerofc-update.sh aerofc-update.sh nuttx-aerofc-v1-default.px4

 

 

Once that is done, and by checking with aero_get_version.py you get the firmware version 1.6.5, please do a frame reset in QGC.

 

 

Looking forward to your reply!

 

 

Regards,

 

Eliza

 

DZhon3
Beginner
277 Views

Hi Eliza,

I could follow your advice next week.

I guess the reason now is that the compass is not correctly calibrated. Please also see my question here: .

Thanks!

Best,

Desmond

idata
Community Manager
277 Views

Hi DesmondZ,

 

 

Did you have the chance to follow the instructions?

 

Did it solve your issue?

 

 

Regards,

 

Alexandra
DZhon3
Beginner
277 Views

Hi Alexandra,

Right now I am using Ardupilot firmware in the /etc/aerofc/ardupilot folder

AeroFC firmware version = 3.5.3

With this version, I could calibrate the Intel RTF initially with a acceptable quality. Under this calibration, the drone has some chance of flying well. By this I mean, if it exhibit some aggressive behavior, I could manually land it and reboot the system. After the reboot, it's likely it will perform well. If it still behave badly, I need to reboot it again. From my experience, It will eventually perform well after several reboots. It's still not perfect but it's better than not working at all.

However, another issue I find is that even if I was able to calibrate immediately after I flash the flight controller, I wasn't able to recalibrate the compass after a few flights. Have you ever encountered this issue?

All I mentioned above is done using Ardupilot. For PX4, I haven't tried yet, but thanks for your instructions. I think the issue is I need to use the firmware under /etc/aerofc folder instead of the latest version. If you think the calibration issue I'm having now is related to the PX4 firmware or the airframe reset, please let me know. Now I plan to do my project using Ardupilot since it has the "circle" mode.

I think we can close this question now. I will add replies if I find out anything new. Thanks for your help!

Best,

Desmond

DZhon3
Beginner
277 Views

Hi all,

I am gonna end this discussion since I follow the following instruction and the error is gone.

cd /etc/aerofc/px4/ 

sudo http://aerofc-update.sh aerofc-update.sh nuttx-aerofc-v1-default.px4

Once that is done, and by checking with aero_get_version.py you get the firmware version 1.6.5, please do a frame reset in QGC.

If you encounter the same problem, it's highly likely that the compass is not correctly calibrated, even if QGC says compass calibration complete. I encounter this problem using the lastest PX4 firmware version. I don't know if this is a problem related to the firmware or the Intel RTF. Flashing the default firmware works for me so far. Please calibrate the compass in an open area rather than an indoor environment.

I am still playing around with Ardupilot firmware since I still have problems of calibration with Ardupilot. If I have any progress, I will update here:

Thanks Eliza and Alexandra for your helpful commments!

Best,

Desmond

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