Williangalvani on readme
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Williangalvani on positionControl
Remove acceleration controller,… (compare)
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
screen -X -S video quitand 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.
module load missioncommand 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.
attitudethey 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 0which 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
Armresulted in servo movement but if I just used
armfollowed by a loop sending the
set_target_attitudemessage 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'
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.
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?