mavros in general

mavros in general

asked 2015-02-23 21:31:23 -0500

cty22
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Im just wondering how to do offboard control with Mavros and how to use Mavors' utility commands and plug-ins. For example, how to use Mavros to arm the quadcopter. I know it's a stupid question so any help will be appreciated.

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Hi cty22, I have similar problem about using setpoint_position to control APM. I just wondering do you works out of that. Thanks.

crazymumu ( 2015-10-29 07:40:41 -0500 )edit

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answered 2015-02-24 15:03:44 -0500

vooon

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Offboard => PX4 firmware, right?

For arming look at mavsafety script, and mavsafety arm.

Offboard require arming, selecting OFFBOARD mode (mavsys mode -c OFFBOARD ) and sending setpoints via one of setpoint plugins. Note that OFFBOARD mode have timeout, also you may ask questions at https://gitter.im/mavlink/mavros .

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Also look PX4 wiki, excellent example: https://pixhawk.org/dev/offboard_cont...

vooon ( 2015-02-24 15:11:06 -0500 )edit

When I do mavsys mode -c OFFBOARD. I got an error says [ERROR] [1426407538.265746064]: MODE: Unknown mode: OFFBOARD What am I doing wrong?

cty22 ( 2015-03-31 19:20:29 -0500 )edit

I think i'm using apm firmware. That's why. Is there a off board mode or something equivalent for apm? Thanks

cty22 ( 2015-03-31 19:32:58 -0500 )edit

APM:Copter now have some support, but untested by mavros users. mavsys mode -c GUIDED

vooon ( 2015-04-01 02:50:35 -0500 )edit

Also small fix for PX4 users: firstly start sending setpoints, then require OFFBOARD.

vooon ( 2015-04-01 02:52:29 -0500 )edit

I'm running into the topics not being published issue. I saw a similar question and you suggested enable mavconn to debug it. I'm not sure how to enable it. what command do you use? Thanks

cty22 ( 2015-04-08 21:03:44 -0500 )edit

you can setup ROSCONSOLE_CONFIG_FILE (read ros wiki)
or you can do rosservice call /mavros/set_logger_level ros.rosconsole_bridge.mavconn debug (same may be done by rqt)

vooon ( 2015-04-09 04:23:28 -0500 )edit

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