(For getting a bigger audience I also posted this on an other forum)
Hi,
I’m trying to control a drone from a Raspberry through mavros by using overriderc messages (pixhawk with px4 firmware). I’m using this example, but instead of changing the pose of the drone (no gps), I want to use override rc messages to control the drone. I have been able to get into offboard mode, but the drone won’t arm (red flashing led indicator). With the default example (using setpoint_position/local messages) I’m able to arm, but then the pixhawk shutsdown.
EDIT
When I try running the code in gazebo, I get the same problem, the drone wont arm. But if i first send 500 setpoint_position/local messages the drone will arm perfectly, after the 500 messages he will disarm instantly… Am I doing something wrong, or can someone supply me some example code to arm the pixhawk without using messages which need a gps?
MAVROS version and platform
Mavros: updated 26/11
ROS: Kinetic
Ubuntu: 16.04
Rasbian: Jessie
Diagnostics
rostopic echo -n1 /diagnostics
header:
seq: 1197
stamp:
secs: 1512296801
nsecs: 151528333
frame_id: ''
status:
-
level: 0
name: mavros: FCU connection
message: connected
hardware_id: /dev/ttyS0:57600
values:
-
key: Received packets:
value: 46569
-
key: Dropped packets:
value: 0
-
key: Buffer overruns:
value: 0
-
key: Parse errors:
value: 0
-
key: Rx sequence number:
value: 228
-
key: Tx sequence number:
value: 62
-
key: Rx total bytes:
value: 1495093
-
key: Tx total bytes:
value: 598083
-
key: Rx speed:
value: 862.000000
-
key: Tx speed:
value: 277.000000
-
level: 2
name: mavros: GPS
message: No satellites
hardware_id: /dev/ttyS0:57600
values:
-
key: Satellites visible
value: 0
-
key: Fix type
value: 0
-
key: EPH (m)
value: Unknown
-
key: EPV (m)
value: Unknown
-
level: 0
name: mavros: Heartbeat
message: Normal
hardware_id: /dev/ttyS0:57600
values:
-
key: Heartbeats since startup
value: 1332
-
key: Frequency (Hz)
value: 1.036972
-
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/ttyS0:57600
values:
-
key: Sensor present
value: 0x00000000
-
key: Sensor enabled
value: 0x00000000
-
key: Sensor helth
value: 0x00000000
-
key: CPU Load (%)
value: 35.4
-
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/ttyS0:57600
values:
-
key: Voltage
value: 12.51
-
key: Current
value: 0.0
-
key: Remaining
value: 100.0
-
level: 0
name: mavros: Time Sync
message: Normal
hardware_id: /dev/ttyS0:57600
values:
-
key: Timesyncs since startup
value: 136
-
key: Frequency (Hz)
value: 9.999376
-
key: Last dt (ms)
value: -2.379068
-
key: Mean dt (ms)
value: -0.074346
-
key: Last system time (s)
value: 29.700256000
-
key: Time offset (s)
value: 1512296771.436703205
---
px4.launch
MAVROS started. MY ID 1.240, TARGET ID 1.1
[ WARN] [1512303534.287434067]: TM: Clock skew detected (-1512303298.490595818 s). Hard syncing clocks.
[ INFO] [1512303535.036142815]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1512303536.069218782]: VER: 1.1: Capabilities 0x00000000000024ef
[ INFO] [1512303536.069793516]: VER: 1.1: Flight software: 01060500 (00000000FFFFFFFF)
[ INFO] [1512303536.070365803]: VER: 1.1: Middleware software: 01060500 (00000000FFFFFFFF)
[ INFO] [1512303536.070928297]: VER: 1.1: OS software: 000000c0 (00000000FFFFFFFF)
[ INFO] [1512303536.071582458]: VER: 1.1: Board hardware: 00000011
[ INFO] [1512303536.071926622]: VER: 1.1: VID/PID: 26ac:0011
[ INFO] [1512303536.072370368]: VER: 1.1: UID: 3034510831323737
[ WARN] [1512303536.075305810]: CMD: Unexpected command 520, result 0
[ INFO] [1512303545.037489181]: HP: requesting home position
[ WARN] [1512303545.213013217]: TM: Clock skew detected (-0.014637778 s). Hard syncing clocks.
[ INFO] [1512303550.050092801]: WP: mission received
[ WARN] [1512303550.829115173]: PR: request param #11 timeout, retries left 2, and 40 params still missing
[ WARN] [1512303551.847422147]: PR: request param #32 timeout, retries left 2, and 39 params still missing
[ WARN] [1512303552.861095516]: PR: request param #52 timeout, retries left 2, and 38 params still missing
[ WARN] [1512303553.888227513]: PR: request param #69 timeout, retries left 2, and 37 params still missing
[ WARN] [1512303554.902496345]: PR: request param #83 timeout, retries left 2, and 36 params still missing
[ INFO] [1512303555.036997991]: HP: requesting home position
[ WARN] [1512303555.916024089]: PR: request param #93 timeout, retries left 2, and 35 params still missing
[ WARN] [1512303556.934432413]: PR: request param #134 timeout, retries left 2, and 34 params still missing
[ WARN] [1512303557.948772179]: PR: request param #136 timeout, retries left 2, and 33 params still missing
[ WARN] [1512303558.962257941]: PR: request param #177 timeout, retries left 2, and 32 params still missing
[ WARN] [1512303559.975373498]: PR: request param #186 timeout, retries left 2, and 31 params still missing
[ WARN] [1512303560.988027340]: PR: request param #187 timeout, retries left 2, and 30 params still missing
[ WARN] [1512303562.001207114]: PR: request param #193 timeout, retries left 2, and 29 params still missing
[ WARN] [1512303562.398149557]: TM: Clock skew detected (-0.013637077 s). Hard syncing clocks.
[ WARN] [1512303563.014155379]: PR: request param #237 timeout, retries left 2, and 28 params still missing
[ WARN] [1512303564.059580327]: PR: request param #256 timeout, retries left 2, and 27 params still missing
Code
#include <ros/ros.h>
#include <geometry_msgs/PoseStamped.h>
#include <mavros_msgs/CommandBool.h>
#include <mavros_msgs/SetMode.h>
#include <mavros_msgs/State.h>
#include <std_msgs/Float64.h>
#include <mavros_msgs/OverrideRCIn.h>
using namespace std;
mavros_msgs::State current_state;
void state_cb(const mavros_msgs::State::ConstPtr& msg){
current_state = *msg;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "offb_node");
ros::NodeHandle nh;
ros::Subscriber state_sub = nh.subscribe<mavros_msgs::State>
("mavros/state", 10, state_cb);
ros::Publisher local_pos_pub = nh.advertise<geometry_msgs::PoseStamped>
("mavros/setpoint_position/local", 10);
ros::ServiceClient arming_client = nh.serviceClient<mavros_msgs::CommandBool>
("mavros/cmd/arming");
ros::ServiceClient set_mode_client = nh.serviceClient<mavros_msgs::SetMode>
("mavros/set_mode");
ros::Publisher rc_pub = nh.advertise<mavros_msgs::OverrideRCIn>
( "mavros_msgs/OverrideRCIn", 1, true);
//the setpoint publishing rate MUST be faster than 2Hz
ros::Rate rate(20.0);
// wait for FCU connection
while(ros::ok() && current_state.connected){
ros::spinOnce();
rate.sleep();
}
geometry_msgs::PoseStamped pose;
pose.pose.position.x = 0;
pose.pose.position.y = 0;
pose.pose.position.z = 2;
//send a few setpoints before starting
for(int i = 100; ros::ok() && i > 0; --i){
local_pos_pub.publish(pose);
ros::spinOnce();
rate.sleep();
}
mavros_msgs::SetMode offb_set_mode;
offb_set_mode.request.custom_mode = "OFFBOARD";
mavros_msgs::CommandBool arm_cmd;
arm_cmd.request.value = true;
ros::Time last_request = ros::Time::now();
mavros_msgs::OverrideRCIn rc_msg;
while(ros::ok()){
if( current_state.mode != "OFFBOARD" &&
(ros::Time::now() - last_request > ros::Duration(5.0))){
if( set_mode_client.call(offb_set_mode) &&
offb_set_mode.response.mode_sent){
ROS_INFO("Offboard enabled");
}
last_request = ros::Time::now();
} else {
if( !current_state.armed &&
(ros::Time::now() - last_request > ros::Duration(5.0))){
if( arming_client.call(arm_cmd) &&
arm_cmd.response.success){
ROS_INFO("Vehicle armed");
}
last_request = ros::Time::now();
}
}
for(int i = 0; i < 8; i++){
rc_msg.channels[i] = 0;
}
rc_msg.channels[2] = 1300;
rc_pub.publish(rc_msg);
ros::spinOnce();
rate.sleep();
}
return 0;
}