Can I send the PWM values for the motors that I used for my quadrotor to MAV_CMD_DO_SET_SERVO using MAVROS? I want to be able to set the speed at which the rotors spin manually.
Im currently at the same point. In the documentation it is said MAV_CMD_DO_SET_SERVO is supported. Even thou I would not recommend it for rotor speed!!!
I was planning to send PWM to AUX 5 in order to control a servo but I only get:
CMD: Unexpected command 183, result 3
Did u manage to use the command via MAVROS ?
Here is my start up and the response. Also the /diagnostic. But I cant figure out why it does not accept my command
[ INFO] [1532619055.478486720]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ WARN] [1532619055.534155215]: GP: No GPS fix
[ WARN] [1532619055.545583955]: TM: Clock skew detected (-1532594540.554190397 s). Hard syncing clocks.
[ 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
[ INFO] [1532619095.750580280]: HP: requesting home position
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”
- key: “Fix type”
-
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”
- key: “Frequency (Hz)”
-
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”
- key: “Sensor enabled”
-
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”
- key: “Current”
-
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”
- key: “Frequency (Hz)”
header: