1 Reply Latest reply on Sep 13, 2017 5:35 PM by Intel Corporation

    Intel aero // Mavros - Clock skew detected

    ChristopherSil

      Hi all,

       

      when establishing a mavros connection between my Laptop (Ubuntu 16.04 LTS , running ros), and the Intel Aero RTF via UDP

       

      $ roslaunch mavros px4.launch fcu_url:="udp://0.0.0.0:14550@192.168.0.73:14556"          (IP of drone in local network)

       

      the console yields the following

       

       

      [ INFO] [1505308969.287351579]: MAVROS started. MY ID 1.240, TARGET ID 1.1

      [ WARN] [1505308969.372640545]: TM: Clock skew detected (-1505308694.417684555 s). Hard syncing clocks.

      [ INFO] [1505308969.393820707]: IMU: High resolution IMU detected!

      [ INFO] [1505308969.393991552]: IMU: Attitude quaternion IMU detected!

      [ INFO] [1505308969.727654561]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot

      [ INFO] [1505308970.051755980]: IMU: High resolution IMU detected!

      [ INFO] [1505308970.052007967]: IMU: Attitude quaternion IMU detected!

      [ INFO] [1505308970.740422861]: VER: 1.1: Capabilities         0x00000000000024ef

      [ INFO] [1505308970.740548486]: VER: 1.1: Flight software:     01060500 (000000000181F900)

      [ INFO] [1505308970.740654226]: VER: 1.1: Middleware software: 01060500 (000000000181F900)

      [ INFO] [1505308970.740712155]: VER: 1.1: OS software:         000000c0 (0000000000000000)

      [ INFO] [1505308970.740770259]: VER: 1.1: Board hardware:      0000a4a7

      [ INFO] [1505308970.740831751]: VER: 1.1: VID/PID:             0525:a4a7

      [ INFO] [1505308970.740884032]: VER: 1.1: UID:                 3335511839343335

      [ WARN] [1505308970.740974275]: CMD: Unexpected command 520, result 0

      [ WARN] [1505308979.375366479]: TM: Clock skew detected (7718063342.435769081 s). Hard syncing clocks.

      [ INFO] [1505308979.728118434]: HP: requesting home position

      [ INFO] [1505308984.735264665]: WP: mission received

      [ WARN] [1505308989.471157623]: TM: Clock skew detected (-7718063342.437295914 s). Hard syncing clocks.

      [ INFO] [1505308989.728430551]: HP: requesting home position

      [ WARN] [1505308999.473095008]: TM: Clock skew detected (7718063342.437585831 s). Hard syncing clocks.

      [ INFO] [1505308999.728594636]: HP: requesting home position

       

       

      Executing the mavros topic "time_reference"

       

      $ rostopic echo /mavros/time_reference

       

      yields the following:

       

      header:

        seq: 201

        stamp:

          secs: 1505309160

          nsecs: 267349839

        frame_id: ''

      time_ref:

        secs: 1505309160

        nsecs: 265019000

      source: fcu

      ---

      header:

        seq: 202

        stamp:

          secs: 1505309161

          nsecs: 304928103

        frame_id: ''

      time_ref:

        secs: 1505309161

        nsecs: 265189000

      source: fcu

      ---

       

       

       

      now, my question: what is the reason for the Clock skew, and how can I fix it, as I believe it prevents my /mavros/mocap/pose data to be transfered to the drone, and thus, to appear in the RTFs logfiles.

       

       

      regards,

       

      Christopher

       

      Issue has also been posted on Github: intel-aero/meta-intel-aero:

       

      Intel aero // Mavros - Clock skew detected · Issue #275 · intel-aero/meta-intel-aero · GitHub