[WARN]: [MrsUavPX4Api]: Not receiving Mavros state message for 'x s'! Setup PixHawk SD card!!

[MJavadZallaghi]

Dear MRS team,

I'm using your autonomy stack on my aerial robot. My config:

• Robot: X650
• Pixhawk 6x
• Firmware: PX4 1.15.4
• Companion Computer: J4012 Jetson Orin NX 16 GB
• Pixhawk and Onbard computer communication method: USB TTL on TEL2
• ROS Noetic
• MRS UAV System 1.5.0

Following your instructions, I have put this extras.txt with this content in /etc/ path of Pixhawk SD card:

mavlink start -d /dev/ttyS2 -b 2000000
mavlink stream -d /dev/ttyS2 -s ATTITUDE -r 100
mavlink stream -d /dev/ttyS2 -s ATTITUDE_TARGET -r 100
mavlink stream -d /dev/ttyS2 -s HIGHRES_IMU -r 100
mavlink stream -d /dev/ttyS2 -s RC_CHANNELS -r 10
mavlink stream -d /dev/ttyS2 -s LOCAL_POSITION_NED -r 100
mavlink stream -d /dev/ttyS2 -s ODOMETRY -r 100
mavlink stream -d /dev/ttyS2 -s GLOBAL_POSITION_INT -r 100
mavlink stream -d /dev/ttyS2 -s SYS_STATUS -r 10
mavlink stream -d /dev/ttyS2 -s DISTANCE_SENSOR -r 100
mavlink stream -d /dev/ttyS2 -s HEARTBEAT -r 100
mavlink stream -d /dev/ttyS2 -s UTM_GLOBAL_POSITION -r 1
usleep 100000

Why ttyS2? Because my Jetson is connected to TEL2 port, and from this PX4 doc I found the corresponding port as ttyS2 on Pixhawk.

When trying to fly with your autonomy stack, I have this warning:
WARN]: [MrsUavPX4Api]: Not receiving Mavros state message for 'x s'! Setup PixHawk SD card!!

This is the status page screenshot:

So hardware API is running without an issue, but the vehicle won't arm (probably because of low hz for the topic uav1/mavros/state issue?

This is hz check for that topic:

I would appreciate your helps and insights on solving this issue, then hopefully I can fly with MRS autonomy stack! :)

[MJavadZallaghi]

After checking the problem, noticed that serial communication to my onboard computer is osver /dev/ttyS4. The rates are enough now.