Hello guyz,
Im trying to use a retractable landing gear with a px4 and a overlaying odroid control. Therefore the px is running in offboard mode and I controll the drone via attitude control. I thought about sending actuator controls but that seems to mess up the attitude control. Unfortunatly if I send mavcmd DO_SET_SERVO the request fails:
Request failed. Check mavros logs. ACK: 3
Am I doing sth wrong with the MAV_CMD or is there a better way?
Here is the diagnostic feedback:
Mavros:
[ INFO] [1532619055.611560442]: IMU: Attitude quaternion IMU detected!
[ INFO] [1532619055.612270816]: IMU: High resolution IMU detected!
[ INFO] [1532619055.749501500]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1532619055.847462525]: IMU: Attitude quaternion IMU detected!
[ INFO] [1532619055.848405104]: IMU: High resolution IMU detected!
[ INFO] [1532619056.758370289]: VER: 1.1: Capabilities 0x000000000000e4ef
[ INFO] [1532619056.758512267]: VER: 1.1: Flight software: 010800ff (00000000F3E3ADAE)
[ INFO] [1532619056.758640717]: VER: 1.1: Middleware software: 010800ff (00000000F3E3ADAE)
[ INFO] [1532619056.758772548]: VER: 1.1: OS software: 071600ff (0000000000000000)
[ INFO] [1532619056.758896976]: VER: 1.1: Board hardware: 00000011
[ INFO] [1532619056.759019372]: VER: 1.1: VID/PID: 26ac:0011
[ INFO] [1532619056.759104005]: VER: 1.1: UID: 3036510e36373734
[ WARN] [1532619056.759928950]: CMD: Unexpected command 520, result 0
[ INFO] [1532619065.750967546]: HP: requesting home position
[ INFO] [1532619070.755120888]: WP: mission received
[ INFO] [1532619075.750572389]: HP: requesting home position
[ WARN] [1532619085.713035388]: GP: No GPS fix
[ INFO] [1532619085.750970183]: HP: requesting home position
[ WARN] [1532619092.754518791]: CMD: Unexpected command 183, result 3
header:
seq: 118
stamp:
secs: 1532619200
nsecs: 479749153
frame_id: ‘’
status:
level: 0
name: “mavros: FCU connection”
message: “connected”
hardware_id: “/dev/ttyACM0:921600”
values:
key: “Received packets:”
value: “49170”
key: “Dropped packets:”
value: “0”
key: “Buffer overruns:”
value: “0”
key: “Parse errors:”
value: “0”
key: “Rx sequence number:”
value: “34”
key: “Tx sequence number:”
value: “134”
key: “Rx total bytes:”
value: “2177802”
key: “Tx total bytes:”
value: “84796”
key: “Rx speed:”
value: “22179.000000”
key: “Tx speed:”
value: “890.000000”
level: 2
name: “mavros: GPS”
message: “No satellites”
hardware_id: “/dev/ttyACM0:921600”
values:
key: “Satellites visible”
value: “0”
key: “Fix type”
value: “0”
key: “EPH (m)”
value: “99.99”
key: “EPV (m)”
value: “99.99”
level: 0
name: “mavros: Heartbeat”
message: “Normal”
hardware_id: “/dev/ttyACM0:921600”
values:
key: “Heartbeats since startup”
value: “145”
key: “Frequency (Hz)”
value: “0.959986”
key: “Vehicle type”
value: “Quadrotor”
key: “Autopilot type”
value: “PX4 Autopilot”
key: “Mode”
value: “MANUAL”
key: “System status”
value: “Standby”
level: 0
name: “mavros: System”
message: “Normal”
hardware_id: “/dev/ttyACM0:921600”
values:
key: “Sensor present”
value: “0x0027002F”
key: “Sensor enabled”
value: “0x0021000F”
key: “Sensor helth”
value: “0x0027002F”
key: “3D gyro”
value: “Ok”
key: “3D accelerometer”
value: “Ok”
key: “3D magnetometer”
value: “Ok”
key: “absolute pressure”
value: “Ok”
key: “rc receiver”
value: “Ok”
key: “AHRS subsystem health”
value: “Ok”
key: “CPU Load (%)”
value: “61.1”
key: “Drop rate (%)”
value: “0.0”
key: “Errors comm”
value: “0”
key: “Errors count #1”
value: “0”
key: “Errors count #2”
value: “0”
key: “Errors count #3”
value: “0”
key: “Errors count #4”
value: “0”
level: 0
name: “mavros: Battery”
message: “Normal”
hardware_id: “/dev/ttyACM0:921600”
values:
key: “Voltage”
value: “22.58”
key: “Current”
value: “0.0”
key: “Remaining”
value: “49.0”
level: 0
name: “mavros: Time Sync”
message: “Normal”
hardware_id: “/dev/ttyACM0:921600”
values:
key: “Timesyncs since startup”
value: “1449”
key: “Frequency (Hz)”
value: “9.999868”
key: “Last dt (ms)”
value: “0.492667”
key: “Mean dt (ms)”
value: “0.040468”
key: “Last system time (s)”
value: “24659.926831000”
key: “Time offset (s)”
value: “1532594540.519011736”