offboard reject error
Hi to all,
I am using Ros Indigo in Ubuntu 14.04. My mavros version is 0.16.4.0 as for pixhawk version it is latest one which I updated it on 20 Dec 2015.
For my offboard control project, I can using 3DR 433Mhz radio connected to pixhawk to transfer the code from computer to pixhawk.But I encounter a problem when switching to auto mode in RC controller, it tend to reject the auto mode and switch back to manual mode and back to auto mode again and back to manual mode . As the pixhawk light keep switching from green to blue back to green the back to blue again.
The frequency I publish to setpoint topics is 100Hz .And the topics published are /mavros/setpoint/cmd_vel
The code I type in is
roslaunch mavros px4.launch fcu_url:='/dev/ttyUSB0:57600'
then I type in rostopic echo -n1 /diagnostics
The code shown are
Next I type in rosrun hexrotor offboard The Roslaunch output is
It is working fine but after a while the error occur
[ERROR] [1449822927.011620861]: FCU: REJECT OFFBOARD
Is there any way to make the copter stay at auto mode ? Thanks
Asked by newtoros on 2015-12-11 04:11:55 UTC
Answers
- With what frequency you publish to setpoint topics? Also please list which topics do you use.
- What versions of px4 firmware and mavros used?
Please dump result of that command:
rostopic echo -n1 /diagnostics
Please dump full roslaunch output, not only FCU message.
I think you may use services like pastebin or edit first post.
Asked by vooon on 2015-12-12 09:15:52 UTC
Comments
After I type in rostopic echo -n1 /diagnostics
The code shown are
Next I type in rosrun hexrotor offboard
The Roslaunch output is
Asked by newtoros on 2015-12-30 09:33:45 UTC
The flight controller needs a stream of setpoint messages before the commander accepts offboard mode. Make sure the flight controller gets a stream of setpoints (0.5s timeout) before you switch to offboard mode. The system will reject offboard otherwise.
More details in https://pixhawk.org/dev/ros/mavros_offboard
Asked by lv on 2016-01-04 21:37:55 UTC
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