Pre flight checks required
vrsh opened this issue · comments
Hey! Currently I am running jMAVSim with the PX4 serially following instructions mentioned in jMAVSim/HIL.
My team and I are interested in verifying a quadcopter mathematical model written in Modelica by connecting it to PX4 via serial MAVLink and viewing the same in QGCS. We could send data using HIL_SENSOR, HIL_GPS and receive controller output using HIL_ACTUATOR_CONTROLS, but the controller output we are receiving is an array of zeros. We think pre-flight checks are not being satisfied for the PX4 in order for it to return proper control output data. I looked into the jMAVSim code to identify these checks, unfortunately I couldn't find something concrete w.r.t the checks.
Please let me know what these pre-flight checks are or where I could find them or the variable values that need to set in order for the receive valid actuator values.
The preflight checks are on the vehicle: https://github.com/PX4/Firmware/blob/master/src/modules/commander/PreflightCheck.cpp.
If you connect QGC at the same time and try to arm, you should see why it does not work.
@bkueng Thanks, but the checks are in .cpp , how to enable/disable it via MAVLink commands?
Well, the checks are there for a reason and cannot simply be circumvented. You need to find out why the checks are failing, otherwise your HIL setup will probably not work as expected.