PositionTargetGlobal failed because no origin

Question

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.

Answer 1

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.