bluerobotics/ardusub

ArduSub: An ROV/AUV control system based on the ArduPilot project.

Mohammad Nadeem

@mnadev

Hi would anyone be interested in an open source library for writing applications for the BlueROV similar to dronekit but targeted towards the BlueROV

Charles Cross

@spiderkeys

Hi @patrickelectric @Williangalvani just wanted to check on something. Is it possible these days to directly set the servo tilt RC channel with the RC_OVERRIDE_CHANNELS message, rather than emulating that using MANUAL_CONTROL button events? Based on some initial digging around, this is what I came up with, which sort of works (if it sends 1650us, the servo will move up, 1350, it will move down):

    uint16_t NO_CHANGE = std::numeric_limits<uint16_t>::max();
    uint16_t servo_val = static_cast<uint16_t>( ( _servo_position_target * 500.0f ) + 1500.0f );

    mavlink_msg_rc_channels_override_pack(
            CommManager::BRIDGE_MAVLINK_SYSTEM_ID,
            CommManager::BRIDGE_MAVLINK_COMPONENT_ID,
            &_msg_out,
            CommManager::MCU_MAVLINK_SYSTEM_ID,
            CommManager::MCU_MAVLINK_COMPONENT_ID,
            NO_CHANGE, NO_CHANGE, NO_CHANGE, NO_CHANGE,
            NO_CHANGE, NO_CHANGE, NO_CHANGE, servo_val,
            NO_CHANGE, NO_CHANGE, NO_CHANGE, NO_CHANGE,
            NO_CHANGE, NO_CHANGE, NO_CHANGE, NO_CHANGE,
            NO_CHANGE, NO_CHANGE
    );
    _comm_manager.get_mavchannel().write( _msg_out );

While this works sometimes, it seems to be fairly inconsistent in that sometimes it will move the servo in the direction I want, but sometimes it will do nothing or will stutter, almost as if there is potentially some code in ardusub that is fighting against it sending 1500 (maybe some joystick handling code relating to how the mount_tilt functions are used?) Thanks

Charles Cross

@spiderkeys

Disregard the above, answered on Discourse :)

Slapa21

@Slapa21

Hello, i am new to this and i need to make simulations of BlueROV2 with ROS implementation, if anyone can at least push me to right direction would be a huge help, to link me some tutorials or tell me steps needed to make the simulations i would be very greatfull

Patrick José Pereira

@patrickelectric

@slovak194 sadly this is something that's happening during the microcontroller boot, maybe changing to chibios can fix that, but there is no guarantee

Patrick José Pereira

@patrickelectric

@nhasbun right now there is only the bluerov_playground repository that shows how to do that kind of integration

@mnadev that's really nice to see, let us know if you come up with something, the pymavlink examples in ardusub.com and bluerov_playground should help with that

@spiderkeys Sorry for not answering here :/ Sadly it appears that we lost track of gitter

@Slapa21 there is information in to do that in https://discuss.bluerobotics.com/

Jack Mead

@jackmead515

Shot in the dark here. Was referred to this chat room by my robotics engineer. I'm looking for a way to cut the video feed via an api route. I know I can forcefully cut the feed via screen -X -S video quit and I can restart it just fine. But for my use case, I would like to do it via a networked message. Any ideas? Thanks in advance.

Sena

@aysesenakocak

Hi, i am using a bar30 depth sensor. I get "prearm: 0x0008 error" when i try to arm the vehicle after a successful pressure calibration. What can be the problem?

Coleman

@goonbunny

Can anyone point me towards an example of the SET_ATTITUDE_TARGET message being implemented in pymavlink? Thank you!

Willian Galvani

@Williangalvani

Try this:
https://gist.github.com/Williangalvani/6dac6849b26c83ec89756c03c95818b0

FARHANG

@farhangnaderi

Hello,

I want to send MAVLINK message to VISION_POSITION_DELTA either using Cpp or pymavlink. Any links for an example?

Coleman

@goonbunny

I have started having issues building with ./waf (I think because of issues with my python environment) but still have a successfully built px4-v2 folder from a previous machine. Is there a way to upload my build folder to a pixhawk without using waf? Thank you!

YuryArnold

@YuryArnold

Hello Developers community! I can set waypoint mission to ardusub via qgc. But I want that my row would be pass through this mission without ethernet, I mean without qgc connected.For now, I can transfer some commands via pymavlink to raspberryPi companion (GNSS for example ), but I don't know full list of command which should be transfered to ROV, for waypoint mission passing through. Can some of developers of ardusub tell me , which commands I should to use, for providing data for waypoint mission.

Jacob Walser

@jaxxzer

@YuryArnold The auto mode is still in development, it is not stable. It is available through QGC for developer use, and the QGC mission manager may not work correctly with ArduSub. Some source code inspection in ArduSub will be needed in order to achieve your desired results. Do you have a positioning system?

YuryArnold

@YuryArnold

Thank you Jacob, I have a gnss system with waterlink acoustic modems. I want to set waypoint mission via qgc, it worked in sitl. After setting waypoints I want to put ROV to sea and set arm command via pymavlink with m64.
And after that I want to set messages for mission passing through. And get back messages for operator.

Jacob Walser

@jaxxzer

Ok, that's cool! I'm not sure if the m64 will work for the mavlink communication, but it might. ArduPilot can send a lot of data. Let us know how it goes!

Since you have it working in sitl, I would try to look at the communication going on between qgc and ardupilot and then go about replicating that. You can type the watch command in the mavproxy/sitl console to look at what messages qgc is sending and the message field values. If you need to find out exactly what is going on, I recommend digging into the source code of qgc and ardupilot. I am not sure exactly which messages are needed, it's been a long time since I did a mission, and I did need to look at the source to figure it out. There is also a module load mission command in mavproxy that is helpful, and using gdb with ArduSub SITL helps too to troubleshoot if commands are not accepted or the mission does not start. Check the ArduPilot Discord and Forums for help too.

Willian Galvani

@Williangalvani

Also be aware that the position from the waterlinked gps is calculated in the topside, not in the rov, so that would have to be sent to the rov as well. AND you should pick the right locator (some require that the rov send the depth, some have a depth sensor integrated)

Nathan Wu

@hughhugh

@jaxxzer Hi. I am reading the solarsurfer in hack a day. I found that the NOAA OSCAR current data has been used before. Could u introduce more detail in path planning?Thanks.

Jacob Walser

@jaxxzer

Hi @hughhugh , I did not work on the solar surfer myself, but I asked the person who did. They say that the planned path was just generated once manually and only had a few waypoints between california coast and hawaii. It was not a special or dynamic algorithm.

Nathan Wu

@hughhugh

Thank you. Jacob.

Alperen

@Papiyeen_twitter

Hey guys! I would like to ask a question :) We're trying to build our own rov at the moment. And planning to buy pixhawk 2.4.8 . I saw some entries about how problemetic is. Is that card really bad, or good enough for design project?

Also another question I have which is; Is it possible to have depth hold mode without having pressure sensor? Is pixhawk sensors works ?

Maybe I asked absurd questions :( pardon me :)

Willian Galvani

@Williangalvani

Hey! The 2.4.8 is not great, but could work. It looks like they took a lot of things out to make it cheaper, so it is probably not as reliable.
At least subs don't fall from the sky like planes and multicopters do when something fail!

unfortunately the barometer in the pixhawk is going to be inside the enclosure, so it doesn't really measure the pressure of the water column.

Alperen

@Papiyeen_twitter

Hey @Williangalvani thank you so much for fast reply. Just I want to say, I know the pixhawk barometer cannot measure the pressure outside, The thing I wanted to ask is without additional pressure sensor is the dept hold mode works ? Does pixhawk default sensors work with it or not :) ?

Jacob Walser

@jaxxzer

@Papiyeen_twitter External water pressure sensor is required for depth hold mode

I think the 2.4.8 is good enough for design project. Like willian mentioned the cost reduction removes most protection circuits, so you will need to be careful about what is plugged in.

Alperen

@Papiyeen_twitter

Thank you so much for the informations guys :) I also would like another question (I do hope I'm not bothering) In the website ardusub Raspberry Pi 4 Model B is not supported with the current ArduSub Companion software image. If it is okay to use model A ? or do we need to use pi 3 model b for sure?

Coleman

@goonbunny

Has anyone had success changing flight modes in SUB with mavproxy? Whenever I try to use the 'mode ALT_HOLD' command I get
'MANUAL> Got COMMAND_ACK: DO_SET_MODE: UNSUPPORTED'

Willian Galvani

@Williangalvani

It should work. What version of ardusub are you running? I just tested SITL with sub 4.0.1 and it worked fine. I think Sub 3.5 proably doesn't support DO_SET_MODE

Coleman

@goonbunny

@Williangalvani I was using a custom version but switched to the standard stable version and set mode is now working. However when I try to use 'long commands' like setyaw and attitude they are accepted but don't result in any movement from the servos unlike when I use mode ALT-HOLD. Any idea what might be happening? My test command is setyaw 1 5 0 which I believe should set the yaw to 1 at a 5 degree angular velocity. Am I using the command properly? I'm using chibios SUB 4.0.2 on a pixhawk1

Willian Galvani

@Williangalvani

I just tried setyaw and it seems to be broken in sub. Have you tried my attitudeControl.py gist?

Coleman

@goonbunny

@Williangalvani I did. It did not work for me. Depth Hold and Arm resulted in servo movement but if I just used arm followed by a loop sending the set_target_attitude message from your gist I got no servo movement so assume it wasn't working as expected. What version of sub did that gist work for you on?

Willian Galvani

@Williangalvani

IIRC that only works in depth hold mode

Coleman

@goonbunny

oh wow that's good to know haha! I was trying to trouble shoot things by not having it in depth hold mode until I get the attitude target stuff sorted out. I'll try it tomorrow when I am back at my desk. Do you know if it will work in sub 3.5 and 4 or just 4?

Coleman

@goonbunny

It works in sub 4! 3.5 I'm not able to get it to work.

Morten

@mnissov

We've been having some trouble getting depth hold and arming to persist, for example we'd like the GCS heartbeat failsafe to result in enabling depth hold mode. Setting the parameter with rosservice call /param/set "param_id: 'FS_GCS_ENABLE' value: integer: 3 real: 0.0" seems to do nothing, after loss of activity we get the error message FCU: Lost manual control and thrusters are disarmed.

Would anyone happen to know how to handle this? We've also tried with rosrun mavparam but this didn't make any difference either.

Joel Nordahl

@choel83

Is it possible to use servo9-12 as motor 1-4? It know it's possible on arducopter but can't get it to work on ardusub.

Willian Galvani

@Williangalvani

maybe you need to set the BRD_PWM_COUNT:
https://www.ardusub.com/developers/rc-input-and-output.html#rc-outputs

Joel Nordahl

@choel83

Checked that. Looks right. Maybe I should mentioned that I'm running DShot150. It works when testing with SERVO_BLH_TEST but I can't get them to run normally.

Nathan Wu

@hughhugh

Hi, I am planning to amount Ping360 Scanning Imaging Sonar in the Catamaran. Is it possibel to amount the sensor via turning the sensor upside down？Is the performance of the sensor affected? Thank you.

Coleman

@goonbunny

hello, I have my vehicle connected to QGC but can't figure out how to control the depth in depth hold mode. Is there a way to turn on a "target depth" widget or something? I am using a joystick for control if that matters. Thank you!

Islamwael-1999

@Islamwael-1999

hi i am working on AUV Project using the ardusub firmware, the thing is I need to control each output channel independently but i don't know how to ????

Coleman

@goonbunny

hello, I have my vehicle connected to QGC but can't figure out how to control the depth in depth hold mode. Is there a way to turn on a "target depth" widget or something? I am using a joystick for control if that matters. Thank you!

Please, I could really use some help. Is there way in QGC or via mavlink to query what the sub's target altitude is while in depth hold mode? @Williangalvani I feel like you might know?

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