When I launch the mavros_posix_sitl.launch in px4, it always warns that:
"PositionTargetGlobal failed because no origin"
This leads to the inaccurate flight altitude of UAV in gazebo.
How to solve this problem? I have no idea.
This is due to PX4's EKF2 not having an origin set when starting the SITL.
Throught the mavlink console (if you dont have one started, just execute PX4-Autopilot/Tools/mavlink_shell.py pointing to the correct port), you can set a specific origin using the commander set_ekf_origin command and specifying the latitude, longitude and altitude, which will remove the warnings.
Once set, you can also save that origin by saving and loading your parameters.
Related
I recently had to downsize my ESP32 WROVER package down to 8MB from 16MB before, due to component unavailability.
This broke my update process, showing the invalid segment length 0x15abba12 error message while doing Update.writeStream().
I wrote my new 8MB partition as follows (I use FFAT):
# Name, Type, SubType, Offset, Size, Flags
nvs, data, nvs, 0x9000, 0x5000,
otadata, data, ota, 0xE000, 0x2000,
app0, app, ota_0, 0x10000, 0x2A0000,
app1, app, ota_1, 0x2B0000, 0x2A0000,
ffat, data, fat, 0x550000, 0x2B0000,
My firmware.bin size is 1.4MB (1411248, or 0x1588B0).
What am I missing?
Ok. Weird enough. It appears that the firmware.bin produced as usually by platformio had some issues, hence the segment fault.
By simply recompiling and linking again, the produced firmware.bin was OK and the update completed successfully.
=> So if you face similar segment fault issue, try to rebuild your firmware bin file before loosing time to debug your actually working code.
I am trying to loop through a list of origin destination lat long locations to get the transit time. I am getting the following error when I loop. However when I do a single call (without looping), I get an output without error. I use the freemium HERE-API and I am allowed 250k transactions a month.
`for (i in 1:nrow(test))
{
call <- paste0("https://route.api.here.com/routing/7.2/calculateroute.json",
"?app_id=","appid",
"&app_code=","appcode",
"&waypoint0=geo!",y$dc_lat[i],",",y$dc_long[i],
"&waypoint1=geo!",y$store_lat[i],",",y$store_long[i],
"&mode=","fastest;truck;traffic:enabled",
"&trailerscount=","1",
"&routeattributes=","sh",
"&maneuverattributes=","di,sh",
"&limitedweight=","20")
response <-fromJSON(call, simplify = TRUE)
Traffic_time = (response[["response"]][["route"]][[1]][["summary"]][["trafficTime"]]) / 60
Base_time = (response[["response"]][["route"]][[1]][["summary"]][["baseTime"]]) / 60
print(Traffic_time)
}`
Error in file(con, "r"): cannot open the connection to 'https://route.api.here.com/routing/7.2/calculateroute.json?app_id=appid&app_code=appcode&waypoint0=geo!45.1005200,-93.2452000&waypoint1=geo!45.0978500,-95.0413620&mode=fastest;truck;traffic:enabled&trailerscount=1&routeattributes=sh&maneuverattributes=di,sh&limitedweight=20'
Traceback:
As per the error, this suggests that there is problem with the file at your end. it could be corrupt, good to try with changing the extension of the file. Can also try to restart your IDE. The number of API calls depend on the plans that you have opted for freemium or pro plans. You can have more details : https://developer.here.com/faqs
I have checked about the function of "-n" --
"Displays active TCP connections, however, addresses and port numbers are expressed numerically and no attempt is made to determine names."
But I can't see why "-n" can make netstat exit immediately?
From a quick check, I don't see the same description for the "-n" option as you do, and it doesn't make netstat run continuously.
As you didn't specify the version and exact command you are using, I tried both the version that comes with RH7.6 (net-tools 2.10-alpha) and the latest from source code (net-tools 3.14-alpha). The net-tools source code can be found in github [1].
As I couldn't find the exact option you describe, I tried all flags (without combinations) that don't require an argument. As far as I can tell the only options that cause netstat to not exit immediately are '-g' and '-c'. '-c' makes sense as it is the flag for running netstat continuously. For '-g' it isn't as obvious as the continuous behavior is coming from reading the /proc/net/igmp and /proc/net/igmp6 files line-by-line. The first file is read quickly but the igmp6 file takes much longer (1 line per ~1 sec). The '-g' option isn't really continuous, but just takes a lot of time to finish.
From the code, the only reason for continuous execution is (appears 4 times in the code):
if (i || !flag_cnt)
break;
wait_continous();
'i' is a return code from a function and the 'break' command is to break from an infinite for loop, so basically the code will run continuously only if flag_cnt is set (only happens when '-c' is provided) and there were no errors with previous commands.
For the specific issue above there could be a few reasons:
The option involves reading from a file and it takes very long time to finish, but it is not really continuous.
There's a correlation between the given option and flag_cnt, which cause flag_cnt to be set.
There's a call to wait_continous() which doesn't follow the condition above.
As I said, I couldn't reproduce the issue in the original question, nor could I find any flag with the description above. Also, non of the flags besides '-c' caused netstat to run continuously.
If you still want to figure this out I suggest you take a look at your code, or at least specify the net-tools version you use. The kernel version is also important as some code would be compiled-out due to missing kernel support.
[1] https://github.com/ecki/net-tools
I'm getting this on the console in a QML app:
QFont::setPointSizeF: Point size <= 0 (0.000000), must be greater than 0
The app is not crashing so I can't use the debugger to get a backtrace for the exception. How do I see where the error originates from?
If you know the function the warning occurs in (in this case, QFont::setPointSizeF()), you can put a breakpoint there. Following the stack trace will lead you to the code that calls that function.
If the warning doesn't include the name of the function and you have the source code available, use git grep with part of the warning to get an idea of where it comes from. This approach can be a bit of trial and error, as the code may span more than one line, etc, and so you might have to try different parts of the string.
If the warning doesn't include the name of the function, you don't have the source code available and/or you don't like the previous approach, use the QT_MESSAGE_PATTERN environment variable:
QT_MESSAGE_PATTERN="%{function}: %{message}"
For the full list of variables at your disposal, see the qSetMessagePattern() docs:
%{appname} - QCoreApplication::applicationName()
%{category} - Logging category
%{file} - Path to source file
%{function} - Function
%{line} - Line in source file
%{message} - The actual message
%{pid} - QCoreApplication::applicationPid()
%{threadid} - The system-wide ID of current thread (if it can be obtained)
%{qthreadptr} - A pointer to the current QThread (result of QThread::currentThread())
%{type} - "debug", "warning", "critical" or "fatal"
%{time process} - time of the message, in seconds since the process started (the token "process" is literal)
%{time boot} - the time of the message, in seconds since the system boot if that can be determined (the token "boot" is literal). If the time since boot could not be obtained, the output is indeterminate (see QElapsedTimer::msecsSinceReference()).
%{time [format]} - system time when the message occurred, formatted by passing the format to QDateTime::toString(). If the format is not specified, the format of Qt::ISODate is used.
%{backtrace [depth=N] [separator="..."]} - A backtrace with the number of frames specified by the optional depth parameter (defaults to 5), and separated by the optional separator parameter (defaults to "|"). This expansion is available only on some platforms (currently only platfoms using glibc). Names are only known for exported functions. If you want to see the name of every function in your application, use QMAKE_LFLAGS += -rdynamic. When reading backtraces, take into account that frames might be missing due to inlining or tail call optimization.
On an unrelated note, the %{time [format]} placeholder is quite useful to quickly "profile" code by qDebug()ing before and after it.
I think you can use qInstallMessageHandler (Qt5) or qInstallMsgHandler (Qt4) to specify a callback which will intercept all qDebug() / qInfo() / etc. messages (example code is in the link). Then you can just add a breakpoint in this callback function and get a nice callstack.
Aside from the obvious, searching your code for calls to setPointSize[F], you can try the following depending on your environment (which you didn't disclose):
If you have the debugging symbols of the Qt libs installed and are using a decent debugger, you can set a conditional breakpoint on the first line in QFont::setPointSizeF() with the condition set to pointSize <= 0. Even if conditional breakpoints don't work you should still be able to set one and step through every call until you've found the culprit.
On Linux there's the tool ltrace which displays all calls of a binary into shared libs, and I suppose there's something similar in the M$ VS toolbox. You can grep the output for calls to setPointSize directly, but of course this won't work for calls within the lib itself (which I guess could be the case when it handles the QML internally).
I'm using the package: IBrokers. It works well for me when I request historical data. Also the call to reqAccountUpdates() works well.
I am having problems with this script:
# myscript.r
.libPaths("rpackages")
library(IBrokers)
tws2 = twsConnect(2)
print('Attempting BUY')
mytkr = twsFuture("ES","GLOBEX","201412")
myorderid = sample(1001:3001, 1)
IBrokers:::.placeOrder(tws2, mytkr, twsOrder(myorderid, "BUY", "1", "MKT"))
twsDisconnect(tws2)
Sometimes the above script works okay. Usually though it fails. When it fails, it seems to connect okay.
Then I see this in my TWS console:
03:47:45:581 JTS-EServerSocket-290: [2:47:71:1:0:0:0:ERR] Message type -1. Socket I/O error -
03:47:45:581 JTS-EServerSocket-290: Anticipated error
jextend.d: Socket I/O error -
at jextend.sc.b(sc.java:364)
at jextend.ch.sb(ch.java:1534)
at jextend.ch.run(ch.java:1390)
at java.lang.Thread.run(Thread.java:745)
Caused by: java.net.SocketException: Connection reset
at java.net.SocketInputStream.read(SocketInputStream.java:196)
at java.net.SocketInputStream.read(SocketInputStream.java:122)
at java.net.SocketInputStream.read(SocketInputStream.java:210)
at jextend.xh.d(xh.java:45)
at jextend.sc.c(sc.java:579)
at jextend.sc.r(sc.java:227)
at jextend.af.a(af.java:232)
at jextend.sc.f(sc.java:650)
at jextend.pd.a(pd.java:822)
at jextend.sc.b(sc.java:358)
... 3 more
03:47:45:583 JTS-EServerSocket-290: [2:47:71:1:0:0:0:ERR] Socket connection for client{2} has closed.
03:47:45:583 JTS-EWriter14-291: [2:47:71:1:0:0:0:ERR] Unable write to socket client{2} -
03:47:45:584 JTS-EServerSocketNotifier-288: Terminating
Can you offer any ideas on how you would wrestle with this issue?
One other piece of info:
I think the call to reqIds() may be necessary. Sometimes reqIds() would return an id not high enough. Then, I'd use it and placeOrder() would fail. So, I call reqIds() but then use Sys.time() to give me an id which is larger than the last ID I used.
Another problem may have been some code-text I copied out of a PowerPoint. Some of the code-characters may have been corrupt.
The main problem was orderid.
I need to be careful how I generate orderid.
Also I may have moused in bad characters from a powerpoint preso which had an example.
I posted some code which works in a comment in this thread.
Dan