SITL + AirSim can not arm: Main loop slow (222Hz < 300Hz)

[Sautenich]

Bug report

• AirSim Version/#commit:
• UE/Unity version: 4.27
• autopilot version: N/A
• OS Version: Windows 10

Issue:

Trying to arm the vehicle as usual and getting this error:

The Airsim is working.

Settings

{
"SettingsVersion": 1.2,
"LogMessagesVisible": true,
"SimMode": "Multirotor",
"OriginGeopoint": {
"Latitude": -35.363261,
"Longitude": 149.165230,
"Altitude": 583
},
"Vehicles": {
"Copter": {
"VehicleType": "ArduCopter",
"RC": {
"RemoteControlID": 2
},
"UseSerial": false,
"LocalHostIp": "127.0.0.1",
"UdpIp": "127.0.0.1",
"UdpPort": 9003,
"ControlPort": 9002
}
}
}

How can the issue be reproduced?

Start SITL with WSL 1
1.Trying to start SITL+Airsim and Getting this error: Main loop slow(222Hz < 300Hz)

Full error message

AP: Arm: GPS 1: not healthy
AP: Arm: Main loop slow (222Hz < 300Hz)
AP: PreArm: GPS 1: not healthy
AP: PreArm: Main loop slow (222Hz < 300Hz)
AP: PreArm: GPS 1: not healthy
AP: PreArm: Main loop slow (222Hz < 300Hz)
Flight battery 100 percent
AP: PreArm: GPS 1: not healthy
AP: PreArm: Main loop slow (222Hz < 300Hz)

[Sautenich]

I've found some similar solution in this topic. Trying to figure out the command i need to use. The problem is with Ardupilot.

ArduPilot/ardupilot#22320

[Sautenich]

Actually, force arming is solving this problem. Maybe, i need to use WSL2 with biggest amount of CPU/GPU/Memory to support the calculations.
param set ARMING_CHECK 0
worked for me, but didn't resolve the problem in general

[guyzoler]

loos like it is somewhat a configuration issue, i get the same error while i have a lot of spare CPU \ MEM \ GPU

Looking at the wsl stats doesn't look like there is a real performance issue there:

my guess is that there is some bug in the code causing it to wait for data from airsim or something so it delays the main loop.

[guarav00tanwar]

Bug report

* AirSim Version/#commit:

* UE/Unity version: 4.27

* autopilot version: N/A

* OS Version: Windows 10

Issue:

Trying to arm the vehicle as usual and getting this error: The Airsim is working.

Settings

{ "SettingsVersion": 1.2, "LogMessagesVisible": true, "SimMode": "Multirotor", "OriginGeopoint": { "Latitude": -35.363261, "Longitude": 149.165230, "Altitude": 583 }, "Vehicles": { "Copter": { "VehicleType": "ArduCopter", "RC": { "RemoteControlID": 2 }, "UseSerial": false, "LocalHostIp": "127.0.0.1", "UdpIp": "127.0.0.1", "UdpPort": 9003, "ControlPort": 9002 } } }

How can the issue be reproduced?

Start SITL with WSL 1 1.Trying to start SITL+Airsim and Getting this error: Main loop slow(222Hz < 300Hz)

Full error message

AP: Arm: GPS 1: not healthy AP: Arm: Main loop slow (222Hz < 300Hz) AP: PreArm: GPS 1: not healthy AP: PreArm: Main loop slow (222Hz < 300Hz) AP: PreArm: GPS 1: not healthy AP: PreArm: Main loop slow (222Hz < 300Hz) Flight battery 100 percent AP: PreArm: GPS 1: not healthy AP: PreArm: Main loop slow (222Hz < 300Hz)
I have setup multi-drone-simulation in Gazebo with SITL. I have PC with intel xeon , 32Gb ram. So hardware was not an issue. So, what i did is, I changed some parameters in SITL as follow; LOG_BITMASK - 156126.0 (old value- 176126.0) LOG_FILE_BUFSIZE - 100 (old value- 200) SCHED_LOOP_RATE - 200 (old value- 400) this worked for me

[guarav00tanwar]

I have setup multi-drone-simulation in Gazebo with SITL. I have PC with intel xeon , 32Gb ram. So hardware was not an issue. So, what i did is, I changed some parameters in SITL as follow; LOG_BITMASK - 156126.0 (old value- 176126.0) LOG_FILE_BUFSIZE - 100 (old value- 200) SCHED_LOOP_RATE - 200 (old value- 400) this worked for me

[valeriavalery]

Hi everyone! I'm trying to use AirSim to simulate two drones with ArduPilot for autonomous control. I've followed the entire guide (link here: SITL with AirSim) but I'm facing some issues:

When I run mavproxy.py --master=tcp:127.0.0.1:5762 --console --map, it gives me the error: ERROR in command ['load', 'map']: module 'map' has no attribute 'init'.
If I run MAVProxy with both vehicles in the same console, I get the error: AP: PreArm: Main loop slow (222Hz < 300Hz).
If I run each vehicle in a separate console using different TCP ports, I can't issue commands to move the drone because it results in an abort (see attached photo).
Do you have any ideas on how to fix this?
Thank you