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Unable to use rc override MAVROS #1846

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camilojimo opened this issue Mar 31, 2023 · 0 comments
Open

Unable to use rc override MAVROS #1846

camilojimo opened this issue Mar 31, 2023 · 0 comments

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@camilojimo
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This is only bug and feature tracker, please use it
to report bugs or request features.

Issue details

I am working on an application where an onboard system can take control of the yaw from the drone and the pilot has controls the other parameters (roll and pitch). Reading the documentation I found this can be done with [RC_CHANNELS_OVERRIDE ( #70 )(https://mavlink.io/en/messages/common.html#RC_CHANNELS_OVERRIDE) my understanding is that I can override the pilot rc as long as the values are different to 0? this is not working

I am subscribing to this topic via MAVROS and I can send values to the drone as long as the RC receiver is not connected.

when I turn on the drone with the receiver connected I cannot send any messages to the RC channels nither I get the info message of [INFO] [1679902551.664056029]: RC_CHANNELS message detected! like the FC is always prioritizing the receiver input which doesn't allows me to send new messages

MAVROS version and platform

Mavros: 1.14.13
ROS: Melodic
Ubuntu: 18.04

Autopilot type and version

[ ] ArduPilot
[ x] PX4

Version: 1.13.2

Node logs

copy output of mavros_node. Usually console where you run roslaunch

SUMMARY

CLEAR PARAMETERS

  • /mavros/

PARAMETERS

  • /mavros/camera/frame_id: base_link
  • /mavros/cmd/use_comp_id_system_control: False
  • /mavros/conn/heartbeat_rate: 1.0
  • /mavros/conn/system_time_rate: 1.0
  • /mavros/conn/timeout: 10.0
  • /mavros/conn/timesync_rate: 10.0
  • /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
  • /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
  • /mavros/distance_sensor/hrlv_ez4_pub/id: 0
  • /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
  • /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
  • /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
  • /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
  • /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
  • /mavros/distance_sensor/laser_1_sub/id: 3
  • /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
  • /mavros/distance_sensor/laser_1_sub/subscriber: True
  • /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
  • /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
  • /mavros/distance_sensor/lidarlite_pub/id: 1
  • /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
  • /mavros/distance_sensor/lidarlite_pub/send_tf: True
  • /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
  • /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
  • /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
  • /mavros/distance_sensor/sonar_1_sub/horizontal_fov_ratio: 1.0
  • /mavros/distance_sensor/sonar_1_sub/id: 2
  • /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
  • /mavros/distance_sensor/sonar_1_sub/subscriber: True
  • /mavros/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0
  • /mavros/fake_gps/eph: 2.0
  • /mavros/fake_gps/epv: 2.0
  • /mavros/fake_gps/fix_type: 3
  • /mavros/fake_gps/geo_origin/alt: 408.0
  • /mavros/fake_gps/geo_origin/lat: 47.3667
  • /mavros/fake_gps/geo_origin/lon: 8.55
  • /mavros/fake_gps/gps_rate: 5.0
  • /mavros/fake_gps/mocap_transform: True
  • /mavros/fake_gps/satellites_visible: 5
  • /mavros/fake_gps/tf/child_frame_id: fix
  • /mavros/fake_gps/tf/frame_id: map
  • /mavros/fake_gps/tf/listen: False
  • /mavros/fake_gps/tf/rate_limit: 10.0
  • /mavros/fake_gps/tf/send: False
  • /mavros/fake_gps/use_mocap: True
  • /mavros/fake_gps/use_vision: False
  • /mavros/fcu_protocol: v2.0
  • /mavros/fcu_url: /dev/ttyUSB0:921600
  • /mavros/gcs_url:
  • /mavros/global_position/child_frame_id: base_link
  • /mavros/global_position/frame_id: map
  • /mavros/global_position/gps_uere: 1.0
  • /mavros/global_position/rot_covariance: 99999.0
  • /mavros/global_position/tf/child_frame_id: base_link
  • /mavros/global_position/tf/frame_id: map
  • /mavros/global_position/tf/global_frame_id: earth
  • /mavros/global_position/tf/send: False
  • /mavros/global_position/use_relative_alt: True
  • /mavros/image/frame_id: px4flow
  • /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
  • /mavros/imu/frame_id: base_link
  • /mavros/imu/linear_acceleration_stdev: 0.0003
  • /mavros/imu/magnetic_stdev: 0.0
  • /mavros/imu/orientation_stdev: 1.0
  • /mavros/landing_target/camera/fov_x: 2.0071286398
  • /mavros/landing_target/camera/fov_y: 2.0071286398
  • /mavros/landing_target/image/height: 480
  • /mavros/landing_target/image/width: 640
  • /mavros/landing_target/land_target_type: VISION_FIDUCIAL
  • /mavros/landing_target/listen_lt: False
  • /mavros/landing_target/mav_frame: LOCAL_NED
  • /mavros/landing_target/target_size/x: 0.3
  • /mavros/landing_target/target_size/y: 0.3
  • /mavros/landing_target/tf/child_frame_id: camera_center
  • /mavros/landing_target/tf/frame_id: landing_target
  • /mavros/landing_target/tf/listen: False
  • /mavros/landing_target/tf/rate_limit: 10.0
  • /mavros/landing_target/tf/send: True
  • /mavros/local_position/frame_id: map
  • /mavros/local_position/tf/child_frame_id: base_link
  • /mavros/local_position/tf/frame_id: map
  • /mavros/local_position/tf/send: False
  • /mavros/local_position/tf/send_fcu: False
  • /mavros/mission/pull_after_gcs: True
  • /mavros/mission/use_mission_item_int: True
  • /mavros/mocap/use_pose: True
  • /mavros/mocap/use_tf: False
  • /mavros/mount/debounce_s: 4.0
  • /mavros/mount/err_threshold_deg: 10.0
  • /mavros/mount/negate_measured_pitch: False
  • /mavros/mount/negate_measured_roll: False
  • /mavros/mount/negate_measured_yaw: False
  • /mavros/odometry/fcu/odom_child_id_des: base_link
  • /mavros/odometry/fcu/odom_parent_id_des: map
  • /mavros/plugin_blacklist: ['safety_area', '...
  • /mavros/plugin_whitelist: []
  • /mavros/px4flow/frame_id: px4flow
  • /mavros/px4flow/ranger_fov: 0.118682
  • /mavros/px4flow/ranger_max_range: 5.0
  • /mavros/px4flow/ranger_min_range: 0.3
  • /mavros/safety_area/p1/x: 1.0
  • /mavros/safety_area/p1/y: 1.0
  • /mavros/safety_area/p1/z: 1.0
  • /mavros/safety_area/p2/x: -1.0
  • /mavros/safety_area/p2/y: -1.0
  • /mavros/safety_area/p2/z: -1.0
  • /mavros/setpoint_accel/send_force: False
  • /mavros/setpoint_attitude/reverse_thrust: False
  • /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
  • /mavros/setpoint_attitude/tf/frame_id: map
  • /mavros/setpoint_attitude/tf/listen: False
  • /mavros/setpoint_attitude/tf/rate_limit: 50.0
  • /mavros/setpoint_attitude/use_quaternion: False
  • /mavros/setpoint_position/mav_frame: LOCAL_NED
  • /mavros/setpoint_position/tf/child_frame_id: target_position
  • /mavros/setpoint_position/tf/frame_id: map
  • /mavros/setpoint_position/tf/listen: False
  • /mavros/setpoint_position/tf/rate_limit: 50.0
  • /mavros/setpoint_raw/thrust_scaling: 1.0
  • /mavros/setpoint_velocity/mav_frame: LOCAL_NED
  • /mavros/startup_px4_usb_quirk: False
  • /mavros/sys/disable_diag: False
  • /mavros/sys/min_voltage: 10.0
  • /mavros/target_component_id: 1
  • /mavros/target_system_id: 1
  • /mavros/tdr_radio/low_rssi: 40
  • /mavros/time/time_ref_source: fcu
  • /mavros/time/timesync_avg_alpha: 0.6
  • /mavros/time/timesync_mode: MAVLINK
  • /mavros/vibration/frame_id: base_link
  • /mavros/vision_pose/tf/child_frame_id: vision_estimate
  • /mavros/vision_pose/tf/frame_id: odom
  • /mavros/vision_pose/tf/listen: False
  • /mavros/vision_pose/tf/rate_limit: 10.0
  • /mavros/vision_speed/listen_twist: True
  • /mavros/vision_speed/twist_cov: True
  • /mavros/wheel_odometry/child_frame_id: base_link
  • /mavros/wheel_odometry/count: 2
  • /mavros/wheel_odometry/frame_id: odom
  • /mavros/wheel_odometry/send_raw: True
  • /mavros/wheel_odometry/send_twist: False
  • /mavros/wheel_odometry/tf/child_frame_id: base_link
  • /mavros/wheel_odometry/tf/frame_id: odom
  • /mavros/wheel_odometry/tf/send: False
  • /mavros/wheel_odometry/use_rpm: False
  • /mavros/wheel_odometry/vel_error: 0.1
  • /mavros/wheel_odometry/wheel0/radius: 0.05
  • /mavros/wheel_odometry/wheel0/x: 0.0
  • /mavros/wheel_odometry/wheel0/y: -0.15
  • /mavros/wheel_odometry/wheel1/radius: 0.05
  • /mavros/wheel_odometry/wheel1/x: 0.0
  • /mavros/wheel_odometry/wheel1/y: 0.15
  • /rosdistro: melodic
  • /rosversion: 1.14.13

NODES
/
mavros (mavros/mavros_node)

auto-starting new master
process[master]: started with pid [7809]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 834e54fc-cc71-11ed-a2cf-0242f90fa54e
process[rosout-1]: started with pid [7822]
started core service [/rosout]
process[mavros-2]: started with pid [7837]
[ INFO] [1679902346.759824180]: FCU URL: /dev/ttyUSB0:921600
[ INFO] [1679902346.773762044]: serial0: device: /dev/ttyUSB0 @ 921600 bps
[ INFO] [1679902346.775446419]: GCS bridge disabled
[ INFO] [1679902346.861228763]: Plugin 3dr_radio loaded
[ INFO] [1679902346.866912305]: Plugin 3dr_radio initialized
[ INFO] [1679902346.867196159]: Plugin actuator_control loaded
[ INFO] [1679902346.881676523]: Plugin actuator_control initialized
[ INFO] [1679902346.920220169]: Plugin adsb loaded
[ INFO] [1679902346.933850534]: Plugin adsb initialized
[ INFO] [1679902346.934259075]: Plugin altitude loaded
[ INFO] [1679902346.939038034]: Plugin altitude initialized
[ INFO] [1679902346.939490065]: Plugin cam_imu_sync loaded
[ INFO] [1679902346.941936940]: Plugin cam_imu_sync initialized
[ INFO] [1679902346.942471732]: Plugin camera loaded
[ INFO] [1679902346.944681263]: Plugin camera initialized
[ INFO] [1679902346.944964284]: Plugin cellular_status loaded
[ INFO] [1679902346.955167148]: Plugin cellular_status initialized
[ INFO] [1679902346.955571575]: Plugin command loaded
[ INFO] [1679902346.981515273]: Plugin command initialized
[ INFO] [1679902346.981852513]: Plugin companion_process_status loaded
[ INFO] [1679902346.996444961]: Plugin companion_process_status initialized
[ INFO] [1679902346.996765742]: Plugin debug_value loaded
[ INFO] [1679902347.014003555]: Plugin debug_value initialized
[ INFO] [1679902347.014135534]: Plugin distance_sensor blacklisted
[ INFO] [1679902347.014396992]: Plugin esc_status loaded
[ INFO] [1679902347.019039180]: Plugin esc_status initialized
[ INFO] [1679902347.019493919]: Plugin esc_telemetry loaded
[ INFO] [1679902347.022145273]: Plugin esc_telemetry initialized
[ INFO] [1679902347.022524492]: Plugin fake_gps loaded
[ INFO] [1679902347.089788190]: Plugin fake_gps initialized
[ INFO] [1679902347.090148242]: Plugin ftp loaded
[ INFO] [1679902347.115660221]: Plugin ftp initialized
[ INFO] [1679902347.116026732]: Plugin geofence loaded
[ INFO] [1679902347.127755325]: Plugin geofence initialized
[ INFO] [1679902347.128129023]: Plugin global_position loaded
[ INFO] [1679902347.187560013]: Plugin global_position initialized
[ INFO] [1679902347.187881940]: Plugin gps_input loaded
[ INFO] [1679902347.197792200]: Plugin gps_input initialized
[ INFO] [1679902347.198118763]: Plugin gps_rtk loaded
[ INFO] [1679902347.210946888]: Plugin gps_rtk initialized
[ INFO] [1679902347.211282617]: Plugin gps_status loaded
[ INFO] [1679902347.220896367]: Plugin gps_status initialized
[ INFO] [1679902347.221233502]: Plugin guided_target loaded
[ INFO] [1679902347.240210950]: Plugin guided_target initialized
[ INFO] [1679902347.240573919]: Plugin hil loaded
[ INFO] [1679902347.291342721]: Plugin hil initialized
[ INFO] [1679902347.291740325]: Plugin home_position loaded
[ INFO] [1679902347.305084336]: Plugin home_position initialized
[ INFO] [1679902347.305417409]: Plugin imu loaded
[ INFO] [1679902347.340377044]: Plugin imu initialized
[ INFO] [1679902347.340735846]: Plugin landing_target loaded
[ INFO] [1679902347.398881159]: Plugin landing_target initialized
[ INFO] [1679902347.399237721]: Plugin local_position loaded
[ INFO] [1679902347.426834648]: Plugin local_position initialized
[ INFO] [1679902347.427133398]: Plugin log_transfer loaded
[ INFO] [1679902347.441413867]: Plugin log_transfer initialized
[ INFO] [1679902347.441756679]: Plugin mag_calibration_status loaded
[ INFO] [1679902347.446198919]: Plugin mag_calibration_status initialized
[ INFO] [1679902347.446715377]: Plugin manual_control loaded
[ INFO] [1679902347.458745586]: Plugin manual_control initialized
[ INFO] [1679902347.459066263]: Plugin mocap_pose_estimate loaded
[ INFO] [1679902347.476727096]: Plugin mocap_pose_estimate initialized
[ INFO] [1679902347.477056054]: Plugin mount_control loaded
[ WARN] [1679902347.501123659]: Could not retrive negate_measured_roll parameter value, using default (0)
[ WARN] [1679902347.503023346]: Could not retrive negate_measured_pitch parameter value, using default (0)
[ WARN] [1679902347.505013607]: Could not retrive negate_measured_yaw parameter value, using default (0)
[ WARN] [1679902347.510784440]: Could not retrive debounce_s parameter value, using default (4.000000)
[ WARN] [1679902347.512602200]: Could not retrive err_threshold_deg parameter value, using default (10.000000)
[ INFO] [1679902347.512809075]: Plugin mount_control initialized
[ INFO] [1679902347.513087773]: Plugin nav_controller_output loaded
[ INFO] [1679902347.515261731]: Plugin nav_controller_output initialized
[ INFO] [1679902347.515630273]: Plugin obstacle_distance loaded
[ INFO] [1679902347.532720065]: Plugin obstacle_distance initialized
[ INFO] [1679902347.533095898]: Plugin odom loaded
[ INFO] [1679902347.549980065]: Plugin odom initialized
[ INFO] [1679902347.550325898]: Plugin onboard_computer_status loaded
[ INFO] [1679902347.561042669]: Plugin onboard_computer_status initialized
[ INFO] [1679902347.561535117]: Plugin param loaded
[ INFO] [1679902347.572696002]: Plugin param initialized
[ INFO] [1679902347.573030377]: Plugin play_tune loaded
[ INFO] [1679902347.581916627]: Plugin play_tune initialized
[ INFO] [1679902347.582261002]: Plugin px4flow loaded
[ INFO] [1679902347.611771002]: Plugin px4flow initialized
[ INFO] [1679902347.612154075]: Plugin rallypoint loaded
[ INFO] [1679902347.624811575]: Plugin rallypoint initialized
[ INFO] [1679902347.624994023]: Plugin rangefinder blacklisted
[ INFO] [1679902347.625361471]: Plugin rc_io loaded
[ INFO] [1679902347.640075377]: Plugin rc_io initialized
[ INFO] [1679902347.640199909]: Plugin safety_area blacklisted
[ INFO] [1679902347.640550950]: Plugin setpoint_accel loaded
[ INFO] [1679902347.657691992]: Plugin setpoint_accel initialized
[ INFO] [1679902347.658165377]: Plugin setpoint_attitude loaded
[ INFO] [1679902347.698075481]: Plugin setpoint_attitude initialized
[ INFO] [1679902347.698469856]: Plugin setpoint_position loaded
[ INFO] [1679902347.760997148]: Plugin setpoint_position initialized
[ INFO] [1679902347.761356054]: Plugin setpoint_raw loaded
[ INFO] [1679902347.803496731]: Plugin setpoint_raw initialized
[ INFO] [1679902347.803919596]: Plugin setpoint_trajectory loaded
[ INFO] [1679902347.823962825]: Plugin setpoint_trajectory initialized
[ INFO] [1679902347.824388190]: Plugin setpoint_velocity loaded
[ INFO] [1679902347.849684231]: Plugin setpoint_velocity initialized
[ INFO] [1679902347.850131419]: Plugin sys_status loaded
[ INFO] [1679902347.895119908]: Plugin sys_status initialized
[ INFO] [1679902347.895783763]: Plugin sys_time loaded
[ INFO] [1679902347.919515429]: TM: Timesync mode: MAVLINK
[ INFO] [1679902347.922385117]: TM: Not publishing sim time
[ INFO] [1679902347.927967044]: Plugin sys_time initialized
[ INFO] [1679902347.928310429]: Plugin terrain loaded
[ INFO] [1679902347.930664440]: Plugin terrain initialized
[ INFO] [1679902347.930972148]: Plugin trajectory loaded
[ INFO] [1679902347.951485533]: Plugin trajectory initialized
[ INFO] [1679902347.951840585]: Plugin tunnel loaded
[ INFO] [1679902347.964619440]: Plugin tunnel initialized
[ INFO] [1679902347.965005638]: Plugin vfr_hud loaded
[ INFO] [1679902347.967712200]: Plugin vfr_hud initialized
[ INFO] [1679902347.967832096]: Plugin vibration blacklisted
[ INFO] [1679902347.968114492]: Plugin vision_pose_estimate loaded
[ INFO] [1679902347.999992252]: Plugin vision_pose_estimate initialized
[ INFO] [1679902348.000337721]: Plugin vision_speed_estimate loaded
[ INFO] [1679902348.016142044]: Plugin vision_speed_estimate initialized
[ INFO] [1679902348.016552460]: Plugin waypoint loaded
[ INFO] [1679902348.036385638]: Plugin waypoint initialized
[ INFO] [1679902348.036528398]: Plugin wheel_odometry blacklisted
[ INFO] [1679902348.036893294]: Plugin wind_estimation loaded
[ INFO] [1679902348.039716419]: Plugin wind_estimation initialized
[ INFO] [1679902348.040064335]: Built-in SIMD instructions: ARM NEON
[ INFO] [1679902348.040524752]: Built-in MAVLink package version: 2022.8.8
[ INFO] [1679902348.040627825]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1679902348.040707044]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1679902348.040803190]: IMU: High resolution IMU detected!
[ INFO] [1679902348.040987148]: IMU: Attitude quaternion IMU detected!
[ INFO] [1679902348.348225481]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1679902348.360923242]: IMU: High resolution IMU detected!
[ INFO] [1679902348.361139440]: IMU: Attitude quaternion IMU detected!
[ INFO] [1679902349.379040533]: GF: Using MISSION_ITEM_INT
[ INFO] [1679902349.379681366]: RP: Using MISSION_ITEM_INT
[ INFO] [1679902349.380484856]: WP: Using MISSION_ITEM_INT
[ INFO] [1679902349.381347043]: VER: 1.1: Capabilities 0x000000000000e4ff
[ INFO] [1679902349.381989856]: VER: 1.1: Flight software: 010d02ff (46a12a09bf000000)
[ INFO] [1679902349.382384179]: VER: 1.1: Middleware software: 010d02ff (46a12a09bf000000)
[ INFO] [1679902349.382861210]: VER: 1.1: OS software: 0b0000ff (91bece51afbe7da9)
[ INFO] [1679902349.383100793]: VER: 1.1: Board hardware: 00000011
[ INFO] [1679902349.383530429]: VER: 1.1: VID/PID: 26ac:0011
[ INFO] [1679902349.384493085]: VER: 1.1: UID: 3338510b33363431
[ WARN] [1679902349.385159804]: CMD: Unexpected command 520, result 0
[ INFO] [1679902358.354777040]: HP: requesting home position
[ INFO] [1679902363.361520475]: GF: mission received
[ INFO] [1679902363.362042507]: RP: mission received
[ INFO] [1679902363.362746778]: WP: mission received

Diagnostics

place here result of:
rostopic echo -n1 /diagnostics

mavros check id
cobra@cobra-desktop:~$ rosrun mavros checkid
OK. I got messages from 1:1.

Received 4724 messages, from 1 addresses
sys:comp list of messages
1:1 0, 1, 2, 36, 230, 147, 8, 105, 74, 331, 140, 141, 77, 111, 241, 83, 245, 4, 411, 30, 31
cobra@cobra-desktop:~$ rostopic echo /diagnostics
header:
seq: 88
stamp:
secs: 1679902456
nsecs: 41355909
frame_id: ''
status:

level: 0
name: "mavros: FCU connection"
message: "connected"
hardware_id: "/dev/ttyUSB0:921600"
values:
  -
    key: "Received packets:"
    value: "34976"
  -
    key: "Dropped packets:"
    value: "0"
  -
    key: "Buffer overruns:"
    value: "0"
  -
    key: "Parse errors:"
    value: "0"
  -
    key: "Rx sequence number:"
    value: "78"
  -
    key: "Tx sequence number:"
    value: "95"
  -
    key: "Rx total bytes:"
    value: "2206822"
  -
    key: "Tx total bytes:"
    value: "62274"
  -
    key: "Rx speed:"
    value: "20064.000000"
  -
    key: "Tx speed:"
    value: "570.000000"

  • level: 2
    name: "mavros: GPS"
    message: "No satellites"
    hardware_id: "/dev/ttyUSB0:921600"
    values:

    key: "Satellites visible"
value: "0"
    • key: "Fix type"
      value: "0"
    • key: "EPH (m)"
      value: "Unknown"
    • key: "EPV (m)"
      value: "Unknown"

  • level: 1
    name: "mavros: Mount"
    message: "Can not diagnose in this targeting mode"
    hardware_id: "/dev/ttyUSB0:921600"
    values:

    key: "Mode"
value: "255"

  • level: 0
    name: "mavros: Heartbeat"
    message: "Normal"
    hardware_id: "/dev/ttyUSB0:921600"
    values:

    key: "Heartbeats since startup"
value: "108"
    • key: "Frequency (Hz)"
      value: "0.999996"
    • key: "Vehicle type"
      value: "Quadrotor"
    • key: "Autopilot type"
      value: "PX4 Autopilot"
    • key: "Mode"
      value: "MANUAL"
    • key: "System status"
      value: "Standby"

  • level: 2
    name: "mavros: System"
    message: "Sensor health"
    hardware_id: "/dev/ttyUSB0:921600"
    values:

    key: "Sensor present"
value: "0x9228802C"
    • key: "Sensor enabled"
      value: "0x9228800C"
    • key: "Sensor health"
      value: "0x822E800F"
    • key: "3D magnetometer"
      value: "Ok"
    • key: "absolute pressure"
      value: "Ok"
    • key: "motor outputs / control"
      value: "Ok"
    • key: "2nd 3D magnetometer"
      value: "Ok"
    • key: "AHRS subsystem health"
      value: "Ok"
    • key: "Battery"
      value: "Ok"
    • key: "pre-arm check status. Always healthy when armed"
      value: "Fail"
    • key: "CPU Load (%)"
      value: "84.6"
    • key: "Drop rate (%)"
      value: "0.0"
    • key: "Errors comm"
      value: "0"
    • key: "Errors count mavconn library. #1"
      value: "0"
    • key: "Errors count Pub/sub for Mavlink.msg #2"
      value: "0"
    • key: "Errors count Plugin loading functionality. #3"
      value: "0"
    • key: "Errors count Diagnostic mesages. #4"
      value: "0"

  • level: 1
    name: "mavros: Battery"
    message: "Low voltage"
    hardware_id: "/dev/ttyUSB0:921600"
    values:

    key: "Voltage"
value: "0.00"
    • key: "Current"
      value: "nan"
    • key: "Remaining"
      value: "-1.0"

  • level: 0
    name: "mavros: Time Sync"
    message: "Normal"
    hardware_id: "/dev/ttyUSB0:921600"
    values:

    key: "Timesyncs since startup"
value: "1080"
    • key: "Frequency (Hz)"
      value: "9.999904"
    • key: "Last RTT (ms)"
      value: "1.974531"
    • key: "Mean RTT (ms)"
      value: "2.883330"
    • key: "Last remote time (s)"
      value: "221.004166000"
    • key: "Estimated time offset (s)"
      value: "1679902235.024543762"

header:
seq: 89
stamp:
secs: 1679902457
nsecs: 41652679
frame_id: ''
status:

level: 0
name: "mavros: FCU connection"
message: "connected"
hardware_id: "/dev/ttyUSB0:921600"
values:
  -
    key: "Received packets:"
    value: "35292"
  -
    key: "Dropped packets:"
    value: "0"
  -
    key: "Buffer overruns:"
    value: "0"
  -
    key: "Parse errors:"
    value: "0"
  -
    key: "Rx sequence number:"
    value: "138"
  -
    key: "Tx sequence number:"
    value: "117"
  -
    key: "Rx total bytes:"
    value: "2226978"
  -
    key: "Tx total bytes:"
    value: "62844"
  -
    key: "Rx speed:"
    value: "20156.000000"
  -
    key: "Tx speed:"
    value: "570.000000"

  • level: 2
    name: "mavros: GPS"
    message: "No satellites"
    hardware_id: "/dev/ttyUSB0:921600"
    values:

    key: "Satellites visible"
value: "0"
    • key: "Fix type"
      value: "0"
    • key: "EPH (m)"
      value: "Unknown"
    • key: "EPV (m)"
      value: "Unknown"

  • level: 1
    name: "mavros: Mount"
    message: "Can not diagnose in this targeting mode"
    hardware_id: "/dev/ttyUSB0:921600"
    values:

    key: "Mode"
value: "255"

  • level: 0
    name: "mavros: Heartbeat"
    message: "Normal"
    hardware_id: "/dev/ttyUSB0:921600"
    values:

    key: "Heartbeats since startup"
value: "109"
    • key: "Frequency (Hz)"
      value: "0.959988"
    • key: "Vehicle type"
      value: "Quadrotor"
    • key: "Autopilot type"
      value: "PX4 Autopilot"
    • key: "Mode"
      value: "MANUAL"
    • key: "System status"
      value: "Standby"

  • level: 2
    name: "mavros: System"
    message: "Sensor health"
    hardware_id: "/dev/ttyUSB0:921600"
    values:

    key: "Sensor present"
value: "0x9228802C"
    • key: "Sensor enabled"
      value: "0x9228800C"
    • key: "Sensor health"
      value: "0x822E800F"
    • key: "3D magnetometer"
      value: "Ok"
    • key: "absolute pressure"
      value: "Ok"
    • key: "motor outputs / control"
      value: "Ok"
    • key: "2nd 3D magnetometer"
      value: "Ok"
    • key: "AHRS subsystem health"
      value: "Ok"
    • key: "Battery"
      value: "Ok"
    • key: "pre-arm check status. Always healthy when armed"
      value: "Fail"
    • key: "CPU Load (%)"
      value: "83.7"
    • key: "Drop rate (%)"
      value: "0.0"
    • key: "Errors comm"
      value: "0"
    • key: "Errors count mavconn library. #1"
      value: "0"
    • key: "Errors count Pub/sub for Mavlink.msg #2"
      value: "0"
    • key: "Errors count Plugin loading functionality. #3"
      value: "0"
    • key: "Errors count Diagnostic mesages. #4"
      value: "0"

  • level: 1
    name: "mavros: Battery"
    message: "Low voltage"
    hardware_id: "/dev/ttyUSB0:921600"
    values:

    key: "Voltage"
value: "0.00"
    • key: "Current"
      value: "nan"
    • key: "Remaining"
      value: "-1.0"

  • level: 0
    name: "mavros: Time Sync"
    message: "Normal"
    hardware_id: "/dev/ttyUSB0:921600"
    values:

    key: "Timesyncs since startup"
value: "1090"
    • key: "Frequency (Hz)"
      value: "9.999795"
    • key: "Last RTT (ms)"
      value: "3.259167"
    • key: "Mean RTT (ms)"
      value: "2.880819"
    • key: "Last remote time (s)"
      value: "222.005082000"
    • key: "Estimated time offset (s)"
      value: "1679902235.024488211"

[INFO] [1679902551.664056029]: RC_CHANNELS message detected!

Rc out
header:
seq: 2678
stamp:
secs: 1679902615
nsecs: 431135520
frame_id: ''
channels: [900, 900, 900, 900, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]

Check ID

rosrun mavros checkid

mavros check id
cobra@cobra-desktop:~$ rosrun mavros checkid
OK. I got messages from 1:1.

Received 4724 messages, from 1 addresses
sys:comp list of messages
1:1 0, 1, 2, 36, 230, 147, 8, 105, 74, 331, 140, 141, 77, 111, 241, 83, 245, 4, 411, 30, 31
@camilojimo camilojimo changed the title unable to use rc override MAVROS Unable to use rc override MAVROS Mar 31, 2023
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