How to command PX4 to reboot via MAVROS?

Nickvot · October 6, 2017, 5:10am

Hi, I’m making SITL environment for PX4 using Gazebo simulator.
After some crashes, I coded the SITL program to let Gazebo sim reset the pose of the IRIS model, but it moved wired. I thought I should reboot PX4 firmware, but I don’t know how to do that…not manually. How can I send a reboot message to PX4 firmware?

tiralonghipol · August 20, 2018, 1:48pm

Hi ! I need to implement the same, any improvement on this?
Thank you,

Paolo.

nicovanduijn · August 20, 2018, 2:36pm

I’ve had trouble resetting simulations as well, the reason being that EKF2’s position estimate would need to be reset. I don’t think there’s a MAVLink command recognized by PX4 to do so.

What’s wrong with restarting PX4? That’s what I ended up doing

tiralonghipol · August 21, 2018, 10:17am

I’ve been doing some test with the pixhawk 1 - offboard mode
seems like the only way to reset the ekf2 estimator is the hardware way -> pushing the little button nearby the usb port

Doolly · August 21, 2018, 11:43am

since there is a way to reset using QGC maybe we can send same mavlink via mavros

doukhi_oualid · December 31, 2018, 2:00am

Any solution to this problem , how to reset the SITL programmatically?

metinburak · January 4, 2019, 10:45am

You can reset some modules by writing a mavlink message handler and stop - start the module in that handler by calling those functions.

shupx · November 13, 2023, 4:00am

You can use mavcmd or call the mavros service /mavros/cmd/command

rosrun mavros mavcmd long 246 1 0 0 0 0 0 0

or simply write a ROS node calling the service /mavros/cmd/command

from mavros_msgs.srv import CommandLong
mavcmd = rospy.ServiceProxy('/mavros/cmd/command', CommandLong)
mavcmd(command=246,param1=1)

I refer to mavlink doc for this method. http://mavlink.io/en/messages/common.html#MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN