diff --git a/src/UAV/output2_gps_onboard.txt b/src/UAV/output2_gps_onboard.txt
new file mode 100644
index 0000000..2e20f1a
--- /dev/null
+++ b/src/UAV/output2_gps_onboard.txt
@@ -0,0 +1,349 @@
+... logging to /home/amov/.ros/log/af3a25a4-1398-11ef-b848-48b02d6760f1/roslaunch-amov-10957.log
+Checking log directory for disk usage. This may take a while.
+Press Ctrl-C to interrupt
+Done checking log file disk usage. Usage is <1GB.
+]2;p600_gps_onboard.launch
+[1mstarted roslaunch server http://amov:34483/[0m
+
+SUMMARY
+========
+
+PARAMETERS
+ * /mavros/cmd/use_comp_id_system_control: False
+ * /mavros/conn/heartbeat_rate: 1.0
+ * /mavros/conn/system_time_rate: 1.0
+ * /mavros/conn/timeout: 10.0
+ * /mavros/conn/timesync_rate: 10.0
+ * /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
+ * /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
+ * /mavros/distance_sensor/hrlv_ez4_pub/id: 0
+ * /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
+ * /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
+ * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
+ * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
+ * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
+ * /mavros/distance_sensor/laser_1_sub/id: 3
+ * /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
+ * /mavros/distance_sensor/laser_1_sub/subscriber: True
+ * /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
+ * /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
+ * /mavros/distance_sensor/lidarlite_pub/id: 1
+ * /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
+ * /mavros/distance_sensor/lidarlite_pub/send_tf: True
+ * /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
+ * /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
+ * /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
+ * /mavros/distance_sensor/sonar_1_sub/id: 2
+ * /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
+ * /mavros/distance_sensor/sonar_1_sub/subscriber: True
+ * /mavros/fake_gps/eph: 2.0
+ * /mavros/fake_gps/epv: 2.0
+ * /mavros/fake_gps/fix_type: 3
+ * /mavros/fake_gps/geo_origin/alt: 408.0
+ * /mavros/fake_gps/geo_origin/lat: 47.3667
+ * /mavros/fake_gps/geo_origin/lon: 8.55
+ * /mavros/fake_gps/gps_rate: 5.0
+ * /mavros/fake_gps/mocap_transform: True
+ * /mavros/fake_gps/satellites_visible: 5
+ * /mavros/fake_gps/tf/child_frame_id: fix
+ * /mavros/fake_gps/tf/frame_id: map
+ * /mavros/fake_gps/tf/listen: False
+ * /mavros/fake_gps/tf/rate_limit: 10.0
+ * /mavros/fake_gps/tf/send: False
+ * /mavros/fake_gps/use_mocap: True
+ * /mavros/fake_gps/use_vision: False
+ * /mavros/fcu_url: /dev/ttyTHS0:921600
+ * /mavros/gcs_url: 
+ * /mavros/global_position/child_frame_id: base_link
+ * /mavros/global_position/frame_id: map
+ * /mavros/global_position/gps_uere: 1.0
+ * /mavros/global_position/rot_covariance: 99999.0
+ * /mavros/global_position/tf/child_frame_id: base_link
+ * /mavros/global_position/tf/frame_id: map
+ * /mavros/global_position/tf/global_frame_id: earth
+ * /mavros/global_position/tf/send: False
+ * /mavros/global_position/use_relative_alt: True
+ * /mavros/image/frame_id: px4flow
+ * /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
+ * /mavros/imu/frame_id: base_link
+ * /mavros/imu/linear_acceleration_stdev: 0.0003
+ * /mavros/imu/magnetic_stdev: 0.0
+ * /mavros/imu/orientation_stdev: 1.0
+ * /mavros/landing_target/camera/fov_x: 2.0071286398
+ * /mavros/landing_target/camera/fov_y: 2.0071286398
+ * /mavros/landing_target/image/height: 480
+ * /mavros/landing_target/image/width: 640
+ * /mavros/landing_target/land_target_type: VISION_FIDUCIAL
+ * /mavros/landing_target/listen_lt: False
+ * /mavros/landing_target/mav_frame: LOCAL_NED
+ * /mavros/landing_target/target_size/x: 0.3
+ * /mavros/landing_target/target_size/y: 0.3
+ * /mavros/landing_target/tf/child_frame_id: camera_center
+ * /mavros/landing_target/tf/frame_id: landing_target
+ * /mavros/landing_target/tf/listen: False
+ * /mavros/landing_target/tf/rate_limit: 10.0
+ * /mavros/landing_target/tf/send: True
+ * /mavros/local_position/frame_id: world
+ * /mavros/local_position/tf/child_frame_id: base_link
+ * /mavros/local_position/tf/frame_id: world
+ * /mavros/local_position/tf/send: True
+ * /mavros/local_position/tf/send_fcu: False
+ * /mavros/mission/pull_a>>>>>>>>>>>>>>>>>>>>>>>> px4_sender Parameter <<<<<<<<<<<<<<<<<<<<<<
+Takeoff_height   : 1 [m] 
+Disarm_height    : 0.18 [m] 
+Land_speed       : 0.2 [m/s] 
+Land_mode        : 1
+geo_fence_x : -30 [m]  to  30 [m]
+geo_fence_y : -30 [m]  to  30 [m]
+geo_fence_z : -3.5 [m]  to  10 [m]
+fter_gcs: True
+ * /mavros/mission/use_mission_item_int: True
+ * /mavros/mocap/use_pose: True
+ * /mavros/mocap/use_tf: False
+ * /mavros/odometry/fcu/odom_child_id_des: base_link
+ * /mavros/odometry/fcu/odom_parent_id_des: map
+ * /mavros/plugin_blacklist: ['safety_area', '...
+ * /mavros/plugin_whitelist: []
+ * /mavros/px4flow/frame_id: px4flow
+ * /mavros/px4flow/ranger_fov: 0.118682
+ * /mavros/px4flow/ranger_max_range: 5.0
+ * /mavros/px4flow/ranger_min_range: 0.3
+ * /mavros/safety_area/p1/x: 1.0
+ * /mavros/safety_area/p1/y: 1.0
+ * /mavros/safety_area/p1/z: 1.0
+ * /mavros/safety_area/p2/x: -1.0
+ * /mavros/safety_area/p2/y: -1.0
+ * /mavros/safety_area/p2/z: -1.0
+ * /mavros/setpoint_accel/send_force: False
+ * /mavros/setpoint_attitude/reverse_thrust: False
+ * /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
+ * /mavros/setpoint_attitude/tf/frame_id: map
+ * /mavros/setpoint_attitude/tf/listen: False
+ * /mavros/setpoint_attitude/tf/rate_limit: 50.0
+ * /mavros/setpoint_attitude/use_quaternion: False
+ * /mavros/setpoint_position/mav_frame: LOCAL_NED
+ * /mavros/setpoint_position/tf/child_frame_id: target_position
+ * /mavros/setpoint_position/tf/frame_id: map
+ * /mavros/setpoint_position/tf/listen: False
+ * /mavros/setpoint_position/tf/rate_limit: 50.0
+ * /mavros/setpoint_raw/thrust_scaling: 1.0
+ * /mavros/setpoint_velocity/mav_frame: LOCAL_NED
+ * /mavros/startup_px4_usb_quirk: True
+ * /mavros/sys/disable_diag: False
+ * /mavros/sys/min_voltage: 10.0
+ * /mavros/target_component_id: 1
+ * /mavros/target_system_id: 1
+ * /mavros/tdr_radio/low_rssi: 40
+ * /mavros/time/time_ref_source: fcu
+ * /mavros/time/timesync_avg_alpha: 0.6
+ * /mavros/time/timesync_mode: MAVLINK
+ * /mavros/vibration/frame_id: base_link
+ * /mavros/vision_pose/tf/child_frame_id: vision_estimate
+ * /mavros/vision_pose/tf/frame_id: odom
+ * /mavros/vision_pose/tf/listen: False
+ * /mavros/vision_pose/tf/rate_limit: 10.0
+ * /mavros/vision_speed/listen_twist: True
+ * /mavros/vision_speed/twist_cov: True
+ * /mavros/wheel_odometry/child_frame_id: base_link
+ * /mavros/wheel_odometry/count: 2
+ * /mavros/wheel_odometry/frame_id: odom
+ * /mavros/wheel_odometry/send_raw: True
+ * /mavros/wheel_odometry/send_twist: False
+ * /mavros/wheel_odometry/tf/child_frame_id: base_link
+ * /mavros/wheel_odometry/tf/frame_id: odom
+ * /mavros/wheel_odometry/tf/send: False
+ * /mavros/wheel_odometry/use_rpm: False
+ * /mavros/wheel_odometry/vel_error: 0.1
+ * /mavros/wheel_odometry/wheel0/radius: 0.05
+ * /mavros/wheel_odometry/wheel0/x: 0.0
+ * /mavros/wheel_odometry/wheel0/y: -0.15
+ * /mavros/wheel_odometry/wheel1/radius: 0.05
+ * /mavros/wheel_odometry/wheel1/x: 0.0
+ * /mavros/wheel_odometry/wheel1/y: 0.15
+ * /px4_pos_estimator/input_source: 9
+ * /px4_pos_estimator/rate_hz: 30
+ * /px4_sender/Disarm_height: 0.18
+ * /px4_sender/Land_mode: 1
+ * /px4_sender/Land_speed: 0.2
+ * /px4_sender/Takeoff_height: 1
+ * /px4_sender/geo_fence/x_max: 30
+ * /px4_sender/geo_fence/x_min: -30
+ * /px4_sender/geo_fence/y_max: 30
+ * /px4_sender/geo_fence/y_min: -30
+ * /px4_sender/geo_fence/z_max: 10
+ * /px4_sender/geo_fence/z_min: -3.5
+ * /rosdistro: melodic
+ * /rosversion: 1.14.9
+
+NODES
+  /
+    ground_station (prometheus_station/ground_station)
+    ground_station_msg (prometheus_station/ground_station_msg)
+    mavros (mavros/mavros_node)
+    px4_pos_estimator (prometheus_control/px4_pos_estimator)
+    px4_sender (prometheus_control/px4_sender)
+
+auto-starting new master
+[1mprocess[master]: started with pid [10968][0m
+[1mROS_MASTER_URI=http://localhost:11311[0m
+]2;p600_gps_onboard.launch http://localhost:11311
+[1msetting /run_id to af3a25a4-1398-11ef-b848-48b02d6760f1[0m
+[1mprocess[rosout-1]: started with pid [10981][0m
+started core service [/rosout]
+[1mprocess[mavros-2]: started with pid [10997][0m
+[1mprocess[px4_pos_estimator-3]: started with pid [10998][0m
+[1mprocess[px4_sender-4]: started with pid [11004][0m
+[1mprocess[ground_station-5]: started with pid [11010][0m
+[1mprocess[ground_station_msg-6]: started with pid [11016][0m
+[1m[ground_station-5] process has finished cleanly
+log file: /home[0m[ INFO] [1715873200.591000856]: FCU URL: /dev/ttyTHS0:921600[0m
+[0m[ INFO] [1715873200.596885272]: serial0: device: /dev/ttyTHS0 @ 921600 bps[0m
+[0m[ INFO] [1715873200.598791768]: GCS bridge disabled[0m
+[0m[ INFO] [1715873200.628134840]: Plugin 3dr_radio loaded[0m
+[0m[ INFO] [1715873200.632773752]: Plugin 3dr_radio initialized[0m
+[0m[ INFO] [1715873200.633155896]: Plugin actuator_control loaded[0m
+[0m[ INFO] [1715873200.642638296]: Plugin actuator_control initialized[0m
+[0m[ INFO] [1715873200.652951736]: Plugin adsb loaded[0m
+[0m[ INFO] [1715873200.662796696]: Plugin adsb initialized[0m
+[0m[ INFO] [1715873200.663200120]: Plugin altitude loaded[0m
+[0m[ INFO] [1715873200.665931256]: Plugin altitude initialized[0m
+[0m[ INFO] [1715873200.666286680]: Plugin cam_imu_sync loaded[0m
+[0m[ INFO] [1715873200.668030072]: Plugin cam_imu_sync initialized[0m
+[0m[ INFO] [1715873200.668443672]: Plugin command loaded[0m
+[0m[ INFO] [1715873200.690015704]: Plugin command initialized[0m
+[0m[ INFO] [1715873200.690786552]: Plugin companion_process_status loaded[0m
+[0m[ INFO] [1715873200.698314264]: Plugin companion_process_status initialized[0m
+[0m[ INFO] [1715873200.698725144]: Plugin debug_value loaded[0m
+[0m[ INFO] [1715873200.710915352]: Plugin debug_value initialized[0m
+[0m[ INFO] [1715873200.711042360]: Plugin distance_sensor blacklisted[0m
+[0m[ INFO] [1715873200.711363288]: Plugin esc_status loaded[0m
+[0m[ INFO] [1715873200.714360600]: Plugin esc_status initialized[0m
+[0m[ INFO] [1715873200.715829784]: Plugin fake_gps loaded[0m
+[0m[ INFO] [1715873200.763204312]: Plugin fake_gps initialized[0m
+[0m[ INFO] [1715873200.763853272]: Plugin ftp loaded[0m
+[0m[ INFO] [1715873200.782783736]: Plugin ftp initialized[0m
+[0m[ INFO] [1715873200.783384248]: Plugin global_position loaded[0m
+[0m[ INFO] [1715873200.828477080]: Plugin global_position initialized[0m
+[0m[ INFO] [1715873200.828855960]: Plugin gps_rtk loaded[0m
+[0m[ INFO] [1715873200.836239576]: Plugin gps_rtk initialized[0m
+[0m[ INFO] [1715873200.836605528]: Plugin gps_status loaded[0m
+[0m[ INFO] [1715873200.842418360]: Plugin gps_status initialized[0m
+[0m[ INFO] [1715873200.842867288]: Plugin hil loaded[0m
+[0m[ INFO] [1715873200.873060952]: Plugin hil initialized[0m
+[0m[ INFO] [1715873200.873523608]: Plugin home_position loaded[0m
+[0m[ INFO] [1715873200.883228760]: Plugin home_position initialized[0m
+[0m[ INFO] [1715873200.883714040]: Plugin imu loaded[0m
+[0m[ INFO] [1715873200.906597208]: Plugin imu initialized[0m
+[0m[ INFO] [1715873200.907008376]: Plugin landing_target loaded[0m
+[0m[ INFO] [1715873201.012400152]: Plugin landing_target initialized[0m
+[0m[ INFO] [1715873201.012872728]: Plugin local_position loaded[0m
+[0m[ INFO] [1715873201.078511224]: Plugin local_position initialized[0m
+[0m[ INFO] [1715873201.078972600]: Plugin log_transfer loaded[0m
+[0m[ INFO] [1715873201.093453272]: Plugin log_transfer initialized[0m
+[0m[ INFO] [1715873201.094051320]: Plugin manual_control loaded[0m
+[0m[ INFO] [1715873201.111395608]: Plugin manual_control initialized[0m
+[0m[ INFO] [1715873201.111841176]: Plugin mocap_pose_estimate loaded[0m
+[0m[ INFO] [1715873201.130407256]: Plugin mocap_pose_estimate initialized[0m
+[0m[ INFO] [1715873201.131065720]: Plugin mount_control loaded[0m
+[0m[ INFO] [1715873201.140474008]: Plugin mount_control initialized[0m
+[0m[ INFO] [1715873201.140933272]: Plugin obstacle_distance loaded[0m
+[0m[ INFO] [1715873201.147311480]: Plugin obstacle_distance initialized[0m
+[0m[ INFO] [1715873201.147667384]: Plugin odom loaded[0m
+[0m[ INFO] [1715873201.157574680]: Plugin odom initialized[0m
+[0m[ INFO] [1715873201.157925176]: Plugin onboard_computer_status loaded[0m
+[0m[ INFO] [1715873201.163575960]: Plugin onboard_computer_status initialized[0m
+[0m[ INFO] [1715873201.164042456]: Plugin param loaded[0m
+[0m[ INFO] [1715873201.171267064]: Plugin param initialized[0m
+[0m[ INFO] [1715873201.171655096]: Plugin play_tune loaded[0m
+[0m[ INFO] [1715873201.177498488]: Plugin p[33m[ WARN] [1715873201.630723064]: GP: No GPS fix[0m
+lay_tune initialized[0m
+[0m[ INFO] [1715873201.177972472]: Plugin px4flow loaded[0m
+[0m[ INFO] [1715873201.193672856]: Plugin px4flow initialized[0m
+[0m[ INFO] [1715873201.193796088]: Plugin rangefinder blacklisted[0m
+[0m[ INFO] [1715873201.194152216]: Plugin rc_io loaded[0m
+[0m[ INFO] [1715873201.209819192]: Plugin rc_io initialized[0m
+[0m[ INFO] [1715873201.210016824]: Plugin safety_area blacklisted[0m
+[0m[ INFO] [1715873201.210436536]: Plugin setpoint_accel loaded[0m
+[0m[ INFO] [1715873201.224575096]: Plugin setpoint_accel initialized[0m
+[0m[ INFO] [1715873201.225348152]: Plugin setpoint_attitude loaded[0m
+[0m[ INFO] [1715873201.248844728]: Plugin setpoint_attitude initialized[0m
+[0m[ INFO] [1715873201.249463352]: Plugin setpoint_position loaded[0m
+[0m[ INFO] [1715873201.287349496]: Plugin setpoint_position initialized[0m
+[0m[ INFO] [1715873201.287878232]: Plugin setpoint_raw loaded[0m
+[0m[ INFO] [1715873201.310360280]: Plugin setpoint_raw initialized[0m
+[0m[ INFO] [1715873201.310879800]: Plugin setpoint_trajectory loaded[0m
+[0m[ INFO] [1715873201.328296984]: Plugin setpoint_trajectory initialized[0m
+[0m[ INFO] [1715873201.328859896]: Plugin setpoint_velocity loaded[0m
+[0m[ INFO] [1715873201.349467384]: Plugin setpoint_velocity initialized[0m
+[0m[ INFO] [1715873201.350077752]: Plugin sys_status loaded[0m
+[0m[ INFO] [1715873201.381405944]: Plugin sys_status initialized[0m
+[0m[ INFO] [1715873201.382503480]: Plugin sys_time loaded[0m
+[0m[ INFO] [1715873201.397975928]: TM: Timesync mode: MAVLINK[0m
+[0m[ INFO] [1715873201.401255544]: Plugin sys_time initialized[0m
+[0m[ INFO] [1715873201.401725880]: Plugin trajectory loaded[0m
+[0m[ INFO] [1715873201.415803576]: Plugin trajectory initialized[0m
+[0m[ INFO] [1715873201.416263064]: Plugin vfr_hud loaded[0m
+[0m[ INFO] [1715873201.417993368]: Plugin vfr_hud initialized[0m
+[0m[ INFO] [1715873201.418113016]: Plugin vibration blacklisted[0m
+[0m[ INFO] [1715873201.418388472]: Plugin vision_pose_estimate loaded[0m
+[0m[ INFO] [1715873201.444231256]: Plugin vision_pose_estimate initialized[0m
+[0m[ INFO] [1715873201.444643512]: Plugin vision_speed_estimate loaded[0m
+[0m[ INFO] [1715873201.454059224]: Plugin vision_speed_estimate initialized[0m
+[0m[ INFO] [1715873201.454542904]: Plugin waypoint loaded[0m
+[0m[ INFO] [1715873201.467033272]: Plugin waypoint initialized[0m
+[0m[ INFO] [1715873201.467202936]: Plugin wheel_odometry blacklisted[0m
+[0m[ INFO] [1715873201.467617688]: Plugin wind_estimation loaded[0m
+[0m[ INFO] [1715873201.469658168]: Plugin wind_estimation initialized[0m
+[0m[ INFO] [1715873201.469801656]: Autostarting mavlink via USB on PX4[0m
+[0m[ INFO] [1715873201.469916920]: Built-in SIMD instructions: ARM NEON[0m
+[0m[ INFO] [1715873201.469997816]: Built-in MAVLink package version: 2020.9.10[0m
+[0m[ INFO] [1715873201.470090520]: Known MAVLink dialects: common ardupilotmega ASLUAV all autoquad icarous matrixpilot paparazzi standard uAvionix ualberta[0m
+[0m[ INFO] [1715873201.470205816]: MAVROS started. MY ID 1.240, TARGET ID 1.1[0m
+[0m[ INFO] [1715873201.485325144]: IMU: High resolution IMU detected![0m
+[0m[ INFO] [1715873201.485753976]: IMU: Attitude quaternion IMU detected![0m
+[0m[ INFO] [1715873201.980668088]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot[0m
+[0m[ INFO] [1715873201.984278232]: IMU: High resolution IMU detected![0m
+[0m[ INFO] [1715873201.984583288]: IMU: Attitude quaternion IMU detected![0m
+[0m[ INFO] [1715873202.987314840]: WP: Using MISSION_ITEM_INT[0m
+[0m[ INFO] [1715873202.987476120]: VER: 1.1: Capabilities         0x000000000000e4ef[0m
+[0m[ INFO] [1715873202.987662040]: VER: 1.1: Flight software:     010c0300 (dcee34f76c010001)[0m
+[0m[ INFO] [1715873202.987816984]: VER: 1.1: Middleware software: 010c0300 (dcee34f76c000000)[0m
+[0m[ INFO] [1715873202.987936920]: VER: 1.1: OS software:         080200ff (bf660cba2af81f05)[0m
+[0m[ INFO] [1715873202.988054104]: VER: 1.1: Board hardware:      00000032[0m
+[0m[ INFO] [1715873202.988181400]: VER: 1.1: VID/P[33m[ WARN] [1715873202.989200312]: CMD: Unexpected command 520, result 0[0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> PX4 SENDER  <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>>   Drone State   <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mTime: +9.97 [s] [0;1;32m [ Connected ][0;1;32m [ DisArmed ][0;1;32m [ Ground ] [0;1;32m[ MANUAL ] [0m
+[0;1;32mPosition [X Y Z] : +0.00 [ m ] +0.00 [ m ] +0.00 [ m ] [0m
+[0;1;32mVelocity [X Y Z] : +0.00 [m/s] +0.00 [m/s] +0.00 [m/s] [0m
+[0;1;32mAttitude [R P Y] : +0.09 [deg] +0.01 [deg] -95.44 [deg] [0m
+[0;1;32mAtt_rate [R P Y] : +0.03 [deg/s] +0.03 [deg/s] +0.03 [deg/s] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> Control Command <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mSource: [  ]  Command_ID: 0[0m
+[0;1;32mCommand: [ Idle ] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> PX4 SENDER  <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>>   Drone State   <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mTime: +19.97 [s] [0;1;32m [ Connected ][0;1;32m [ DisArmed ][0;1;32m [ Ground ] [0;1;32m[ MANUAL ] [0m
+[0;1;32mPosition [X Y Z] : +0.00 [ m ] +0.00 [ m ] +0.00 [ m ] [0m
+[0;1;32mVelocity [X Y Z] : +0.00 [m/s] +0.00 [m/s] +0.00 [m/s] [0m
+[0;1;32mAttitude [R P Y] : +0.09 [deg] -0.00 [deg] -95.47 [deg] [0m
+[0;1;32mAtt_rate [R P Y] : -0.02 [deg/s] -0.02 [deg/s] -0.02 [deg/s] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> Control Command <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mSource: [  ]  Command_ID: 0[0m
+[0;1;32mCommand: [ Idle ] [0m
+ID:             26ac:0032[0m
+[0m[ INFO] [1715873202.988877624]: VER: 1.1: UID:                 3330511536333538[0m
+[0m[ INFO] [1715873211.981143544]: HP: requesting home position[0m
+[0m[ INFO] [1715873216.981850040]: WP: mission received[0m
+[0m[ INFO] [1715873221.981065304]: HP: requesting home position[0m
+/amov/.ros/log/af3a25a4-1398-11ef-b848-48b02d6760f1/ground_station-5*.log[0m
+[1m[ground_station_msg-6] process has finished cleanly
+log file: /home/amov/.ros/log/af3a25a4-1398-11ef-b848-48b02d6760f1/ground_station_msg-6*.log[0m
+[px4_sender-4] killing on exit
+[px4_pos_estimator-3] killing on exit
+[mavros-2] killing on exit
+[rosout-1] killing on exit
+[master] killing on exit
+shutting down processing monitor...
+... shutting down processing monitor complete
+[1mdone[0m
diff --git a/src/UAV/output_gps_onboard.txt b/src/UAV/output_gps_onboard.txt
new file mode 100644
index 0000000..8936a43
--- /dev/null
+++ b/src/UAV/output_gps_onboard.txt
@@ -0,0 +1,520 @@
+... logging to /home/amov/.ros/log/c127e554-139c-11ef-9920-48b02d6760f1/roslaunch-amov-23263.log
+Checking log directory for disk usage. This may take a while.
+Press Ctrl-C to interrupt
+Done checking log file disk usage. Usage is <1GB.
+]2;p600_gps_onboard.launch
+[1mstarted roslaunch server http://amov:40205/[0m
+
+SUMMARY
+========
+
+PARAMETERS
+ * /mavros/cmd/use_comp_id_system_control: False
+ * /mavros/conn/heartbeat_rate: 1.0
+ * /mavros/conn/system_time_rate: 1.0
+ * /mavros/conn/timeout: 10.0
+ * /mavros/conn/timesync_rate: 10.0
+ * /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
+ * /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
+ * /mavros/distance_sensor/hrlv_ez4_pub/id: 0
+ * /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
+ * /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
+ * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
+ * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
+ * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
+ * /mavros/distance_sensor/laser_1_sub/id: 3
+ * /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
+ * /mavros/distance_sensor/laser_1_sub/subscriber: True
+ * /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
+ * /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
+ * /mavros/distance_sensor/lidarlite_pub/id: 1
+ * /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
+ * /mavros/distance_sensor/lidarlite_pub/send_tf: True
+ * /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
+ * /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
+ * /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
+ * /mavros/distance_sensor/sonar_1_sub/id: 2
+ * /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
+ * /mavros/distance_sensor/sonar_1_sub/subscriber: True
+ * /mavros/fake_gps/eph: 2.0
+ * /mavros/fake_gps/epv: 2.0
+ * /mavros/fake_gps/fix_type: 3
+ * /mavros/fake_gps/geo_origin/alt: 408.0
+ * /mavros/fake_gps/geo_origin/lat: 47.3667
+ * /mavros/fake_gps/geo_origin/lon: 8.55
+ * /mavros/fake_gps/gps_rate: 5.0
+ * /mavros/fake_gps/mocap_transform: True
+ * /mavros/fake_gps/satellites_visible: 5
+ * /mavros/fake_gps/tf/child_frame_id: fix
+ * /mavros/fake_gps/tf/frame_id: map
+ * /mavros/fake_gps/tf/listen: False
+ * /mavros/fake_gps/tf/rate_limit: 10.0
+ * /mavros/fake_gps/tf/send: False
+ * /mavros/fake_gps/use_mocap: True
+ * /mavros/fake_gps/use_vision: False
+ * /mavros/fcu_url: /dev/ttyTHS0:921600
+ * /mavros/gcs_url: 
+ * /mavros/global_position/child_frame_id: base_link
+ * /mavros/global_position/frame_id: map
+ * /mavros/global_position/gps_uere: 1.0
+ * /mavros/global_position/rot_covariance: 99999.0
+ * /mavros/global_position/tf/child_frame_id: base_link
+ * /mavros/global_position/tf/frame_id: map
+ * /mavros/global_position/tf/global_frame_id: earth
+ * /mavros/global_position/tf/send: False
+ * /mavros/global_position/use_relative_alt: True
+ * /mavros/image/frame_id: px4flow
+ * /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
+ * /mavros/imu/frame_id: base_link
+ * /mavros/imu/linear_acceleration_stdev: 0.0003
+ * /mavros/imu/magnetic_stdev: 0.0
+ * /mavros/imu/orientation_stdev: 1.0
+ * /mavros/landing_target/camera/fov_x: 2.0071286398
+ * /mavros/landing_target/camera/fov_y: 2.0071286398
+ * /mavros/landing_target/image/height: 480
+ * /mavros/landing_target/image/width: 640
+ * /mavros/landing_target/land_target_type: VISION_FIDUCIAL
+ * /mavros/landing_target/listen_lt: False
+ * /mavros/landing_target/mav_frame: LOCAL_NED
+ * /mavros/landing_target/target_size/x: 0.3
+ * /mavros/landing_target/target_size/y: 0.3
+ * /mavros/landing_target/tf/child_frame_id: camera_center
+ * /mavros/landing_target/tf/frame_id: landing_target
+ * /mavros/landing_target/tf/listen: False
+ * /mavros/landing_target/tf/rate_limit: 10.0
+ * /mavros/landing_target/tf/send: True
+ * /mavros/local_position/frame_id: world
+ * /mavros/local_position/tf/child_frame_id: base_link
+ * /mavros/local_position/tf/frame_id: world
+ * /mavros/local_position/tf/send: True
+ * /mavros/local_position/tf/send_fcu: False
+ * /mavros/mission/pull_a>>>>>>>>>>>>>>>>>>>>>>>> px4_sender Parameter <<<<<<<<<<<<<<<<<<<<<<
+Takeoff_height   : 1 [m] 
+Disarm_height    : 0.18 [m] 
+Land_speed       : 0.2 [m/s] 
+Land_mode        : 1
+geo_fence_x : -30 [m]  to  30 [m]
+geo_fence_y : -30 [m]  to  30 [m]
+geo_fence_z : -3.5 [m]  to  10 [m]
+fter_gcs: True
+ * /mavros/mission/use_mission_item_int: True
+ * /mavros/mocap/use_pose: True
+ * /mavros/mocap/use_tf: False
+ * /mavros/odometry/fcu/odom_child_id_des: base_link
+ * /mavros/odometry/fcu/odom_parent_id_des: map
+ * /mavros/plugin_blacklist: ['safety_area', '...
+ * /mavros/plugin_whitelist: []
+ * /mavros/px4flow/frame_id: px4flow
+ * /mavros/px4flow/ranger_fov: 0.118682
+ * /mavros/px4flow/ranger_max_range: 5.0
+ * /mavros/px4flow/ranger_min_range: 0.3
+ * /mavros/safety_area/p1/x: 1.0
+ * /mavros/safety_area/p1/y: 1.0
+ * /mavros/safety_area/p1/z: 1.0
+ * /mavros/safety_area/p2/x: -1.0
+ * /mavros/safety_area/p2/y: -1.0
+ * /mavros/safety_area/p2/z: -1.0
+ * /mavros/setpoint_accel/send_force: False
+ * /mavros/setpoint_attitude/reverse_thrust: False
+ * /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
+ * /mavros/setpoint_attitude/tf/frame_id: map
+ * /mavros/setpoint_attitude/tf/listen: False
+ * /mavros/setpoint_attitude/tf/rate_limit: 50.0
+ * /mavros/setpoint_attitude/use_quaternion: False
+ * /mavros/setpoint_position/mav_frame: LOCAL_NED
+ * /mavros/setpoint_position/tf/child_frame_id: target_position
+ * /mavros/setpoint_position/tf/frame_id: map
+ * /mavros/setpoint_position/tf/listen: False
+ * /mavros/setpoint_position/tf/rate_limit: 50.0
+ * /mavros/setpoint_raw/thrust_scaling: 1.0
+ * /mavros/setpoint_velocity/mav_frame: LOCAL_NED
+ * /mavros/startup_px4_usb_quirk: True
+ * /mavros/sys/disable_diag: False
+ * /mavros/sys/min_voltage: 10.0
+ * /mavros/target_component_id: 1
+ * /mavros/target_system_id: 1
+ * /mavros/tdr_radio/low_rssi: 40
+ * /mavros/time/time_ref_source: fcu
+ * /mavros/time/timesync_avg_alpha: 0.6
+ * /mavros/time/timesync_mode: MAVLINK
+ * /mavros/vibration/frame_id: base_link
+ * /mavros/vision_pose/tf/child_frame_id: vision_estimate
+ * /mavros/vision_pose/tf/frame_id: odom
+ * /mavros/vision_pose/tf/listen: False
+ * /mavros/vision_pose/tf/rate_limit: 10.0
+ * /mavros/vision_speed/listen_twist: True
+ * /mavros/vision_speed/twist_cov: True
+ * /mavros/wheel_odometry/child_frame_id: base_link
+ * /mavros/wheel_odometry/count: 2
+ * /mavros/wheel_odometry/frame_id: odom
+ * /mavros/wheel_odometry/send_raw: True
+ * /mavros/wheel_odometry/send_twist: False
+ * /mavros/wheel_odometry/tf/child_frame_id: base_link
+ * /mavros/wheel_odometry/tf/frame_id: odom
+ * /mavros/wheel_odometry/tf/send: False
+ * /mavros/wheel_odometry/use_rpm: False
+ * /mavros/wheel_odometry/vel_error: 0.1
+ * /mavros/wheel_odometry/wheel0/radius: 0.05
+ * /mavros/wheel_odometry/wheel0/x: 0.0
+ * /mavros/wheel_odometry/wheel0/y: -0.15
+ * /mavros/wheel_odometry/wheel1/radius: 0.05
+ * /mavros/wheel_odometry/wheel1/x: 0.0
+ * /mavros/wheel_odometry/wheel1/y: 0.15
+ * /px4_pos_estimator/input_source: 9
+ * /px4_pos_estimator/rate_hz: 30
+ * /px4_sender/Disarm_height: 0.18
+ * /px4_sender/Land_mode: 1
+ * /px4_sender/Land_speed: 0.2
+ * /px4_sender/Takeoff_height: 1
+ * /px4_sender/geo_fence/x_max: 30
+ * /px4_sender/geo_fence/x_min: -30
+ * /px4_sender/geo_fence/y_max: 30
+ * /px4_sender/geo_fence/y_min: -30
+ * /px4_sender/geo_fence/z_max: 10
+ * /px4_sender/geo_fence/z_min: -3.5
+ * /rosdistro: melodic
+ * /rosversion: 1.14.9
+
+NODES
+  /
+    ground_station (prometheus_station/ground_station)
+    ground_station_msg (prometheus_station/ground_station_msg)
+    mavros (mavros/mavros_node)
+    px4_pos_estimator (prometheus_control/px4_pos_estimator)
+    px4_sender (prometheus_control/px4_sender)
+
+auto-starting new master
+[1mprocess[master]: started with pid [23301][0m
+[1mROS_MASTER_URI=http://localhost:11311[0m
+]2;p600_gps_onboard.launch http://localhost:11311
+[1msetting /run_id to c127e554-139c-11ef-9920-48b02d6760f1[0m
+[1mprocess[rosout-1]: started with pid [23312][0m
+started core service [/rosout]
+[1mprocess[mavros-2]: started with pid [23315][0m
+[1mprocess[px4_pos_estimator-3]: started with pid [23320][0m
+[1mprocess[px4_sender-4]: started with pid [23321][0m
+[1mprocess[ground_station-5]: started with pid [23332][0m
+[1mprocess[ground_station_msg-6]: started with pid [23338][0m
+[1m[ground_station-5] process has finished cleanly
+log file: /home[0m[ INFO] [1715874952.671630360]: FCU URL: /dev/ttyTHS0:921600[0m
+[0m[ INFO] [1715874952.679988408]: serial0: device: /dev/ttyTHS0 @ 921600 bps[0m
+[0m[ INFO] [1715874952.700853688]: GCS bridge disabled[0m
+[0m[ INFO] [1715874952.907858904]: Plugin 3dr_radio loaded[0m
+[0m[ INFO] [1715874952.913183832]: Plugin 3dr_radio initialized[0m
+[0m[ INFO] [1715874952.913711192]: Plugin actuator_control loaded[0m
+[0m[ INFO] [1715874952.923861144]: Plugin actuator_control initialized[0m
+[0m[ INFO] [1715874953.007159672]: Plugin adsb loaded[0m
+[0m[ INFO] [1715874953.023549880]: Plugin adsb initialized[0m
+[0m[ INFO] [1715874953.024174584]: Plugin altitude loaded[0m
+[0m[ INFO] [1715874953.027646488]: Plugin altitude initialized[0m
+[0m[ INFO] [1715874953.028083896]: Plugin cam_imu_sync loaded[0m
+[0m[ INFO] [1715874953.030352248]: Plugin cam_imu_sync initialized[0m
+[0m[ INFO] [1715874953.030948824]: Plugin command loaded[0m
+[0m[ INFO] [1715874953.051925048]: Plugin command initialized[0m
+[0m[ INFO] [1715874953.052468376]: Plugin companion_process_status loaded[0m
+[0m[ INFO] [1715874953.060660440]: Plugin companion_process_status initialized[0m
+[0m[ INFO] [1715874953.061188120]: Plugin debug_value loaded[0m
+[0m[ INFO] [1715874953.076931672]: Plugin debug_value initialized[0m
+[0m[ INFO] [1715874953.077096664]: Plugin distance_sensor blacklisted[0m
+[0m[ INFO] [1715874953.077592184]: Plugin esc_status loaded[0m
+[0m[ INFO] [1715874953.081335800]: Plugin esc_status initialized[0m
+[0m[ INFO] [1715874953.081897624]: Plugin fake_gps loaded[0m
+[0m[ INFO] [1715874953.130306264]: Plugin fake_gps initialized[0m
+[0m[ INFO] [1715874953.131100760]: Plugin ftp loaded[0m
+[0m[ INFO] [1715874953.150092984]: Plugin ftp initialized[0m
+[0m[ INFO] [1715874953.150659608]: Plugin global_position loaded[0m
+[0m[ INFO] [1715874953.194335896]: Plugin global_position initialized[0m
+[0m[ INFO] [1715874953.194811768]: Plugin gps_rtk loaded[0m
+[0m[ INFO] [1715874953.202847960]: Plugin gps_rtk initialized[0m
+[0m[ INFO] [1715874953.203461976]: Plugin gps_status loaded[0m
+[0m[ INFO] [1715874953.209774424]: Plugin gps_status initialized[0m
+[0m[ INFO] [1715874953.210466232]: Plugin hil loaded[0m
+[0m[ INFO] [1715874953.249367704]: Plugin hil initialized[0m
+[0m[ INFO] [1715874953.249901016]: Plugin home_position loaded[0m
+[0m[ INFO] [1715874953.260712920]: Plugin home_position initialized[0m
+[0m[ INFO] [1715874953.261399032]: Plugin imu loaded[0m
+[0m[ INFO] [1715874953.282108408]: Plugin imu initialized[0m
+[0m[ INFO] [1715874953.282797240]: Plugin landing_target loaded[0m
+[0m[ INFO] [1715874953.322801400]: Plugin landing_target initialized[0m
+[0m[ INFO] [1715874953.323818584]: Plugin local_position loaded[0m
+[0m[ INFO] [1715874953.341944312]: Plugin local_position initialized[0m
+[0m[ INFO] [1715874953.342498232]: Plugin log_transfer loaded[0m
+[0m[ INFO] [1715874953.350532632]: Plugin log_transfer initialized[0m
+[0m[ INFO] [1715874953.351283736]: Plugin manual_control loaded[0m
+[0m[ INFO] [1715874953.359235544]: Plugin manual_control initialized[0m
+[0m[ INFO] [1715874953.359716312]: Plugin mocap_pose_estimate loaded[0m
+[0m[ INFO] [1715874953.371430040]: Plugin mocap_pose_estimate initialized[0m
+[0m[ INFO] [1715874953.372001976]: Plugin mount_control loaded[0m
+[0m[ INFO] [1715874953.382308280]: Plugin mount_control initialized[0m
+[0m[ INFO] [1715874953.382929112]: Plugin obstacle_distance loaded[0m
+[0m[ INFO] [1715874953.392141208]: Plugin obstacle_distance initialized[0m
+[0m[ INFO] [1715874953.392721176]: Plugin odom loaded[0m
+[0m[ INFO] [1715874953.404029432]: Plugin odom initialized[0m
+[0m[ INFO] [1715874953.404878968]: Plugin onboard_computer_status loaded[0m
+[0m[ INFO] [1715874953.411097944]: Plugin onboard_computer_status initialized[0m
+[0m[ INFO] [1715874953.411712632]: Plugin param loaded[0m
+[0m[ INFO] [1715874953.425018200]: Plugin param initialized[0m
+[0m[ INFO] [1715874953.425551096]: Plugin play_tune loaded[0m
+[0m[ INFO] [1715874953.440761400]: Plugin p[33m[ WARN] [1715874953.882244632]: GP: No GPS fix[0m
+lay_tune initialized[0m
+[0m[ INFO] [1715874953.441337208]: Plugin px4flow loaded[0m
+[0m[ INFO] [1715874953.460050392]: Plugin px4flow initialized[0m
+[0m[ INFO] [1715874953.460211768]: Plugin rangefinder blacklisted[0m
+[0m[ INFO] [1715874953.460708408]: Plugin rc_io loaded[0m
+[0m[ INFO] [1715874953.469927000]: Plugin rc_io initialized[0m
+[0m[ INFO] [1715874953.470311480]: Plugin safety_area blacklisted[0m
+[0m[ INFO] [1715874953.471151608]: Plugin setpoint_accel loaded[0m
+[0m[ INFO] [1715874953.479850072]: Plugin setpoint_accel initialized[0m
+[0m[ INFO] [1715874953.480479864]: Plugin setpoint_attitude loaded[0m
+[0m[ INFO] [1715874953.505744664]: Plugin setpoint_attitude initialized[0m
+[0m[ INFO] [1715874953.506483416]: Plugin setpoint_position loaded[0m
+[0m[ INFO] [1715874953.551363576]: Plugin setpoint_position initialized[0m
+[0m[ INFO] [1715874953.552417240]: Plugin setpoint_raw loaded[0m
+[0m[ INFO] [1715874953.578769112]: Plugin setpoint_raw initialized[0m
+[0m[ INFO] [1715874953.579716088]: Plugin setpoint_trajectory loaded[0m
+[0m[ INFO] [1715874953.593271128]: Plugin setpoint_trajectory initialized[0m
+[0m[ INFO] [1715874953.593880248]: Plugin setpoint_velocity loaded[0m
+[0m[ INFO] [1715874953.609665080]: Plugin setpoint_velocity initialized[0m
+[0m[ INFO] [1715874953.610552376]: Plugin sys_status loaded[0m
+[0m[ INFO] [1715874953.670589880]: Plugin sys_status initialized[0m
+[0m[ INFO] [1715874953.671314904]: Plugin sys_time loaded[0m
+[0m[ INFO] [1715874953.688275256]: TM: Timesync mode: MAVLINK[0m
+[0m[ INFO] [1715874953.692012728]: Plugin sys_time initialized[0m
+[0m[ INFO] [1715874953.692583512]: Plugin trajectory loaded[0m
+[0m[ INFO] [1715874953.708286744]: Plugin trajectory initialized[0m
+[0m[ INFO] [1715874953.708822328]: Plugin vfr_hud loaded[0m
+[0m[ INFO] [1715874953.710476632]: Plugin vfr_hud initialized[0m
+[0m[ INFO] [1715874953.710679256]: Plugin vibration blacklisted[0m
+[0m[ INFO] [1715874953.711203128]: Plugin vision_pose_estimate loaded[0m
+[0m[ INFO] [1715874953.732684248]: Plugin vision_pose_estimate initialized[0m
+[0m[ INFO] [1715874953.733140856]: Plugin vision_speed_estimate loaded[0m
+[0m[ INFO] [1715874953.744376664]: Plugin vision_speed_estimate initialized[0m
+[0m[ INFO] [1715874953.744877144]: Plugin waypoint loaded[0m
+[0m[ INFO] [1715874953.759089304]: Plugin waypoint initialized[0m
+[0m[ INFO] [1715874953.759265368]: Plugin wheel_odometry blacklisted[0m
+[0m[ INFO] [1715874953.760099192]: Plugin wind_estimation loaded[0m
+[0m[ INFO] [1715874953.762136952]: Plugin wind_estimation initialized[0m
+[0m[ INFO] [1715874953.762404056]: Autostarting mavlink via USB on PX4[0m
+[0m[ INFO] [1715874953.762794008]: Built-in SIMD instructions: ARM NEON[0m
+[0m[ INFO] [1715874953.763060440]: Built-in MAVLink package version: 2020.9.10[0m
+[0m[ INFO] [1715874953.763251736]: Known MAVLink dialects: common ardupilotmega ASLUAV all autoquad icarous matrixpilot paparazzi standard uAvionix ualberta[0m
+[0m[ INFO] [1715874953.763456792]: MAVROS started. MY ID 1.240, TARGET ID 1.1[0m
+[0m[ INFO] [1715874953.765318008]: IMU: Attitude quaternion IMU detected![0m
+[0m[ INFO] [1715874953.773846104]: IMU: High resolution IMU detected![0m
+[0m[ INFO] [1715874954.448784024]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot[0m
+[0m[ INFO] [1715874954.454740984]: IMU: High resolution IMU detected![0m
+[0m[ INFO] [1715874954.466336120]: IMU: Attitude quaternion IMU detected![0m
+[0m[ INFO] [1715874955.466728824]: WP: Using MISSION_ITEM_INT[0m
+[0m[ INFO] [1715874955.467051320]: VER: 1.1: Capabilities         0x000000000000e4ef[0m
+[0m[ INFO] [1715874955.467259000]: VER: 1.1: Flight software:     010c0300 (dcee34f76c010001)[0m
+[0m[ INFO] [1715874955.467463960]: VER: 1.1: Middleware software: 010c0300 (dcee34f76c000000)[0m
+[0m[ INFO] [1715874955.467574424]: VER: 1.1: OS software:         080200ff (bf660cba2af81f05)[0m
+[0m[ INFO] [1715874955.467661720]: VER: 1.1: Board hardware:      00000032[0m
+[0m[ INFO] [1715874955.467759256]: VER: 1.1: VID/P[33m[ WARN] [1715874955.468585976]: CMD: Unexpected command 520, result 0[0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> PX4 SENDER  <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>>   Drone State   <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mTime: +9.97 [s] [0;1;32m [ Connected ][0;1;32m [ DisArmed ][0;1;32m [ Ground ] [0;1;32m[ MANUAL ] [0m
+[0;1;32mPosition [X Y Z] : +0.00 [ m ] +0.00 [ m ] +0.00 [ m ] [0m
+[0;1;32mVelocity [X Y Z] : +0.00 [m/s] +0.00 [m/s] +0.00 [m/s] [0m
+[0;1;32mAttitude [R P Y] : -0.84 [deg] -0.58 [deg] -165.74 [deg] [0m
+[0;1;32mAtt_rate [R P Y] : -0.02 [deg/s] -0.02 [deg/s] -0.02 [deg/s] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> Control Command <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mSource: [  ]  Command_ID: 0[0m
+[0;1;32mCommand: [ Idle ] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> PX4 SENDER  <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>>   Drone State   <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mTime: +19.97 [s] [0;1;32m [ Connected ][0;1;32m [ DisArmed ][0;1;32m [ Ground ] [0;1;32m[ MANUAL ] [0m
+[0;1;32mPosition [X Y Z] : +0.00 [ m ] +0.00 [ m ] +0.00 [ m ] [0m
+[0;1;32mVelocity [X Y Z] : +0.00 [m/s] +0.00 [m/s] +0.00 [m/s] [0m
+[0;1;32mAttitude [R P Y] : -0.84 [deg] -0.59 [deg] -165.73 [deg] [0m
+[0;1;32mAtt_rate [R P Y] : +0.06 [deg/s] +0.06 [deg/s] +0.06 [deg/s] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> Control Command <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mSource: [  ]  Command_ID: 0[0m
+[0;1;32mCommand: [ Idle ] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> PX4 SENDER  <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>>   Drone State   <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mTime: +29.97 [s] [0;1;32m [ Connected ][0;1;32m [ DisArmed ][0;1;32m [ Ground ] [0;1;32m[ MANUAL ] [0m
+[0;1;32mPosition [X Y Z] : +0.00 [ m ] +0.00 [ m ] +0.00 [ m ] [0m
+[0;1;32mVelocity [X Y Z] : +0.00 [m/s] +0.00 [m/s] +0.00 [m/s] [0m
+[0;1;32mAttitude [R P Y] : -0.87 [deg] -0.59 [deg] -165.73 [deg] [0m
+[0;1;32mAtt_rate [R P Y] : +0.03 [deg/s] +0.03 [deg/s] +0.03 [deg/s] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> Control Command <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mSource: [  ]  Command_ID: 0[0m
+[0;1;32mCommand: [ Idle ] [0m
+[33m[ WARN] [1715874983.883975864]: GP: No GPS fix[0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> PX4 SENDER  <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>>   Drone State   <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mTime: +39.97 [s] [0;1;32m [ Connected ][0;1;32m [ DisArmed ][0;1;32m [ Ground ] [0;1;32m[ MANUAL ] [0m
+[0;1;32mPosition [X Y Z] : +0.00 [ m ] +0.00 [ m ] +0.00 [ m ] [0m
+[0;1;32mVelocity [X Y Z] : +0.00 [m/s] +0.00 [m/s] +0.00 [m/s] [0m
+[0;1;32mAttitude [R P Y] : -0.84 [deg] -0.61 [deg] -165.74 [deg] [0m
+[0;1;32mAtt_rate [R P Y] : -0.01 [deg/s] -0.01 [deg/s] -0.01 [deg/s] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> Control Command <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mSource: [  ]  Command_ID: 0[0m
+[0;1;32mCommand: [ Idle ] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> PX4 SENDER  <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>>   Drone State   <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mTime: +49.97 [s] [0;1;32m [ Connected ][0;1;32m [ DisArmed ][0;1;32m [ Ground ] [0;1;32m[ MANUAL ] [0m
+[0;1;32mPosition [X Y Z] : +0.00 [ m ] +0.00 [ m ] +0.00 [ m ] [0m
+[0;1;32mVelocity [X Y Z] : +0.00 [m/s] +0.00 [m/s] +0.00 [m/s] [0m
+[0;1;32mAttitude [R P Y] : -0.85 [deg] -0.58 [deg] -165.71 [deg] [0m
+[0;1;32mAtt_rate [R P Y] : -0.01 [deg/s] -0.01 [deg/s] -0.01 [deg/s] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> Control Command <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mSource: [  ]  Command_ID: 0[0m
+[0;1;32mCommand: [ Idle ] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> PX4 SENDER  <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>>   Drone State   <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mTime: +59.97 [s] [0;1;32m [ Connected ][0;1;32m [ DisArmed ][0;1;32m [ Ground ] [0;1;32m[ MANUAL ] [0m
+[0;1;32mPosition [X Y Z] : +0.00 [ m ] +0.00 [ m ] +0.00 [ m ] [0m
+[0;1;32mVelocity [X Y Z] : +0.00 [m/s] +0.00 [m/s] +0.00 [m/s] [0m
+[0;1;32mAttitude [R P Y] : -0.85 [deg] -0.60 [deg] -165.69 [deg] [0m
+[0;1;32mAtt_rate [R P Y] : -0.06 [deg/s] -0.06 [deg/s] -0.06 [deg/s] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> Control Command <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mSource: [  ]  Command_ID: 0[0m
+[0;1;32mCommand: [ Idle ] [0m
+[33m[ WARN] [1715875014.081481144]: GP: No GPS fix[0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> PX4 SENDER  <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>>   Drone State   <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mTime: +69.97 [s] [0;1;32m [ Connected ][0;1;32m [ DisArmed ][0;1;32m [ Ground ] [0;1;32m[ MANUAL ] [0m
+[0;1;32mPosition [X Y Z] : +0.00 [ m ] +0.00 [ m ] +0.00 [ m ] [0m
+[0;1;32mVelocity [X Y Z] : +0.00 [m/s] +0.00 [m/s] +0.00 [m/s] [0m
+[0;1;32mAttitude [R P Y] : -0.87 [deg] -0.60 [deg] -165.69 [deg] [0m
+[0;1;32mAtt_rate [R P Y] : -0.04 [deg/s] -0.04 [deg/s] -0.04 [deg/s] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> Control Command <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mSource: [  ]  Command_ID: 0[0m
+[0;1;32mCommand: [ Idle ] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> PX4 SENDER  <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>>   Drone State   <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mTime: +79.97 [s] [0;1;32m [ Connected ][0;1;32m [ DisArmed ][0;1;32m [ Ground ] [0;1;32m[ MANUAL ] [0m
+[0;1;32mPosition [X Y Z] : +0.00 [ m ] +0.00 [ m ] +0.00 [ m ] [0m
+[0;1;32mVelocity [X Y Z] : +0.00 [m/s] +0.00 [m/s] +0.00 [m/s] [0m
+[0;1;32mAttitude [R P Y] : -0.88 [deg] -0.61 [deg] -165.71 [deg] [0m
+[0;1;32mAtt_rate [R P Y] : -0.07 [deg/s] -0.07 [deg/s] -0.07 [deg/s] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> Control Command <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mSource: [  ]  Command_ID: 0[0m
+[0;1;32mCommand: [ Idle ] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> PX4 SENDER  <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>>   Drone State   <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mTime: +89.97 [s] [0;1;32m [ Connected ][0;1;32m [ DisArmed ][0;1;32m [ Ground ] [0;1;32m[ MANUAL ] [0m
+[0;1;32mPosition [X Y Z] : +0.00 [ m ] +0.00 [ m ] +0.00 [ m ] [0m
+[0;1;32mVelocity [X Y Z] : +0.00 [m/s] +0.00 [m/s] +0.00 [m/s] [0m
+[0;1;32mAttitude [R P Y] : -0.87 [deg] -0.60 [deg] -165.73 [deg] [0m
+[0;1;32mAtt_rate [R P Y] : -0.01 [deg/s] -0.01 [deg/s] -0.01 [deg/s] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> Control Command <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mSource: [  ]  Command_ID: 0[0m
+[0;1;32mCommand: [ Idle ] [0m
+[33m[ WARN] [1715875044.081702456]: GP: No GPS fix[0m
+[33m[ WARN] [1715875049.454413592]: CMD: Command 410 -- wait ack timeout[0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> PX4 SENDER  <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>>   Drone State   <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mTime: +99.97 [s] [0;1;32m [ Connected ][0;1;32m [ DisArmed ][0;1;32m [ Ground ] [0;1;32m[ MANUAL ] [0m
+[0;1;32mPosition [X Y Z] : +0.00 [ m ] +0.00 [ m ] +0.00 [ m ] [0m
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+[0;1;32mAttitude [R P Y] : -0.87 [deg] -0.59 [deg] -165.73 [deg] [0m
+[0;1;32mAtt_rate [R P Y] : -0.04 [deg/s] -0.04 [deg/s] -0.04 [deg/s] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> Control Command <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mSource: [  ]  Command_ID: 0[0m
+[0;1;32mCommand: [ Idle ] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> PX4 SENDER  <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>>   Drone State   <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mTime: +109.97 [s] [0;1;32m [ Connected ][0;1;32m [ DisArmed ][0;1;32m [ Ground ] [0;1;32m[ MANUAL ] [0m
+[0;1;32mPosition [X Y Z] : +0.00 [ m ] +0.00 [ m ] +0.00 [ m ] [0m
+[0;1;32mVelocity [X Y Z] : +0.00 [m/s] +0.00 [m/s] +0.00 [m/s] [0m
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+[0;1;32mAtt_rate [R P Y] : -0.02 [deg/s] -0.02 [deg/s] -0.02 [deg/s] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> Control Command <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mSource: [  ]  Command_ID: 0[0m
+[0;1;32mCommand: [ Idle ] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> PX4 SENDER  <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>>   Drone State   <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mTime: +119.97 [s] [0;1;32m [ Connected ][0;1;32m [ DisArmed ][0;1;32m [ Ground ] [0;1;32m[ MANUAL ] [0m
+[0;1;32mPosition [X Y Z] : +0.00 [ m ] +0.00 [ m ] +0.00 [ m ] [0m
+[0;1;32mVelocity [X Y Z] : +0.00 [m/s] +0.00 [m/s] +0.00 [m/s] [0m
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+[0;1;32mAtt_rate [R P Y] : +0.06 [deg/s] +0.06 [deg/s] +0.06 [deg/s] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> Control Command <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mSource: [  ]  Command_ID: 0[0m
+[0;1;32mCommand: [ Idle ] [0m
+[33m[ WARN] [1715875074.081901496]: GP: No GPS fix[0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> PX4 SENDER  <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>>   Drone State   <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mTime: +129.97 [s] [0;1;32m [ Connected ][0;1;32m [ DisArmed ][0;1;32m [ Ground ] [0;1;32m[ MANUAL ] [0m
+[0;1;32mPosition [X Y Z] : +0.00 [ m ] +0.00 [ m ] +0.00 [ m ] [0m
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+[0;1;32mAtt_rate [R P Y] : +0.01 [deg/s] +0.01 [deg/s] +0.01 [deg/s] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> Control Command <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mSource: [  ]  Command_ID: 0[0m
+[0;1;32mCommand: [ Idle ] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> PX4 SENDER  <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>>   Drone State   <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mTime: +139.97 [s] [0;1;32m [ Connected ][0;1;32m [ DisArmed ][0;1;32m [ Ground ] [0;1;32m[ MANUAL ] [0m
+[0;1;32mPosition [X Y Z] : +0.00 [ m ] +0.00 [ m ] +0.00 [ m ] [0m
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+[0;1;32mAtt_rate [R P Y] : -0.01 [deg/s] -0.01 [deg/s] -0.01 [deg/s] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> Control Command <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mSource: [  ]  Command_ID: 0[0m
+[0;1;32mCommand: [ Idle ] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> PX4 SENDER  <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>>   Drone State   <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mTime: +149.97 [s] [0;1;32m [ Connected ][0;1;32m [ DisArmed ][0;1;32m [ Ground ] [0;1;32m[ MANUAL ] [0m
+[0;1;32mPosition [X Y Z] : +0.00 [ m ] +0.00 [ m ] +0.00 [ m ] [0m
+[0;1;32mVelocity [X Y Z] : +0.00 [m/s] +0.00 [m/s] +0.00 [m/s] [0m
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+[0;1;32mAtt_rate [R P Y] : +0.06 [deg/s] +0.06 [deg/s] +0.06 [deg/s] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> Control Command <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mSource: [  ]  Command_ID: 0[0m
+[0;1;32mCommand: [ Idle ] [0m
+[33m[ WARN] [1715875104.280812216]: GP: No GPS fix[0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> PX4 SENDER  <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>>   Drone State   <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mTime: +159.97 [s] [0;1;32m [ Connected ][0;1;32m [ DisArmed ][0;1;32m [ Ground ] [0;1;32m[ MANUAL ] [0m
+[0;1;32mPosition [X Y Z] : +0.00 [ m ] +0.00 [ m ] +0.00 [ m ] [0m
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+[0;1;32mAtt_rate [R P Y] : -0.01 [deg/s] -0.01 [deg/s] -0.01 [deg/s] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> Control Command <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mSource: [  ]  Command_ID: 0[0m
+[0;1;32mCommand: [ Idle ] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> PX4 SENDER  <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>>   Drone State   <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mTime: +169.97 [s] [0;1;32m [ Connected ][0;1;32m [ DisArmed ][0;1;32m [ Ground ] [0;1;32m[ MANUAL ] [0m
+[0;1;32mPosition [X Y Z] : +0.00 [ m ] +0.00 [ m ] +0.00 [ m ] [0m
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+[0;1;32mAtt_rate [R P Y] : -0.05 [deg/s] -0.05 [deg/s] -0.05 [deg/s] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> Control Command <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mSource: [  ]  Command_ID: 0[0m
+[0;1;32mCommand: [ Idle ] [0m
+ID:             26ac:0032[0m
+[0m[ INFO] [1715874955.468386296]: VER: 1.1: UID:                 3330511536333538[0m
+[0m[ INFO] [1715874964.450270040]: HP: requesting home position[0m
+[0m[ INFO] [1715874969.451711544]: WP: mission received[0m
+[0m[ INFO] [1715874974.450219736]: HP: requesting home position[0m
+[0m[ INFO] [1715874984.450183320]: HP: requesting home position[0m
+[0m[ INFO] [1715874994.450253016]: HP: requesting home position[0m
+[0m[ INFO] [1715875004.451908536]: HP: requesting home position[0m
+[0m[ INFO] [1715875014.450194104]: HP: requesting home position[0m
+[0m[ INFO] [1715875024.450202168]: HP: requesting home position[0m
+[0m[ INFO] [1715875034.450281976]: HP: requesting home position[0m
+[0m[ INFO] [1715875044.450229400]: HP: requesting home position[0m
+[0m[ INFO] [1715875054.450238456]: HP: requesting home position[0m
+[0m[ INFO] [1715875064.450217976]: HP: requesting home position[0m
+[0m[ INFO] [1715875074.450200888]: HP: requesting home position[0m
+[0m[ INFO] [1715875084.450233848]: HP: requesting home position[0m
+[0m[ INFO] [1715875094.450206584]: HP: requesting home position[0m
+[0m[ INFO] [1715875104.450199000]: HP: requesting home position[0m
+[0m[ INFO] [1715875114.450921688]: HP: requesting home position[0m
+[0m[ INFO] [1715875124.450232504]: HP: requesting home position[0m
+/amov/.ros/log/c127e554-139c-11ef-9920-48b02d6760f1/ground_station-5*.log[0m
+[1m[ground_station_msg-6] process has finished cleanly
+log file: /home/amov/.ros/log/c127e554-139c-11ef-9920-48b02d6760f1/ground_station_msg-6*.log[0m
+[px4_sender-4] killing on exit
+[px4_pos_estimator-3] killing on exit
+[mavros-2] killing on exit
+[rosout-1] killing on exit
+[master] killing on exit
+shutting down processing monitor...
+... shutting down processing monitor complete
+[1mdone[0m
diff --git a/src/UAV/output_vio_onboard.txt b/src/UAV/output_vio_onboard.txt
new file mode 100644
index 0000000..fecaa25
--- /dev/null
+++ b/src/UAV/output_vio_onboard.txt
@@ -0,0 +1,432 @@
+... logging to /home/amov/.ros/log/726a700c-1398-11ef-99d4-48b02d6760f1/roslaunch-amov-10123.log
+Checking log directory for disk usage. This may take a while.
+Press Ctrl-C to interrupt
+Done checking log file disk usage. Usage is <1GB.
+]2;p600_vio_onboard.launch
+[1mstarted roslaunch server http://amov:46355/[0m
+
+SUMMARY
+========
+
+PARAMETERS
+ * /mavros/cmd/use_comp_id_system_control: False
+ * /mavros/conn/heartbeat_rate: 1.0
+ * /mavros/conn/system_time_rate: 1.0
+ * /mavros/conn/timeout: 10.0
+ * /mavros/conn/timesync_rate: 10.0
+ * /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
+ * /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
+ * /mavros/distance_sensor/hrlv_ez4_pub/id: 0
+ * /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
+ * /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
+ * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
+ * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
+ * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
+ * /mavros/distance_sensor/laser_1_sub/id: 3
+ * /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
+ * /mavros/distance_sensor/laser_1_sub/subscriber: True
+ * /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
+ * /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
+ * /mavros/distance_sensor/lidarlite_pub/id: 1
+ * /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
+ * /mavros/distance_sensor/lidarlite_pub/send_tf: True
+ * /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
+ * /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
+ * /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
+ * /mavros/distance_sensor/sonar_1_sub/id: 2
+ * /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
+ * /mavros/distance_sensor/sonar_1_sub/subscriber: True
+ * /mavros/fake_gps/eph: 2.0
+ * /mavros/fake_gps/epv: 2.0
+ * /mavros/fake_gps/fix_type: 3
+ * /mavros/fake_gps/geo_origin/alt: 408.0
+ * /mavros/fake_gps/geo_origin/lat: 47.3667
+ * /mavros/fake_gps/geo_origin/lon: 8.55
+ * /mavros/fake_gps/gps_rate: 5.0
+ * /mavros/fake_gps/mocap_transform: True
+ * /mavros/fake_gps/satellites_visible: 5
+ * /mavros/fake_gps/tf/child_frame_id: fix
+ * /mavros/fake_gps/tf/frame_id: map
+ * /mavros/fake_gps/tf/listen: False
+ * /mavros/fake_gps/tf/rate_limit: 10.0
+ * /mavros/fake_gps/tf/send: False
+ * /mavros/fake_gps/use_mocap: True
+ * /mavros/fake_gps/use_vision: False
+ * /mavros/fcu_url: /dev/ttyTHS0:921600
+ * /mavros/gcs_url: 
+ * /mavros/global_position/child_frame_id: base_link
+ * /mavros/global_position/frame_id: map
+ * /mavros/global_position/gps_uere: 1.0
+ * /mavros/global_position/rot_covariance: 99999.0
+ * /mavros/global_position/tf/child_frame_id: base_link
+ * /mavros/global_position/tf/frame_id: map
+ * /mavros/global_position/tf/global_frame_id: earth
+ * /mavros/global_position/tf/send: False
+ * /mavros/global_position/use_relative_alt: True
+ * /mavros/image/frame_id: px4flow
+ * /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
+ * /mavros/imu/frame_id: base_link
+ * /mavros/imu/linear_acceleration_stdev: 0.0003
+ * /mavros/imu/magnetic_stdev: 0.0
+ * /mavros/imu/orientation_stdev: 1.0
+ * /mavros/landing_target/camera/fov_x: 2.0071286398
+ * /mavros/landing_target/camera/fov_y: 2.0071286398
+ * /mavros/landing_target/image/height: 480
+ * /mavros/landing_target/image/width: 640
+ * /mavros/landing_target/land_target_type: VISION_FIDUCIAL
+ * /mavros/landing_target/listen_lt: False
+ * /mavros/landing_target/mav_frame: LOCAL_NED
+ * /mavros/landing_target/target_size/x: 0.3
+ * /mavros/landing_target/target_size/y: 0.3
+ * /mavros/landing_target/tf/child_frame_id: camera_center
+ * /mavros/landing_target/tf/frame_id: landing_target
+ * /mavros/landing_target/tf/listen: False
+ * /mavros/landing_target/tf/rate_limit: 10.0
+ * /mavros/landing_target/tf/send: True
+ * /mavros/local_position/frame_id: world
+ * /mavros/local_position/tf/child_frame_id: base_link
+ * /mavros/local_position/tf/frame_id: world
+ * /mavros/local_position/tf/send: True
+ * /mavros/local_position/tf/send_fcu: False
+ * /mavros/mission/pull_after_gcs: True
+ * /mavros/mission/use_mission_item_int: True
+ * /mavros/mocap/use_pose: True
+ * /mavros/mocap/use_tf: False
+ * /mavros/odometry/fcu/odom_child_id_des: base_link
+ * /mavros/odometry/fcu/odom_parent_id_des: map
+ * /mavros/plugin_blacklist: ['actuator_contro...
+ * /mavros/plugin_whitelist: []
+ * /mavros/px4flow/frame_id: px4flow
+ * /mavros/px4flow/ranger_fov: 0.118682
+ * /mavros/px4flow/ranger_max_range: 5.0
+ * /mavros/px4flow/ranger_min_range: 0.3
+ * /mavros/safety_area/p1/x: 1.0
+ * /mavros/safety_area/p1/y: 1.0
+ * /mavros/safety_area/p1/z: 1.0
+ * /mavros/safety_area/p2/x: -1.0
+ * /mavros/safety_area/p2/y: -1.0
+ * /mavros/safety_area/p2/z: -1.0
+ * /mavros/setpoint_accel/send_force: False
+ * /mavros/setpoint_attitude/reverse_thrust: False
+ * /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
+ * /mavros/setpoint_attitude/tf/frame_id: map
+ * /mavros/setpoint_attitude/tf/listen: False
+ * /mavros/setpoint_attitude/tf/rate_limit: 50.0
+ * /mavros/setpoint_attitude/use_quaternion: False
+ * /mavros/setpoint_position/mav_frame: LOCAL_NED
+ * /mavros/setpoint_position/tf/child_frame_id: target_position
+ * /mavros/setpoint_position/tf/frame_id: map
+ * /mavros/setpoint_position/tf/listen: False
+ * /mavros/setpoint_position/tf/rate_limit: 50.0
+ * /mavros/setpoint_raw/thrust_scaling: 1.0
+ * /mavros/setpoint_velocity/mav_frame: LOCAL_NED
+ * /mavros/startup_px4_usb_quirk: True
+ * /mavros/sys/disable_diag: False
+ * /mavros/sys/min_voltage: 10.0
+ * /mavros/target_component_id: 1
+ * /mavros/target_system_id: 1
+ * /mavros/tdr_radio/low_rssi: 40
+ * /mavros/time/time_ref_source: fcu
+ * /mavros/time/timesync_avg_alpha: 0.6
+ * /mavros/time/timesync_mode: MAVLINK
+ * /mavros/vibration/frame_id: base_link
+ * /mavros/vision_pose/tf/child_frame_id: vision_estimate
+ * /mavros/vision_pose/tf/frame_id: odom
+ * /mavros/vision_pose/tf/listen: False
+ * /mavros/vision_pose/tf/rate_limit: 10.0
+ * /mavros/vision_speed/listen_twist: True
+ * /mavros/vision_speed/twist_cov: True
+ * /mavros/wheel_odometry/child_frame_id: base_link
+ * /mavros/wheel_odometry/count: 2
+ * /mavros/wheel_odometry/frame_id: odom
+ * /mavros/wheel_odometry/send_raw: True
+ * /mavros/wheel_odometry/send_twist: False
+ * /mavros/wheel_odometry/tf/child_frame_id: base_link
+ * /mavros/wheel_odometry/tf/frame_id: odom
+ * /mavros/wheel_odometry/tf/send: False
+ * /mavros/wheel_odometry/use_rpm: False
+ * /mavros/wheel_odometry/vel_error: 0.1
+ * /mavros/wheel_odometry/wheel0/radius: 0.05
+ * /mavros/wheel_odometry/wheel0/x: 0.0
+ * /mavros/wheel_odometry/wheel0/y: -0.15
+ * /mavros/wheel_odometry/wheel1/radius: 0.05
+ * /mavros/wheel_odometry/wheel1/x: 0.0
+ * /mavros/wheel_odometry/wheel1/y: 0.15
+ * /px4_pos_estimator/input_source: 3
+ * /px4_sender/Disarm_height: 0.18
+ * /px4_sender/Land_mode: 1
+ * /px4_sender/Land_speed: 0.2
+ * /px4_sender/Takeoff_height: 0.4
+ * /px4_sender/geo_fence/x_max: 3
+ * /px4_sender/geo_fence/x_min: -3
+ * /px4_sender/geo_fence/y_max: 3
+ * /px4_sender/geo_fence/y_min: -3
+ * /px4_sender/geo_fence/z_max: 2
+ * /px4_sender/geo_fence/z_min: -0.5
+ * /rosdistro: melodic
+ * /rosversion: 1.14.9
+ * /t265/realsense2_camera/accel_fps: 62
+ * /t265/realsense2_camera/accel_frame_id: t265_accel_frame
+ * /t265/realsense2_camera/accel_optical_frame_id: t265_accel_optica...
+ * /t265/realsense2_camera/align_depth: False
+ * /t265/realsense2_camera/aligned_depth_to_color_frame_id: t265_aligned_dept...
+ * /t265/realsense2_camera/aligned_depth_to_fisheye1_frame_id: t265_aligned_dept...
+ * /t265/realsense2_camera/aligned_depth_to_fisheye2_frame_id: t265_aligned_dept...
+ * /t265/realsense2_camera/aligned_depth_to_fisheye_frame_id: t265_aligned_dept...
+ * /t265/realsense2_camera/aligned_depth_to_infra1_frame_id: t265_aligned_dept...
+ * /t265/realsense2_camera/aligned_depth_to_infra2_frame_id: t265_aligned_dept...
+ * /t265/realsense2_camera/allow_no_texture_points: False
+ * /t265/realsense2_camera/base_frame_id: t265_link
+ * /t265/realsense2_camera/calib_odom_file: 
+ * /t265/realsense2_camera/clip_distance: -1.0
+ * /t265/realsense2_camera/color_fps: 30
+ * /t265/realsense2_camera/color_frame_id: t265_color_frame
+ * /t265/realsense2_camera/color_height: 480
+ * /t265/realsense2_camera/color_optical_frame_id: t265_color_optica...
+ * /t265/realsense2_camera/color_width: 640
+ * /t265/realsense2_camera/depth_fps: 30
+ * /t265/realsense2_camera/depth_frame_id: t265_depth_frame
+ * /t265/realsense2_camera/depth_height: 480
+ * /t265/realsense2_camera/depth_optical_frame_id: t265_depth_optica...
+ * /t265/realsense2_camera/depth_width: 640
+ * /t265/realsense2_camera/device_type: t265
+ * /t265/realsense2_camera/enable_accel: True
+ * /t265/realsense2_camera/enable_color: True
+ * /t265/realsense2_camera/enable_depth: True
+ * /t265/realsense2_camera/enable_fisheye1: False
+ * /t265/realsense2_camera/enable_fisheye2: False
+ * /t265/realsense2_camera/enable_fisheye: False
+ * /t265/realsense2_camera/enable_gyro: True
+ * /t265/realsense2_camera/enable_infra1: False
+ * /t265/realsense2_camera/enable_infra2: False
+ * /t265/realsense2_camera/enable_infra: False
+ * /t265/realsense2_camera/enable_pointcloud: False
+ * /t265/realsense2_camera/enable_pose: True
+ * /t265/realsense2_camera/enable_sync: False
+ * /t265/realsense2_camera/filters: 
+ * /t265/realsense2_camera/fisheye1_frame_id: t265_fisheye1_frame
+ * /t265/realsense2_camera/fisheye1_optical_frame_id: t265_fisheye1_opt...
+ * /t265/realsense2_camera/fisheye2_frame_id: t265_fisheye2_frame
+ * /t265/realsense2_camera/fisheye2_optical_frame_id: t265_fisheye2_opt...
+ * /t265/realsense2_camera/fisheye_fps: 30
+ * /t265/realsense2_camera/fisheye_frame_id: t265_fisheye_frame
+ * /t265/realsense2_camera/fisheye_height: 800
+ * /t265/realsense2_camera/fisheye_optical_frame_id: t265_fisheye_opti...
+ * /t265/realsense2_camera/fisheye_width: 848
+ * /t265/realsense2_camera/gyro_fps: 200
+ * /t265/realsense2_camera/gyro_frame_id: t265_gyro_frame
+ * /t265/realsense2_camera/gyro_optical_frame_id: t265_gyro_optical...
+ * /t265/realsense2_camera/imu_optical_frame_id: t265_imu_optical_...
+ * /t265/realsense2_camera/infra1_frame_id: t265_infra1_frame
+ * /t265/realsense2_camera/infra1_optical_frame_id: t265_infra1_optic...
+ * /t265/realsense2_camera/infra2_frame_id: t265_infra2_frame
+ * /t265/realsense2_camera/infra2_optical_frame_id: t265_infra2_optic...
+ * /t265/realsense2_camera/infra_fps: 30
+ * /t265/realsense2_camera/infra_height: 480
+ * /t265/realsense2_camera/infra_width: 640
+ * /t265/realsense2_camera/initial_reset: False
+ * /t265/realsense2_camera/json_file_path: 
+ * /t265/realsense2_camera/linear_accel_cov: 0.01
+ * /t265/realsense2_camera/odom_frame_id: t265_odom_frame
+ * /t265/realsense2_camera/pointcloud_texture_index: 0
+ * /t265/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
+ * /t265/realsense2_camera/pose_frame_id: t265_pose_frame
+ * /t265/realsense2_camera/pose_optical_frame_id: t265_pose_optical...
+ * /t265/realsense2_camera/publish_odom_tf: True
+ * /t265/realsense2_camera/publish_tf: True
+ * /t265/realsense2_camera/rosbag_filename: 
+ * /t265/realsense2_camera/serial_no: 
+ * /t265/realsense2_camera/tf_publish_rate: 0.0
+ * /t265/realsense2_camera/topic_odom_in: t265/odom_in
+ * /t265/realsense2_camera/unite_imu_method: 
+ * /t265/realsense2_camera/usb_port_id: 
+
+NODES
+  /
+    ground_station (prometheus_station/ground_station)
+    ground_station_msg (prometheus_station/ground_station_msg)
+    mavros (mavros/mavros_node)
+    px4_pos_estimator (prometheus_control/px4_pos_estimator)
+    px4_sender (prometheus_control/px4_sender)
+  /t265/
+    realsense2_camera (nodelet/nodelet)
+    realsense2_camera_manager (nodelet/nodelet)
+
+auto-starting new master
+[1mprocess[master]: started with pid [10166][0m
+[1mROS_MASTER_URI=http://localhost:11311[0m
+]2;p600_vio_onboard.launch http://localhost:11311
+[1msetting /run_id to 726a700c-1398-11ef-99d4-48b02d6760f1[0m
+[1mprocess[rosout-1]: started with pid [10177][0m
+started core service [/rosout]
+[1mprocess[mavros-2]: started with pid [10180][0m
+[1mprocess[t265/realsense2_camera_manager-3]: started with pid [10185][0m
+[1mprocess[t265/realsense2_camera-4]: started with pid [10186][0m
+[1mprocess[px4_pos_estimator-5]: started w>>>>>>>>>>>>>>>>>>>>>>>> px4_sender Parameter <<<<<<<<<<<<<<<<<<<<<<
+Takeoff_height   : 0.4 [m] 
+Disarm_height    : 0.18 [m] 
+Land_speed       : 0.2 [m/s] 
+Land_mode        : 1
+geo_fence_x : -3 [m]  to  3 [m]
+geo_fence_y : -3 [m]  to  3 [m]
+geo_fence_z : -0.5 [m]  to  2 [m]
+[0m[ INFO] [1715873102.588569912]: FCU URL: /dev/ttyTHS0:921600[0m
+[0m[ INFO] [1715873102.598894552]: serial0: device: /dev/ttyTHS0 @ 921600 bps[0m
+[0m[ INFO] [1715873102.603906904]: GCS bridge disabled[0m
+[0m[ INFO] [1715873102.614740280]: Plugin 3dr_radio blacklisted[0m
+[0m[ INFO] [1715873102.614861080]: Plugin actuator_control blacklisted[0m
+[0m[ INFO] [1715873102.614911224]: Plugin adsb blacklisted[0m
+[0m[ INFO] [1715873102.614967800]: Plugin altitude blacklisted[0m
+[0m[ INFO] [1715873102.615029912]: Plugin cam_imu_sync blacklisted[0m
+[0m[ INFO] [1715873102.817373304]: Plugin command loaded[0m
+[0m[ INFO] [1715873102.835418744]: Plugin command initialized[0m
+[0m[ INFO] [1715873102.835556280]: Plugin companion_process_status blacklisted[0m
+[0m[ INFO] [1715873102.835628184]: Plugin debug_value blacklisted[0m
+[0m[ INFO] [1715873102.835683672]: Plugin distance_sensor blacklisted[0m
+[0m[ INFO] [1715873102.995058456]: Plugin esc_status loaded[0m
+[0m[ INFO] [1715873103.000083448]: Plugin esc_status initialized[0m
+[0m[ INFO] [1715873103.000241272]: Plugin fake_gps blacklisted[0m
+[0m[ INFO] [1715873103.000751768]: Plugin ftp loaded[0m
+[0m[ INFO] [1715873103.020082456]: Plugin ftp initialized[0m
+[0m[ INFO] [1715873103.020193560]: Plugin global_position blacklisted[0m
+[0m[ INFO] [1715873103.020258456]: Plugin gps_rtk blacklisted[0m
+[0m[ INFO] [1715873103.020777464]: Plugin gps_status loaded[0m
+[0m[ INFO] [1715873103.027166424]: Plugin gps_status initialized[0m
+[0m[ INFO] [1715873103.027294776]: Plugin hil blacklisted[0m
+[0m[ INFO] [1715873103.027371960]: Plugin home_position blacklisted[0m
+[0m[ INFO] [1715873103.027852120]: Plugin imu loaded[0m
+[0m[ INFO] [1715873103.048308792]: Plugin imu initialized[0m
+[0m[ INFO] [1715873103.048410744]: Plugin landing_target blacklisted[0m
+[0m[ INFO] [1715873103.048819096]: Plugin local_position loaded[0m
+[0m[ INFO] [1715873103.064614744]: Plugin local_position initialized[0m
+[0m[ INFO] [1715873103.065123320]: Plugin log_transfer loaded[0m
+[0m[ INFO] [1715873103.072757240]: Plugin log_transfer initialized[0m
+[0m[ INFO] [1715873103.073344280]: Plugin manual_control loaded[0m
+[0m[ INFO] [1715873103.081057752]: Plugin manual_control initialized[0m
+[0m[ INFO] [1715873103.081156600]: Plugin mocap_pose_estimate blacklisted[0m
+[0m[ INFO] [1715873103.081212984]: Plugin mount_control blacklisted[0m
+[0m[ INFO] [1715873103.081301656]: Plugin obstacle_distance blacklisted[0m
+[0m[ INFO] [1715873103.081368824]: Plugin odom blacklisted[0m
+[0m[ INFO] [1715873103.081740504]: Plugin onboard_computer_status loaded[0m
+[0m[ INFO] [1715873103.087905112]: Plugin onboard_computer_status initialized[0m
+[0m[ INFO] [1715873103.088342488]: Plugin param loaded[0m
+[0m[ INFO] [1715873103.096301432]: Plugin param initialized[0m
+[0m[ INFO] [1715873103.096647672]: Plugin play_tune loaded[0m
+[0m[ INFO] [1715873103.105271736]: Plugin play_tune initialized[0m
+[0m[ INFO] [1715873103.105421176]: Plugin px4flow blacklisted[0m
+[0m[ INFO] [1715873103.105894104]: Plugin rangefinder loaded[0m
+[0m[ INFO] [1715873103.165783224]: Plugin rangefinder initialized[0m
+[0m[ INFO] [1715873103.165924376]: Plugin rc_io blacklisted[0m
+[0m[ INFO] [1715873103.166065560]: Plugin safety_area blacklisted[0m
+[0m[ INFO] [1715873103.166168088]: Plugin setpoint_accel blacklisted[0m
+[0m[ INFO] [1715873103.166237112]: Plugin setpoint_attitude blacklisted[0m
+[0m[ INFO] [1715873103.166318712]: Plugin setpoint_position blacklisted[0m
+[0m[ INFO] [1715873103.166735256]: Plugin setpoint_raw loaded[0m
+[0m[ INFO] [1715873103.189272472]: Plugin setpoint_raw initialized[0m
+[0m[ INFO] [1715873103.189756760]: Plugin setpoint_trajectory loaded[0m
+[0m[ INFO] [1715873103.201176792]: Plugin setpoint_trajectory initialized[0m
+[0m[ INFO] [1715873103.201316504]: Plugin setpoint_velocity blacklisted[0m
+[0m[ INFO] [1715873103.201839224]: Plugin sys_status loaded[0m
+[0m[ INFO] [1715873103.242954456]: Plugin sys_status initialized[0m
+[0m[ INFO] [1715873103.243467320]:[33m[ WARN] [1715873104.994281816]: CMD: Unexpected command 520, result 0[0m
+[33m[ WARN] [1715873106.724750232]: No RealSense devices were found![0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> PX4 SENDER  <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>>   Drone State   <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mTime: +9.97 [s] [0;1;32m [ Connected ][0;1;32m [ DisArmed ][0;1;32m [ Ground ] [0;1;32m[ MANUAL ] [0m
+[0;1;32mPosition [X Y Z] : +0.00 [ m ] +0.00 [ m ] +0.00 [ m ] [0m
+[0;1;32mVelocity [X Y Z] : +0.00 [m/s] +0.00 [m/s] +0.00 [m/s] [0m
+[0;1;32mAttitude [R P Y] : +0.14 [deg] +0.02 [deg] -94.66 [deg] [0m
+[0;1;32mAtt_rate [R P Y] : -0.01 [deg/s] -0.01 [deg/s] -0.01 [deg/s] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> Control Command <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mSource: [  ]  Command_ID: 0[0m
+[0;1;32mCommand: [ Idle ] [0m
+[33m[ WARN] [1715873112.760101368]: No RealSense devices were found![0m
+[33m[ WARN] [1715873118.794784376]: No RealSense devices were found![0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> PX4 SENDER  <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>>   Drone State   <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mTime: +19.97 [s] [0;1;32m [ Connected ][0;1;32m [ DisArmed ][0;1;32m [ Ground ] [0;1;32m[ MANUAL ] [0m
+[0;1;32mPosition [X Y Z] : +0.00 [ m ] +0.00 [ m ] +0.00 [ m ] [0m
+[0;1;32mVelocity [X Y Z] : +0.00 [m/s] +0.00 [m/s] +0.00 [m/s] [0m
+[0;1;32mAttitude [R P Y] : +0.10 [deg] +0.03 [deg] -95.37 [deg] [0m
+[0;1;32mAtt_rate [R P Y] : -0.02 [deg/s] -0.02 [deg/s] -0.02 [deg/s] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> Control Command <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mSource: [  ]  Command_ID: 0[0m
+[0;1;32mCommand: [ Idle ] [0m
+[33m[ WARN] [1715873124.830892088]: No RealSense devices were found![0m
+[33m[ WARN] [1715873130.866246584]: No RealSense devices were found![0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> PX4 SENDER  <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>>   Drone State   <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mTime: +29.97 [s] [0;1;32m [ Connected ][0;1;32m [ DisArmed ][0;1;32m [ Ground ] [0;1;32m[ MANUAL ] [0m
+[0;1;32mPosition [X Y Z] : +0.00 [ m ] +0.00 [ m ] +0.00 [ m ] [0m
+[0;1;32mVelocity [X Y Z] : +0.00 [m/s] +0.00 [m/s] +0.00 [m/s] [0m
+[0;1;32mAttitude [R P Y] : +0.10 [deg] +0.03 [deg] -95.33 [deg] [0m
+[0;1;32mAtt_rate [R P Y] : +0.02 [deg/s] +0.02 [deg/s] +0.02 [deg/s] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> Control Command <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mSource: [  ]  Command_ID: 0[0m
+[0;1;32mCommand: [ Idle ] [0m
+[33m[ WARN] [1715873136.901265464]: No RealSense devices were found![0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> PX4 SENDER  <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>>   Drone State   <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mTime: +39.97 [s] [0;1;32m [ Connected ][0;1;32m [ DisArmed ][0;1;32m [ Ground ] [0;1;32m[ MANUAL ] [0m
+[0;1;32mPosition [X Y Z] : +0.00 [ m ] +0.00 [ m ] +0.00 [ m ] [0m
+[0;1;32mVelocity [X Y Z] : +0.00 [m/s] +0.00 [m/s] +0.00 [m/s] [0m
+[0;1;32mAttitude [R P Y] : +0.11 [deg] +0.04 [deg] -95.31 [deg] [0m
+[0;1;32mAtt_rate [R P Y] : +0.02 [deg/s] +0.02 [deg/s] +0.02 [deg/s] [0m
+[0;1;32m>>>>>>>>>>>>>>>>>>>>>>>> Control Command <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<[0m
+[0;1;32mSource: [  ]  Command_ID: 0[0m
+[0;1;32mCommand: [ Idle ] [0m
+[33m[ WARN] [1715873142.938804184]: No RealSense devices were found![0m
+[33m[ WARN] [1715873148.985939512]: No RealSense devices were found![0m
+ Plugin sys_time loaded[0m
+[0m[ INFO] [1715873103.256337016]: TM: Timesync mode: MAVLINK[0m
+[0m[ INFO] [1715873103.259417624]: Plugin sys_time initialized[0m
+[0m[ INFO] [1715873103.259773272]: Plugin trajectory loaded[0m
+[0m[ INFO] [1715873103.275893624]: Plugin trajectory initialized[0m
+[0m[ INFO] [1715873103.276049912]: Plugin vfr_hud blacklisted[0m
+[0m[ INFO] [1715873103.276203544]: Plugin vibration blacklisted[0m
+[0m[ INFO] [1715873103.276576536]: Plugin vision_pose_estimate loaded[0m
+[0m[ INFO] [1715873103.297085880]: Plugin vision_pose_estimate initialized[0m
+[0m[ INFO] [1715873103.297510616]: Plugin vision_speed_estimate loaded[0m
+[0m[ INFO] [1715873103.307619064]: Plugin vision_speed_estimate initialized[0m
+[0m[ INFO] [1715873103.307748536]: Plugin waypoint blacklisted[0m
+[0m[ INFO] [1715873103.307857304]: Plugin wheel_odometry blacklisted[0m
+[0m[ INFO] [1715873103.307949560]: Plugin wind_estimation blacklisted[0m
+[0m[ INFO] [1715873103.308030808]: Autostarting mavlink via USB on PX4[0m
+[0m[ INFO] [1715873103.308273656]: Built-in SIMD instructions: ARM NEON[0m
+[0m[ INFO] [1715873103.308431160]: Built-in MAVLink package version: 2020.9.10[0m
+[0m[ INFO] [1715873103.308549624]: Known MAVLink dialects: common ardupilotmega ASLUAV all autoquad icarous matrixpilot paparazzi standard uAvionix ualberta[0m
+[0m[ INFO] [1715873103.308636248]: MAVROS started. MY ID 1.240, TARGET ID 1.1[0m
+[0m[ INFO] [1715873103.325118872]: IMU: High resolution IMU detected![0m
+[0m[ INFO] [1715873103.325388792]: IMU: Attitude quaternion IMU detected![0m
+[0m[ INFO] [1715873103.980472728]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot[0m
+[0m[ INFO] [1715873103.983766424]: IMU: High resolution IMU detected![0m
+[0m[ INFO] [1715873103.985111384]: IMU: Attitude quaternion IMU detected![0m
+[0m[ INFO] [1715873104.993260472]: VER: 1.1: Capabilities         0x000000000000e4ef[0m
+[0m[ INFO] [1715873104.993450232]: VER: 1.1: Flight software:     010c0300 (dcee34f76c010001)[0m
+[0m[ INFO] [1715873104.993540120]: VER: 1.1: Middleware software: 010c0300 (dcee34f76c000000)[0m
+[0m[ INFO] [1715873104.993678456]: VER: 1.1: OS software:         080200ff (bf660cba2af81f05)[0m
+[0m[ INFO] [1715873104.993835288]: VER: 1.1: Board hardware:      00000032[0m
+[0m[ INFO] [1715873104.993958936]: VER: 1.1: VID/PID:             26ac:0032[0m
+[0m[ INFO] [1715873104.994083064]: VER: 1.1: UID:                 3330511536333538[0m
+[0m[ INFO] [1715873101.248824504]: Initializing nodelet with 6 worker threads.[0m
+[0m[ INFO] [1715873106.677207960]: RealSense ROS v2.2.15[0m
+[0m[ INFO] [1715873106.677311352]: Built with LibRealSense v2.36.0[0m
+[0m[ INFO] [1715873106.677368056]: Running with LibRealSense v2.36.0[0m
+ith pid [10192][0m
+[1mprocess[px4_sender-6]: started with pid [10198][0m
+[1mprocess[ground_station-7]: started with pid [10209][0m
+[1mprocess[ground_station_msg-8]: started with pid [10214][0m
+[1m[ground_station-7] process has finished cleanly
+log file: /home/amov/.ros/log/726a700c-1398-11ef-99d4-48b02d6760f1/ground_station-7*.log[0m
+[1m[ground_station_msg-8] process has finished cleanly
+log file: /home/amov/.ros/log/726a700c-1398-11ef-99d4-48b02d6760f1/ground_station_msg-8*.log[0m
+[px4_sender-6] killing on exit
+[px4_pos_estimator-5] killing on exit
+[t265/realsense2_camera-4] killing on exit
+[t265/realsense2_camera_manager-3] killing on exit
+[mavros-2] killing on exit
+[rosout-1] killing on exit
+[master] killing on exit
+shutting down processing monitor...
+... shutting down processing monitor complete
+[1mdone[0m
