{"action":"opened","issue":{"url":"https://api.github.com/repos/PX4/Firmware/issues/7601","repository_url":"https://api.github.com/repos/PX4/Firmware","labels_url":"https://api.github.com/repos/PX4/Firmware/issues/7601/labels{/name}","comments_url":"https://api.github.com/repos/PX4/Firmware/issues/7601/comments","events_url":"https://api.github.com/repos/PX4/Firmware/issues/7601/events","html_url":"https://github.com/PX4/Firmware/issues/7601","id":242384063,"number":7601,"title":"Strange behaviour in indoor offboard control with external positioning system","user":{"login":"ccc159","id":15573101,"avatar_url":"https://avatars0.githubusercontent.com/u/15573101?v=3","gravatar_id":"","url":"https://api.github.com/users/ccc159","html_url":"https://github.com/ccc159","followers_url":"https://api.github.com/users/ccc159/followers","following_url":"https://api.github.com/users/ccc159/following{/other_user}","gists_url":"https://api.github.com/users/ccc159/gists{/gist_id}","starred_url":"https://api.github.com/users/ccc159/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ccc159/subscriptions","organizations_url":"https://api.github.com/users/ccc159/orgs","repos_url":"https://api.github.com/users/ccc159/repos","events_url":"https://api.github.com/users/ccc159/events{/privacy}","received_events_url":"https://api.github.com/users/ccc159/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2017-07-12T13:40:56Z","updated_at":"2017-07-12T13:40:56Z","closed_at":null,"body":"We are trying to fly our customized quadcopter in gps-denied indoor environment with mocap system.\r\n\r\nAt **first step**, we followed [gazebo SITL dev guide](https://dev.px4.io/en/simulation/gazebo.html) to simulate the setup.\r\n\r\nIn simulation we used **px4-1.6.3 Firmware**, **latest mavros**,  in ROS kinetic, Ubuntu 16.04.\r\nThe steps are:\r\n1. ```make posix_sitl_lpe gazebo```\r\n2. disable gps by ```gpssim stop``` to simulate gps denied environment.\r\n3. start **mavros** and **Qgroundcontrol**\r\n4. in **Qgroundcontrol** set ```LPE_FUSHION``` to 4.\r\n5. run our own code to send mocap pose of drone from gezabo to ```mavros/mocap/pose```\r\n6. in mavros we can see ```mavros/local_position/pose``` and ```mavros/mocap/pose``` are matching.\r\n7. run our own code to send target point to ```mavros/setpoint_position_local```.\r\n8. in **Qgroundcontrol** we can see mavlink message ```LOCAL_POSITION_NED ( #32 )``` and ```SET_POSITION_TARGET_LOCAL_NED ( #84 )```\r\n9. in **Qgroundcontrol** we set flight mode to ```OFFBOARD`` and ```arm``` the drone.\r\n10. the drone goes to destination in gazebo without problem.\r\n\r\n\r\nSecond step, we try to transfer this setup to real drone.\r\nHardware: 3dr pixhawk, RasPi 3, **No gps or flowsensor**.\r\nSoftware: ```make px4fmu-v2_lpe upload``` Firmware, latest mavros, in ROS kinetic, Ubuntu Mate.\r\n1. in **Qgroundcontrol** set ```LPE_FUSHION``` to 4.\r\n2. run our own code to send mocap pose of drone from external positioning system to ```mavros/mocap/pose```\r\n3. in mavros we can see ```mavros/local_position/pose``` and ```mavros/mocap/pose``` are matching.\r\n4. run our own code to send target point to ```mavros/setpoint_position_local```.\r\n5. in **Qgroundcontrol** we can see mavlink message ```LOCAL_POSITION_NED ( #32 )``` and ```SET_POSITION_TARGET_LOCAL_NED ( #84 )```\r\n6.```arm``` the drone from flight controller in ```MANUAL``` flight mode, then switch to ```OFFBOARD```\r\n7. drone starts to rotate, oscillate and somehow **didn't respond to our setpoint position at all**.\r\n\r\nHere are two logs:\r\n\r\n[first log we setpoint at ```[0, 0, 0.5]```](http://logs.px4.io/plot_app?log=dd51edcd-e268-4d8a-88de-d802aa40fafd)\r\n\r\n[second log we setpoint at ```[0, 0, 0]```](http://logs.px4.io/plot_app?log=30ba35e2-d83a-4854-bc24-879ce16315ab)\r\n\r\nbut they both behave the same.\r\n\r\nSince we are not able to read logs and get useful info. I would ask for help what problems are in our real drone setup.\r\n\r\nTHANKS!\r\n\r\n \r\n\r\n\r\n"}}
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