@goonbunny take a look here:
https://gist.github.com/Williangalvani/6dac6849b26c83ec89756c03c95818b0#file-attitudecontrol-py-L39
https://gist.github.com/Williangalvani/6dac6849b26c83ec89756c03c95818b0#file-attitudecontrol-py-L39
@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"
@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?
you just need to build it for linux
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
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?
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
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);
mavlink_msg_command_long_pack(1, 158, &msg, 1, 0, 400, 1,1.0,0,0,0,0,0,0);
any help would be greatly appreciated
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
@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/
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.
I want to send MAVLINK message to VISION_POSITION_DELTA either using Cpp or pymavlink. Any links for an example?
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.
@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?
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)
