Ardupilot: "Frame unknown" when mavproxy connect to sitl

[dongtuu]

Issue details

I followed the instructions at here http://ardupilot.org/dev/docs/sitl-native-on-windows.html . I run "$ ./ArduCopter.elf --home -35,149,584,270 --model quad" in the cygwin to start the sitl and run "mavproxy.py --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --out 127.0.0.1:14550 --out 127.0.0:14551" in cmd to connect to sitl. But in cmd I got the hint “Frame UNKNOWN”. I test the code simple_goto.py and got the continual hint "waiting for arming". I tried mission planner and came across with "Frame UNKNOWN" too.

Version

dronekit (2.9.1)
future (0.16.0)
lxml (3.8.0)
MAVProxy (1.6.1)
monotonic (1.2)
pip (9.0.1)
psutil (5.2.2)
pymavlink (2.2.3)
pyserial (3.3)
setuptools (28.8.0)
six (1.10.0)
uavcan (1.0.0.dev27)

Platform

Copter

Logs

C:UsersGao>mavproxy --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --out 127.0.0.1:14550 --out 127.0.0.1:14551
Connect tcp:127.0.0.1:5760 source_system=255
Running script (C:UsersGaoAppDataLocalMAVProxymavinit.scr)
Running script C:UsersGaoAppDataLocalMAVProxymavinit.scr
-> set moddebug 2
-> module load help
Loaded module help
Unknown command 'graph timespan 30'
Log Directory:
Telemetry log: mav.tlog
MAV>

Init APM:Copter V3.6-dev (33aec6e8)

Free RAM: 131072

FW Ver: 120

load_all took 0us
0 0 0 validate_structures:176: Validating structures
DataFlash_File: buffer size=16384
online system 1
STABILIZE> Mode STABILIZE
APM: PreArm: RC Roll not configured
APM: Calibrating barometer
APM: APM:Copter V3.6-dev (33aec6e8)
APM: Frame: UNKNOWN
Received 855 parameters
Saved 855 parameters to mav.parm
APM: Barometer calibration complete
Init Gyro**no link
link 1 down
*
APM: PreArm: RC Roll not configured

Ready to FLY link 1 OK
fence breach
heartbeat OK
APM: EKF2 IMU0 initial yaw alignment complete
APM: EKF2 IMU1 initial yaw alignment complete
APM: GPS 1: detected as u-blox at 115200 baud
APM: EKF2 IMU0 tilt alignment complete
APM: EKF2 IMU1 tilt alignment complete

[rmackay9]

I'm surprised the parameter wasn't set but in any case, entering this should help:
param set FRAME_CLASS 1

[dongtuu]

Hi rmackay9, you really helped me. It had bothered me for a week. I hadn't supposed it to be so easy to be solved. Thank you very much!

[OXINARF]

I'm surprised the parameter wasn't set but in any case

That only happens when using sim_vehicle.py, when using directly the ArduPilot binary it doesn't go catch a default parameter file.