I have followed the recommended instructions for installing SITL and gazebo, and haven’t modified anything. I am trying to run sitl + gazebo with the default bluerov2 model in order to test the auto mode but can’t get the attitude and heading estimation to work properly (and thus get very bad results in auto mode).
My procedure is to run sitl with the -w option (to have the default parameters), then I load the bluerov2_gazebo_sitl.params (23.1 KB) parameters that I found in the forum. I get a few erros when I do that :
Then I reboot gazebo and sitl for the new parameters to be applied. I get an imu-related warning in gazebo :
“convertion of sensor type [imu] not supported”
Then, when I test the vehicle in manual mode, the vehicle seems to go in a random direction (often lateral) when I issue a forward command. There also seems to be no consistency between the orientation displayed in QGC and the one in gazebo (relative to the fixed axes displayed in gazebo).
I am on the master branch of ardusub, I have QGC v.3.5.0 and gazebo 7.
The AHRS_ORIENTATION is set to Roll 180, so that isn’t the problem.
@patrickelectric, could you check if the attitude and heading estimation works well for you with these parameters and if you can get good results in auto mode ? This way we’ll know if it’s a parameter problem or a problem with my install.
If anyone else got the gazebo model to work properly, that would also be very useful.