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.
And after that I want to set messages for mission passing through. And get back messages for operator.
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.
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)
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 :)
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.
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 :) ?
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.
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?
@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
@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?
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.
maybe you need to set the BRD_PWM_COUNT:
https://www.ardusub.com/developers/rc-input-and-output.html#rc-outputs
https://www.ardusub.com/developers/rc-input-and-output.html#rc-outputs
Hello
Is it possible to connect 2 cameras to raspberry pi on ArduSub platform? Can QGroundControl software handle two video streams? (My camera module is H.264 and I have 2 cameras of 1080p. I am using Raspberry pi4.) I would be very glad if you could help :) I wish you a healthy day.
Is it possible to connect 2 cameras to raspberry pi on ArduSub platform? Can QGroundControl software handle two video streams? (My camera module is H.264 and I have 2 cameras of 1080p. I am using Raspberry pi4.) I would be very glad if you could help :) I wish you a healthy day.
1 reply
when i got to set my servo function it gives me a lot of options so i am unsure of which one to choose
this servo is a standard 25kg waterproof servo ive tried it with my arduino and it works well
If anyone is seeing this please help me out. I have a COMPETITION IN 3 Days and i need to get this done ASAP
just disable it in settings
search the error online
I've got an older ROV, running companion 0.0.21 and ardusub 4.0.1. I've got connection at the default IP in web browser, and video coming through ok in QGC - but no telemetry! Mavproxy file may be wrong? Running QGC 3.2.4-BlueRobotics-rev6 .... any tips? Or am I better off re-flashing to blueOS? Maybe I have the wrong version of QGC?
Thanks!
Thanks!
Alguém pode me ajudar
