# SITL Remote Control simulation

**URL:** <https://discuss.px4.io/t/sitl-remote-control-simulation/6993>\
**Category:** Uncategorized\
**Created:** [June 25, 2018, 10:37pm UTC](https://discuss.px4.io/t/sitl-remote-control-simulation/6993 "2018-06-25T22:37:43Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![Coline](https://discuss.px4.io/user_avatar/discuss.px4.io/coline/32/3455_2.png) [@Coline](https://discuss.px4.io/u/Coline)\
**Post date:** [June 25, 2018, 10:37pm UTC](https://discuss.px4.io/t/sitl-remote-control-simulation/6993/1 "2018-06-25T22:37:43Z")

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BACKGROUND  
I am running PX4 and ROS on the Intel Aero, and simulating the whole setup using ROS, Gazebo and PX4 SITL. I am able to control the vehicle in the simulation by setting the mode to offboard and publishing to mavros setpoint\_raw/local or setpoint\_position/local. For simulation purposes, I am trying to simulate the RC with a a XBOX360 controller and I want to avoid publishing to the setpoint topics as the companion computer is already publishing to those topics.

ISSUE  
I have tried to publish to rc/override and to manual\_control/control, and neither of them have worked (the vehicle does not react to the command).

DETAILS

1. I have tried to set COM\_RC\_IN\_MODE to 1 then 2, and got the same result.
2. For some reason when publishing manual\_control (but not rc override) I still got the warning “failsafe enabled: no RC”, so I set the parameter NAV\_RCL\_ACT to 0 to disable the failsafe.
3. I armed the vehicle and set the mode to POSCTL using mavros service clients and the mavros/state shows that the vehicle is indeed armed and in POSCTL mode.
4. When publishing to rc/override, rc/out is not published and rc/in is equal to rc/override, I don’t really know what that could mean.
5. For rc override I am sending a value between 1000 and 2000 for the first 4 channels and 65535 for the remaining 4. For manual control a value between -1000 and 1000 (except for z, between 0 and 1000) and 0 for the buttons.

I would appreciate any advice or information on rc override or manual control, or any alternative ideas to simulate a remote controller with px4 SITL.  
Thanks!

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<div class="post-metadata">

**Author:** ![Coline](https://discuss.px4.io/user_avatar/discuss.px4.io/coline/32/3455_2.png) [@Coline](https://discuss.px4.io/u/Coline)\
**Post date:** [June 28, 2018, 9:54pm UTC](https://discuss.px4.io/t/sitl-remote-control-simulation/6993/2 "2018-06-28T21:54:51Z")

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To get the manual control to work with Mavros you need to publish to manual\_control/send topic.

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**Author:** ![romaster93](https://discuss.px4.io/user_avatar/discuss.px4.io/romaster93/32/6119_2.png) [@romaster93](https://discuss.px4.io/u/romaster93)\
**Post date:** [April 21, 2020, 8:32am UTC](https://discuss.px4.io/t/sitl-remote-control-simulation/6993/3 "2020-04-21T08:32:18Z")

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hello

how can i publish to manual\_control/send?

i trying to control using rc/override

now i can control override, but FCU is not react…