PX4多旋翼起飞时[意外]激活故障安全模式

问题描述 投票：0回答：1

我正在使用 AirSim 和 PX4。想在 AirSim 中使用无人机摄像头尝试一些 CV 功能。 我已经正确安装了所有软件，并且它与 AirSim 存储库中的示例配合良好。

因此，当我启动演示路径脚本时

AirSim\PythonClient\multirotor\path.py
，无人机运行良好，并且准确地执行 Python 脚本的要求，没有任何错误（我尝试修改其路径，但仍然没有问题）。

当我添加一些逻辑来处理来自相机的帧时，无人机在起飞后开始冻结，并显示消息“故障保护已激活”。我尝试将 

0
设置为与无人机安全相关的所有参数。我也尝试在 QGC 上做同样的事情。

如何修复此错误的故障保护激活？

我的 AirSim 

settings.json
：

{
  "SeeDocsAt": "https://github.com/Microsoft/AirSim/blob/main/docs/settings.md",
  "SimMode": "Multirotor",
  "ClockType": "SteppableClock",
  "SettingsVersion": 1.2,
  "CameraDefaults": {
    "CaptureSettings": [
      {
        "ImageType": 0,
        "Width": 640,
        "Height": 480
      },
      {
        "ImageType": 3,
        "Width": 640,
        "Height": 480
      },
      {
        "ImageType": 5,
        "Width": 640,
        "Height": 480
      }
    ]
  },
  "Recording": {
    "RecordOnMove": false,
    "RecordInterval": 0.033,
    "Folder": "",
    "Enabled": false,
    "Cameras": [
      {
        "CameraName": "high_res",
        "ImageType": 0,
        "PixelsAsFloat": false,
        "VehicleName": "PX4",
        "Compress": true
      }
    ]
  },
  "Vehicles": {
    "PX4": {
      "VehicleType": "PX4Multirotor",
      "UseSerial": false,
      "UseTcp": true,
      "LockStep": true,
      "QgcHostIp": "",
      "TcpPort": 4560,
      "ControlIp": "***",
      "ControlPort": 14580,
      "LocalHostIp": "***",
      "Parameters": {
        "SYS_MC_EST_GROUP": 2,
        "MPC_XY_VEL_MAX": 20,
        "MPC_XY_CRUISE": 5,
        "COM_OBL_RC_ACT": 5,
        "COM_RCL_EXCEPT": 4,
        "NAV_RCL_ACT": 0,
        "NAV_DLL_ACT": 0,
        "GF_ACTION": 0
      },
      "Sensors": {
        "barometer": {
          "SensorType": 1,
          "Enabled": true,
          "pressure_factor_sigma": 0.0001815
        }
      },
      "Cameras": {
        "track": {
          "CaptureSettings": [
            {
              "ImageType": 0,
              "Width": 640,
              "Height": 480
            }
          ],
          "X": 0.50,
          "Y": 0.0,
          "Z": 0.10,
          "Pitch": 0.0,
          "Roll": 0.0,
          "Yaw": 0.0
        }
      },
      "Logs": "C:\\<bla bla bla>\\Documents\\AirSimLogs"
    }
  }
}

我的基于演示的 Python 脚本片段 

path.py
:

/* imports */

def get_image_from_drone_as_np_array(_client: MultirotorClient, image_as_np: bool = True):
    images: List[ImageResponse] = client.simGetImages(
        [airsim.ImageRequest("0", airsim.ImageType.Scene, False, False)])

    image: ImageResponse = images[0]

    p_image = Image.frombytes(mode="RGB",
                              size=SHAPE,
                              data=image.image_data_uint8)
    if image_as_np:
        return np.array(p_image)
    else:
        return p_image

client = airsim.MultirotorClient()
client.confirmConnection()
client.enableApiControl(True)

print("arming the drone...")
client.armDisarm(True)

state = client.getMultirotorState()
if state.landed_state == airsim.LandedState.Landed:
    print("taking off...")
    client.takeoffAsync().join()
else:
    client.hoverAsync().join()

time.sleep(1)

state = client.getMultirotorState()
if state.landed_state == airsim.LandedState.Landed:
    print("take off failed...")
    sys.exit(1)

z = -5
print("make sure we are hovering at {} meters...".format(-z))
client.moveToZAsync(z, 1).join() # while debugging message "Failsafe activated" appears here

tracker = ObjectTracker(det_classes=["car"])

for i in range(TRACKING_STEPS):
    print(f"Tracking step {i}")
    image_p = get_image_from_drone_as_np_array(client, image_as_np=False)
    // some CV stuff

/* etc */

PX4 日志：

...
______  __   __    ___
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [px4] startup script: /bin/sh etc/init.d-posix/rcS 0
env SYS_AUTOSTART: 10016
INFO  [param] selected parameter default file parameters.bson
INFO  [param] importing from 'parameters.bson'
INFO  [parameters] BSON document size 729 bytes, decoded 729 bytes (INT32:25, FLOAT:11)
INFO  [param] selected parameter backup file parameters_backup.bson
INFO  [dataman] data manager file './dataman' size is 7872608 bytes
INFO  [init] PX4_SIM_HOSTNAME: 172.19.208.1
INFO  [simulator_mavlink] using TCP on remote host 172.19.208.1 port 4560
WARN  [simulator_mavlink] Please ensure port 4560 is not blocked by a firewall.
INFO  [simulator_mavlink] Waiting for simulator to accept connection on TCP port 4560
INFO  [simulator_mavlink] Simulator connected on TCP port 4560.
INFO  [lockstep_scheduler] setting initial absolute time to 1707899797857182 us
WARN  [vehicle_angular_velocity] no gyro selected, using sensor_gyro_fifo:0 1310988
INFO  [commander] LED: open /dev/led0 failed (22)
WARN  [health_and_arming_checks] Preflight Fail: ekf2 missing data
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  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] [logger] ./log/2024-02-14/08_36_37.ulg
INFO  [logger] Opened full log file: ./log/2024-02-14/08_36_37.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  [tone_alarm] home set
INFO  [mavlink] partner IP: 172.19.208.1
INFO  [commander] Ready for takeoff!
INFO  [commander] Armed by external command
INFO  [tone_alarm] arming warning
INFO  [commander] Takeoff detected
WARN  [failsafe] Failsafe activated
INFO  [tone_alarm] battery warning (fast)
...

我正在使用以下设置：
适用于 PX4 的 Windows 11（i7 14 代 + RTX 4070）+ WSL2（Ubuntu 22）
UE v4.27
AirSim v1.7.0
QGroundControl v4.3.0
PX-自动驾驶仪 v1.14.0

python robotics px4 airsim
1个回答
0
投票

Failsafe 的原因是连接丢失。默认时间为 1 秒，因此在脚本或 CV 算法中使用 1 秒暂停（睡眠）会中断连接。我将参数COM_OF_LOSS_T设置为10-20，现在没有故障保护。结束问题。

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