Mavros: 使用 mavros 通过 udp 通过 wifi 连接 pixracer

问题详情

我正在尝试使用 mavros 连接到 pixracer 单元。 以前，我使用了一台通过物理串行电缆连接到 pixhawk 的配套计算机。 现在我希望使用 wifi 连接通过 ESP8266 板直接与 pixracer 通信。 我已经配置了在站模式下运行的 wifi 并愉快地与 qGroundcontrol 和我的路由器连接（所以我认为 pixracer/ESP8266 运行和设置正确）但我正在努力通过 mavros 连接到 fcu。

我使用的 udp 地址是： udp://:[email protected]:14540 - 其中 192.168.1.9 是 pixracer 的 IP 地址

这种格式看起来好吗？ 也许我也需要设置一些参数？ 我已将SYS_COMPANION为ESP8266 (921600 baud, 8N1) 。

MAVROS 版本和平台

马夫罗斯：0.22.0
ROS：动力学
Ubuntu：16.04

自动驾驶仪类型和版本

[ ] ArduPilot
[x] PX4

版本：1.6.5

节点日志

copy output of mavros_node. Usually console where you run roslaunch

诊断

header: 
  seq: 15
  stamp: 
    secs: 1523479866
    nsecs: 896584974
  frame_id: ''
status: 
  - 
    level: 1
    name: "UAV_1/mavros: FCU connection"
    message: "not connected"
    hardware_id: "udp://:[email protected]:14540"
    values: 
      - 
        key: "Received packets:"
        value: "0"
      - 
        key: "Dropped packets:"
        value: "0"
      - 
        key: "Buffer overruns:"
        value: "0"
      - 
        key: "Parse errors:"
        value: "0"
      - 
        key: "Rx sequence number:"
        value: "0"
      - 
        key: "Tx sequence number:"
        value: "141"
      - 
        key: "Rx total bytes:"
        value: "0"
      - 
        key: "Tx total bytes:"
        value: "36947"
      - 
        key: "Rx speed:"
        value: "0.000000"
      - 
        key: "Tx speed:"
        value: "9547.000000"
  - 
    level: 2
    name: "UAV_1/mavros: GPS"
    message: "No satellites"
    hardware_id: "udp://:[email protected]:14540"
    values: 
      - 
        key: "Satellites visible"
        value: "0"
      - 
        key: "Fix type"
        value: "0"
      - 
        key: "EPH (m)"
        value: "Unknown"
      - 
        key: "EPV (m)"
        value: "Unknown"
  - 
    level: 2
    name: "UAV_1/mavros: Heartbeat"
    message: "No events recorded."
    hardware_id: "udp://:[email protected]:14540"
    values: 
      - 
        key: "Heartbeats since startup"
        value: "0"
      - 
        key: "Frequency (Hz)"
        value: "0.000000"
      - 
        key: "Vehicle type"
        value: "Generic micro air vehicle"
      - 
        key: "Autopilot type"
        value: "Generic autopilot"
      - 
        key: "Mode"
        value: ''
      - 
        key: "System status"
        value: "Uninit"
  - 
    level: 0
    name: "UAV_1/mavros: System"
    message: "Normal"
    hardware_id: "udp://:[email protected]:14540"
    values: 
      - 
        key: "Sensor present"
        value: "0x00000000"
      - 
        key: "Sensor enabled"
        value: "0x00000000"
      - 
        key: "Sensor helth"
        value: "0x00000000"
      - 
        key: "CPU Load (%)"
        value: "0.0"
      - 
        key: "Drop rate (%)"
        value: "0.0"
      - 
        key: "Errors comm"
        value: "0"
      - 
        key: "Errors count #1"
        value: "0"
      - 
        key: "Errors count #2"
        value: "0"
      - 
        key: "Errors count #3"
        value: "0"
      - 
        key: "Errors count #4"
        value: "0"
  - 
    level: 2
    name: "UAV_1/mavros: Battery"
    message: "No data"
    hardware_id: "udp://:[email protected]:14540"
    values: 
      - 
        key: "Voltage"
        value: "-1.00"
      - 
        key: "Current"
        value: "0.0"
      - 
        key: "Remaining"
        value: "0.0"
  - 
    level: 2
    name: "UAV_1/mavros: Time Sync"
    message: "No events recorded."
    hardware_id: "udp://:[email protected]:14540"
    values: 
      - 
        key: "Timesyncs since startup"
        value: "0"
      - 
        key: "Frequency (Hz)"
        value: "0.000000"
      - 
        key: "Last dt (ms)"
        value: "0.000000"
      - 
        key: "Mean dt (ms)"
        value: "0.000000"
      - 
        key: "Last system time (s)"
        value: "0.000000000"
      - 
        key: "Time offset (s)"
        value: "0.000000000"
---

查身份证

ERROR. I got 0 addresses, but not your target 1:1