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  • Apr 01 2019 19:16

    Williangalvani on readme

    README.md: update (compare)

  • Mar 26 2019 18:11

    Williangalvani on positionControl

    Remove acceleration controller,… (compare)

  • Mar 25 2019 21:11
    patrickelectric closed #76
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Bggopal
@Bggopal
@jaxxzer hi there, so how to do a proper scripting to pass the double button press of the joystick, from the documentation provided in pymavlink-ardusub i am trying. Anyone who is familar with this may put your help here. Your help is valuable. i tried something like this, buttons = 1<<5+1<<13, for using shift key to switching lights2 on, it does not work. the whole problem statement can be seen here "https://discuss.bluerobotics.com/t/using-shift-button-of-joystick-in-our-script-using-pymavlink/7019"
Coleman
@goonbunny
@Williangalvani thank you! Super helpful. In my case I am going to be in in ALT_HOLD mode so just want to control yaw (pitch and roll should be determined by that flight mode). I am wondering if I need to get the vehicle's current attitude quaternion, adjust the yaw parameter and then send it back via SET_ATTITUDE or if there is a way that I can send the desired quaternion with just a yaw variable and let the controller fill in the roll and pitch components?
Willian Galvani
@Williangalvani
@goonbunny can't you just use 0 for roll and pitch to stay leveled? I think that is usually the case
Coleman
@goonbunny
@Williangalvani in my use case there are external forces acting on the vehicle that would change its altitude so I want to make sure that by setting pitch to 0 I don't override ALT_HOLD if its trying to send some non zero value for pitch.
Willian Galvani
@Williangalvani
The attitude and altitude controllers are independent, depth hold has both an attitude controller, usually set to 0 pitch and 0 roll, and a position controller that controls Z only
Coleman
@goonbunny
When doing a ./waf build is the correct configure option for a 2.4.8 pixhawk controlling a sub "board Pixhawk1" or "px4-v2"? I thought it was Pixhawk 1 butt when I do that it just gives me the configure menu unlike if I use px4-v2 in which case it seems to configure
OceanQuaid
@Andrew-Quaid
Has anyone been able to run the ardusub OS on a Rpi Zero? I'm looking to just use the UDP routing, so I can use the ping 1-d and ping 3-d on platform other than an ROV.
Patrick José Pereira
@patrickelectric
yep
you just need to build it for linux
Justin F
@jaylthegreat
hey, sorry if this is stupid question, but is the QGC build that blue robotics uses based on the bluerobotics repo of QGC (https://github.com/bluerobotics/qgroundcontrol) or on the official QGC repo (https://github.com/mavlink/qgroundcontrol)? I think i remember seeing someone saying that you switched to the main one a while ago
I was about to start making a rather major addition to the program and wanted to update to the latest/best for arduSUB
Willian Galvani
@Williangalvani
we are using the official one
Justin F
@jaylthegreat
i figured as much, thanks. Ofc Qt now requires you to sign up to install :(
WayneDahl
@WayneDahl
Aloha all. New guy here. I made a short description of adding a new frame to ArduSub-SITL. It's at https://discuss.bluerobotics.com/t/ardusub-sitl-custom-frame/7403. I'd appreciate comments so see if I did something wrong or need to do more.
I also have a question. There seems to be a lot of common parameters between ArduSub and QGroundControl. Is there a method for making certain those agree?
1chick
@1chick
@Williangalvani @patrickelectric could you have any idea as for the use of sonar in auto mode in SITL.
Patrick José Pereira
@patrickelectric
Hi @1chick do you want to use a real sensor or a simulated one ?
1chick
@1chick
Hi@patrickelectric i want to use a simulated sonar and as a rangefinder keep a distance off the bottom in auto mode of waypoint navigation. could you give me some suggestion.
oh by the way I already have simulated one successfully, but i did not know how to use it in the auto mode of NavWay .so could you give me your hand
Coleman
@goonbunny
In general does sub use the same MAVlink message variables as copter, plane, etc? I want to confirm that they would be the same so that for basic stuff I can use examples from copter etc. Below is the command I am using.
mavlink_msg_command_long_pack(1, 158, &msg, 1, 0, 400, 1,1.0,0,0,0,0,0,0);
Willian Galvani
@Williangalvani
yes, they should be all the same
Oleksandr
@slovak194
Hi guys! Does anybody know if there is an easy way (without recompiling ardusub codebase) to disable lumen lights flashing at boot? We have eight of them and it creates a noticeable spike of current and a voltage drop as a result.
Nicolas Hasbun
@nhasbun
Hello there ! I'm working lately with ArduSub SITL and Gazebo.
I'm wondering for any guide to load a custom ROV to gazebo and control it using ardusub SITL ? I'm not sure where to start.
any help would be greatly appreciated
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!
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.