Mavros: рдорд╛рд╡рд░реЛрд╕/рд╕реЗрдЯрдкреЙрдЗрдВрдЯ_рд░реЙ/рд▓реЛрдХрд▓ рдореЗрдВ рд╡рд┐рд╖рдп рдкреНрд░рдХрд╛рд╢рд┐рдд рдХрд░рддреЗ рд╕рдордп рд╕рдВрджреЗрд╢ рдЫреЛрдбрд╝рддреЗ рд░рд╣реЗрдВ рдФрд░ рдХрд╣рд╛я╝ЪTX рдХрддрд╛рд░ рдУрд╡рд░рдлреНрд▓реЛя╝М
рдХреЛ рдирд┐рд░реНрдорд┐рдд 18 рдЬреБрд▓ре░ 2018
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3рдЯрд┐рдкреНрдкрдгрд┐рдпрд╛рдБ
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рд╕реНрд░реЛрдд: mavlink/mavros
рдкреНрд░рд┐рдп рдЯреАрдо,
рдХреНрдпрд╛ рдЖрдк рд▓реЛрдЧ рдЗрд╕ рдмрд╛рд░реЗ рдореЗрдВ рдХреБрдЫ рдорджрдж рдпрд╛ рд╕рд▓рд╛рд╣ рджреЗ рд╕рдХрддреЗ рд╣реИрдВред
рдореБрдЭреЗ рдирд╣реАрдВ рдкрддрд╛ рдХрд┐ рдЗрд╕реЗ рдХрд╣рд╛рдВ рдбрд┐рдмрдЧ рдХрд░рдирд╛ рд╣реИ, рдореИрдВ рдПрдХ рд╣реА рдХреЛрдб рдХрд╛ рдЙрдкрдпреЛрдЧ рдХрд░ рд░рд╣рд╛ рд╣реВрдВ, рд▓реЗрдХрд┐рди рдпрд╣ рддреНрд░реБрдЯрд┐ рджреВрд╕рд░реЗ рджрд┐рди рдореЗрдВ рджрд┐рдЦрд╛рдИ рджреЗрддреА рд╣реИ, рдЕрдЬреАрдм рд▓рдЧрддреА рд╣реИред
рд╕рдорд╕реНрдпрд╛ рдХрд╛ рд╡рд┐рд╡рд░рдг
рдореИрдВ рдЗрдирдбреЛрд░ рдЙрдбрд╝рд╛рди рднрд░рдиреЗ рдХреЗ рд▓рд┐рдП рдбреНрд░реЛрди рдХреЛ рдирд┐рдпрдВрддреНрд░рд┐рдд рдХрд░рдиреЗ рдХреЗ рд▓рд┐рдП рдСрдлрдмреЛрд░реНрдб рдореЛрдб рдХрд╛ рдЙрдкрдпреЛрдЧ рдХрд░ рд░рд╣рд╛ рд╣реВрдВ, рдореЗрд░реЗ рдкрд╛рд╕ рдлреАрдбрдмреИрдХ рдХреЗ рд░реВрдк рдореЗрдВ рдЧрд╣рд░рд╛рдИ рд╕реЗрдВрд╕рд░ рдФрд░ рд╡рд┐рдЬреБрдЕрд▓ рдЯреИрдЧ рд╣реИ рдФрд░ рд╕реНрдкреАрдб рдХреНрд▓реЛрдЬрд▓реВрдк рдирд┐рдпрдВрддреНрд░рдг рдХрд╛ рдЙрдкрдпреЛрдЧ рдХрд░ рд░рд╣рд╛ рд╣реИред рд▓реЗрдХрд┐рди рдЬрдм рдореИрдВ рдХрдИ рд╕реЗрдХрдВрдб рдХреЗ рд▓рд┐рдП /mavros/setpoint_raw/local рдкрд░ 100hz рдкрд░ рд╕рдВрджреЗрд╢ рдкреНрд░рдХрд╛рд╢рд┐рдд рдХрд░рддрд╛ рд╣реВрдВ, рддреЛ рддреНрд░реБрдЯрд┐ рджрд┐рдЦрд╛рдИ рджреЗрддреА рд╣реИ, рдФрд░ рд▓рдЧрддрд╛ рд╣реИ рдХрд┐ рдбреНрд░реЛрди рдХреЛ рдХреЛрдИ рд╕рдВрджреЗрд╢ рдкреНрд░рд╛рдкреНрдд рдирд╣реАрдВ рд╣реЛ рд╕рдХрддрд╛ рд╣реИ, рдореИрдВ рдХрдИ рдкреНрд░рдХрд╛рд╢рди рджрд░ рдФрд░ рд╡рд┐рднрд┐рдиреНрди рдкрд┐рдХреНрд╕рд╣реЙрдХ (2 рдФрд░ 4) рдХрд╛ рдкрд░реАрдХреНрд╖рдг рдХрд░рддрд╛ рд╣реВрдВ рддреНрд░реБрдЯрд┐ рдЕрднреА рднреА рдореМрдЬреВрдж рд╣реИред
рдореИрдВ рдкреВрд░реА рддрд░рд╣ рдЦреЛ рдЧрдпрд╛ рд╣реВрдБред рдХреГрдкрдпрд╛ рдПрдХ рджрд┐рд╢рд╛ рджреЗрдВред
рдореЗрд░реА рд▓реЙрдиреНрдЪ рдкреНрд░рдХреНрд░рд┐рдпрд╛:
Terminal1: roslaunch рдорд╛рд╡рд░реЛрд╕ px4.launch
рдЯрд░реНрдорд┐рдирд▓ 2: рд░реЛрд╕рд░рди рдСрдлрдмреЛрд░реНрдб рдбреНрд░реЛрди_рдХрдВрдЯреНрд░реЛрд▓.py
рдореЗрд░рд╛ px4.рд▓реЙрдиреНрдЪ
<launch>
<!-- vim: set ft=xml noet : -->
<!-- example launch script for PX4 based FCU's -->
<arg name="fcu_url" default="/dev/ttyACM0:921600" />
<arg name="gcs_url" default="" />
<arg name="tgt_system" default="1" />
<arg name="tgt_component" default="1" />
<arg name="log_output" default="screen" />
<arg name="fcu_protocol" default="v2.0" />
<arg name="respawn_mavros" default="false" />
<include file="$(find mavros)/launch/node.launch">
<arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml" />
<arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" />
<arg name="fcu_url" value="$(arg fcu_url)" />
<arg name="gcs_url" value="$(arg gcs_url)" />
<arg name="tgt_system" value="$(arg tgt_system)" />
<arg name="tgt_component" value="$(arg tgt_component)" />
<arg name="log_output" value="$(arg log_output)" />
<arg name="fcu_protocol" value="$(arg fcu_protocol)" />
<arg name="respawn_mavros" default="$(arg respawn_mavros)" />
</include>
</launch>
рдореЗрд░реЗ рдирд┐рдпрдВрддреНрд░рдг рдХреЛрдб рдХрд╛ рдореБрдЦреНрдп рд▓реВрдк
rospy.init_node('drone_control')
PIDinit()
rc_in = rospy.Subscriber('mavros/rc/in', RCIn, callback_rc, queue_size=1)
sub_state = rospy.Subscriber('mavros/state', State, callback_state, queue_size=1)
subodom = rospy.Subscriber('mavros/local_position/odom', Odometry, callback_odom)
subdepth = rospy.Subscriber('depth', Odometry, callback_depth)
position_pub = rospy.Publisher('mavros/setpoint_raw/local', PositionTarget, queue_size=1)
#rospy.spin()
rate = rospy.Rate(100)
while not rospy.is_shutdown():
vel_control = TwistStamped()
pos_control = PoseStamped()
scale_x = 0.4
scale_y = 0.4
scale_z = 1
scale_yaw = 1
pid_x.update(feedback_x)
output_x = pid_x.output * scale_x
feedback_x = pos_fuse_x
pid_x.SetPoint = 0
pid_y.update(feedback_y)
output_y = pid_y.output * scale_y
feedback_y = pos_fuse_y
pid_y.SetPoint = 0
pid_z.update(feedback_z)
output_z = pid_z.output * scale_z
feedback_z = pos_fuse_z
if SWITCH == 1:
pid_z.SetPoint = jump_height
else:
pid_z.SetPoint = 0
feedback_yaw = odom_yaw
if feedback_yaw - last_feedback_yaw != 0:
pid_yaw.update(feedback_yaw)
output_yaw = pid_yaw.output * scale_yaw
pid_yaw.SetPoint = tag_yaw
#for stable
if output_x > 0.02:
output_x = 0.02
elif output_x < -0.02:
output_x = -0.02
if output_y > 0.02:
output_y = 0.02
elif output_y < -0.02:
output_y = -0.02
if output_z > 0.1:
output_z = 0.1
elif output_z < -0.05:
output_z = -0.05
#output_z = 0
if Z_FEEDBACK_AVALIABLE == 0:
output_z = 0
if XY_FEEDBACK_AVALIABLE == 0:
output_x = 0
output_y = 0
setpoint = Vector3()
setpoint.x = output_x
setpoint.y = output_y
setpoint.z = output_z
stamp = rospy.get_rostime()
msg = PositionTarget(coordinate_frame=PositionTarget.FRAME_LOCAL_NED,
type_mask=
PositionTarget.IGNORE_PX + PositionTarget.IGNORE_PY + PositionTarget.IGNORE_PZ +
PositionTarget.IGNORE_AFX + PositionTarget.IGNORE_AFY + PositionTarget.IGNORE_AFZ +
PositionTarget.IGNORE_YAW + PositionTarget.IGNORE_YAW_RATE,
velocity=setpoint,
yaw = output_yaw)
msg.header.stamp = stamp
position_pub.publish(msg)
print "z_set:", pid_z.SetPoint, "z_out:", output_z, "z_Feb:", feedback_z,'jump',jump_height
rate.sleep()
MAVROS рд╕рдВрд╕реНрдХрд░рдг рдФрд░ рдордВрдЪ
рдорд╛рд╡рд░реЛрд╕: 0.18.4
рдЖрд░рдУрдПрд╕: рдХрд╛рдЗрдиреЗрдЯрд┐рдХ
рдЙрдмрдВрдЯреВ: 16.04
рдСрдЯреЛрдкрд╛рдпрд▓рдЯ рдкреНрд░рдХрд╛рд░ рдФрд░ рд╕рдВрд╕реНрдХрд░рдг
PX4, рдирд╡реАрдирддрдо рд╕рдВрд╕реНрдХрд░рдг .
рдореЗрд░рд╛ рд╣рд╛рд░реНрдбрд╡реЗрдпрд░ рд╕реЗрдЯрдЕрдк :pixhawk4 -(PX4 1.8.0) рдФрд░ pixhawk2, рджреЛрдиреЛрдВ рдореЗрдВ рдПрдХ рд╣реА рд╕рдорд╕реНрдпрд╛ рд╣реИред
рдиреЛрдб рд▓реЙрдЧ
eleboss<strong i="13">@eleboss</strong>:~$ roslaunch mavros px4.launch
... logging to /home/eleboss/.ros/log/7996cdf2-8a74-11e8-8157-00215caf42cc/roslaunch-eleboss-2176.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://eleboss:34437/
SUMMARY
========
CLEAR PARAMETERS
* /mavros/
PARAMETERS
* /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/id: 2
* /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
* /mavros/distance_sensor/sonar_1_sub/subscriber: True
* /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/ttyACM0:921600
* /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: 0.000349065850399
* /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/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/mocap/use_pose: True
* /mavros/mocap/use_tf: False
* /mavros/odometry/frame_tf/body_frame_orientation: frd
* /mavros/odometry/frame_tf/local_frame: vision_ned
* /mavros/plugin_blacklist: ['safety_area', '...
* /mavros/plugin_whitelist: []
* /mavros/px4flow/frame_id: px4flow
* /mavros/px4flow/ranger_fov: 0.118682389136
* /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_velocity/mav_frame: LOCAL_NED
* /mavros/startup_px4_usb_quirk: True
* /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: map
* /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
* /rosdistro: kinetic
* /rosversion: 1.12.13
NODES
/
mavros (mavros/mavros_node)
auto-starting new master
process[master]: started with pid [2186]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 7996cdf2-8a74-11e8-8157-00215caf42cc
process[rosout-1]: started with pid [2212]
started core service [/rosout]
process[mavros-2]: started with pid [2234]
[ INFO] [1531909350.225120069]: FCU URL: /dev/ttyACM0:921600
[ INFO] [1531909350.226491699]: serial0: device: /dev/ttyACM0 @ 921600 bps
[ INFO] [1531909350.226820176]: GCS bridge disabled
[ INFO] [1531909350.237634293]: Plugin 3dr_radio loaded
[ INFO] [1531909350.239873558]: Plugin 3dr_radio initialized
[ INFO] [1531909350.239991995]: Plugin actuator_control loaded
[ INFO] [1531909350.244402711]: Plugin actuator_control initialized
[ INFO] [1531909350.247686605]: Plugin adsb loaded
[ INFO] [1531909350.252164477]: Plugin adsb initialized
[ INFO] [1531909350.252287819]: Plugin altitude loaded
[ INFO] [1531909350.253538253]: Plugin altitude initialized
[ INFO] [1531909350.253642790]: Plugin cam_imu_sync loaded
[ INFO] [1531909350.254385422]: Plugin cam_imu_sync initialized
[ INFO] [1531909350.254507458]: Plugin command loaded
[ INFO] [1531909350.260767607]: Plugin command initialized
[ INFO] [1531909350.260882761]: Plugin debug_value loaded
[ INFO] [1531909350.266724238]: Plugin debug_value initialized
[ INFO] [1531909350.266761950]: Plugin distance_sensor blacklisted
[ INFO] [1531909350.266880713]: Plugin fake_gps loaded
[ INFO] [1531909350.285235202]: Plugin fake_gps initialized
[ INFO] [1531909350.285378124]: Plugin ftp loaded
[ INFO] [1531909350.292893777]: Plugin ftp initialized
[ INFO] [1531909350.293056406]: Plugin global_position loaded
[ INFO] [1531909350.316684204]: Plugin global_position initialized
[ INFO] [1531909350.316814783]: Plugin hil loaded
[ INFO] [1531909350.332854567]: Plugin hil initialized
[ INFO] [1531909350.332996072]: Plugin home_position loaded
[ INFO] [1531909350.337255788]: Plugin home_position initialized
[ INFO] [1531909350.337395106]: Plugin imu loaded
[ INFO] [1531909350.349334493]: Plugin imu initialized
[ INFO] [1531909350.349473928]: Plugin local_position loaded
[ INFO] [1531909350.356977561]: Plugin local_position initialized
[ INFO] [1531909350.357114405]: Plugin manual_control loaded
[ INFO] [1531909350.360976164]: Plugin manual_control initialized
[ INFO] [1531909350.361126079]: Plugin mocap_pose_estimate loaded
[ INFO] [1531909350.365655865]: Plugin mocap_pose_estimate initialized
[ INFO] [1531909350.365762619]: Plugin obstacle_distance loaded
[ INFO] [1531909350.368553759]: Plugin obstacle_distance initialized
[ INFO] [1531909350.368653103]: Plugin odom loaded
[ INFO] [1531909350.375619144]: Plugin odom initialized
[ INFO] [1531909350.375787260]: Plugin param loaded
[ INFO] [1531909350.379399807]: Plugin param initialized
[ INFO] [1531909350.379516510]: Plugin px4flow loaded
[ INFO] [1531909350.388167015]: Plugin px4flow initialized
[ INFO] [1531909350.388223705]: Plugin rangefinder blacklisted
[ INFO] [1531909350.388343616]: Plugin rc_io loaded
[ INFO] [1531909350.393300762]: Plugin rc_io initialized
[ INFO] [1531909350.393341683]: Plugin safety_area blacklisted
[ INFO] [1531909350.393454501]: Plugin setpoint_accel loaded
[ INFO] [1531909350.397677023]: Plugin setpoint_accel initialized
[ INFO] [1531909350.397807837]: Plugin setpoint_attitude loaded
[ INFO] [1531909350.412717136]: Plugin setpoint_attitude initialized
[ INFO] [1531909350.412859535]: Plugin setpoint_position loaded
[ INFO] [1531909350.429525693]: Plugin setpoint_position initialized
[ INFO] [1531909350.429714780]: Plugin setpoint_raw loaded
[ INFO] [1531909350.443358052]: Plugin setpoint_raw initialized
[ INFO] [1531909350.443515688]: Plugin setpoint_velocity loaded
[ INFO] [1531909350.454251102]: Plugin setpoint_velocity initialized
[ INFO] [1531909350.454424023]: Plugin sys_status loaded
[ INFO] [1531909350.467968466]: Plugin sys_status initialized
[ INFO] [1531909350.468137527]: Plugin sys_time loaded
[ INFO] [1531909350.481905565]: TM: Timesync mode: MAVLINK
[ INFO] [1531909350.483516225]: Plugin sys_time initialized
[ INFO] [1531909350.483657797]: Plugin trajectory loaded
[ INFO] [1531909350.493581639]: Plugin trajectory initialized
[ INFO] [1531909350.494069993]: Plugin vfr_hud loaded
[ INFO] [1531909350.496142178]: Plugin vfr_hud initialized
[ INFO] [1531909350.496190904]: Plugin vibration blacklisted
[ INFO] [1531909350.496335388]: Plugin vision_pose_estimate loaded
[ INFO] [1531909350.515468449]: Plugin vision_pose_estimate initialized
[ INFO] [1531909350.515643746]: Plugin vision_speed_estimate loaded
[ INFO] [1531909350.521799504]: Plugin vision_speed_estimate initialized
[ INFO] [1531909350.521968502]: Plugin waypoint loaded
[ INFO] [1531909350.538189416]: Plugin waypoint initialized
[ INFO] [1531909350.538386255]: Plugin wind_estimation loaded
[ INFO] [1531909350.539889616]: Plugin wind_estimation initialized
[ INFO] [1531909350.539964946]: Autostarting mavlink via USB on PX4
[ INFO] [1531909350.540088826]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1531909350.540114338]: Built-in MAVLink package version: 2018.6.6
[ INFO] [1531909350.540150085]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1531909350.540186079]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1531909350.622977431]: IMU: High resolution IMU detected!
[ INFO] [1531909350.770808248]: IMU: Attitude quaternion IMU detected!
[ INFO] [1531909351.510894360]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1531909351.524575461]: IMU: High resolution IMU detected!
[ INFO] [1531909351.536849572]: IMU: Attitude quaternion IMU detected!
[ INFO] [1531909352.521216751]: VER: 1.1: Capabilities 0x000000000000e4ef
[ INFO] [1531909352.521527249]: VER: 1.1: Flight software: 010800ff (00000000F3E3ADAE)
[ INFO] [1531909352.521695764]: VER: 1.1: Middleware software: 010800ff (00000000F3E3ADAE)
[ INFO] [1531909352.521851432]: VER: 1.1: OS software: 071600ff (0000000000000000)
[ INFO] [1531909352.522007743]: VER: 1.1: Board hardware: 00000011
[ INFO] [1531909352.522150719]: VER: 1.1: VID/PID: 26ac:0011
[ INFO] [1531909352.522287591]: VER: 1.1: UID: 3036510831353833
[ WARN] [1531909352.522524746]: CMD: Unexpected command 520, result 0
[ERROR] [1531909354.991362039]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909354.991492639]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909354.992848484]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909354.995085754]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909354.995192916]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909354.995250845]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909354.998997752]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909354.999679892]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909354.999754820]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.000055547]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.002572007]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.002665214]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.002730521]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.002792850]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.002890051]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.002958791]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.003023608]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.003079069]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.003137396]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.003192739]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.003248728]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.003375496]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.003647546]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.004041463]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.004533199]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.005017337]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.005340368]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.005722578]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.006120254]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.006537709]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.006987191]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.007467659]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.007845275]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.008362372]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.008871683]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.009518278]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.010015781]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
[ERROR] [1531909355.010528035]: 0: DROPPED Message SET_POSITION_TARGET_LOCAL_NED: MAVConnSerial::send_message: TX queue overflow
рдирд┐рджрд╛рди
eleboss<strong i="6">@eleboss</strong>:~$ rostopic echo /diagnostics
header:
seq: 14
stamp:
secs: 1531909925
nsecs: 482805514
frame_id: ''
status:
-
level: 0
name: "mavros: FCU connection"
message: "connected"
hardware_id: "/dev/ttyACM0:921600"
values:
-
key: "Received packets:"
value: "4799"
-
key: "Dropped packets:"
value: "0"
-
key: "Buffer overruns:"
value: "0"
-
key: "Parse errors:"
value: "0"
-
key: "Rx sequence number:"
value: "176"
-
key: "Tx sequence number:"
value: "166"
-
key: "Rx total bytes:"
value: "222864"
-
key: "Tx total bytes:"
value: "42088"
-
key: "Rx speed:"
value: "18536.000000"
-
key: "Tx speed:"
value: "4120.000000"
-
level: 2
name: "mavros: GPS"
message: "No satellites"
hardware_id: "/dev/ttyACM0:921600"
values:
-
key: "Satellites visible"
value: "0"
-
key: "Fix type"
value: "0"
-
key: "EPH (m)"
value: "Unknown"
-
key: "EPV (m)"
value: "Unknown"
-
level: 0
name: "mavros: Heartbeat"
message: "Normal"
hardware_id: "/dev/ttyACM0:921600"
values:
-
key: "Heartbeats since startup"
value: "12"
-
key: "Frequency (Hz)"
value: "0.955432"
-
key: "Vehicle type"
value: "Hexarotor"
-
key: "Autopilot type"
value: "PX4 Autopilot"
-
key: "Mode"
value: "MANUAL"
-
key: "System status"
value: "Standby"
-
level: 0
name: "mavros: System"
message: "Normal"
hardware_id: "/dev/ttyACM0:921600"
values:
-
key: "Sensor present"
value: "0x00000000"
-
key: "Sensor enabled"
value: "0x00000000"
-
key: "Sensor helth"
value: "0x00000000"
-
key: "CPU Load (%)"
value: "55.5"
-
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: 0
name: "mavros: Battery"
message: "Normal"
hardware_id: "/dev/ttyACM0:921600"
values:
-
key: "Voltage"
value: "65.54"
-
key: "Current"
value: "-0.0"
-
key: "Remaining"
value: "-1.0"
-
level: 0
name: "mavros: Time Sync"
message: "Normal"
hardware_id: "/dev/ttyACM0:921600"
values:
-
key: "Timesyncs since startup"
value: "44"
-
key: "Frequency (Hz)"
value: "3.507350"
-
key: "Last RTT (ms)"
value: "6450.054686"
-
key: "Mean RTT (ms)"
value: "281.613853"
-
key: "Last remote time (s)"
value: "702.575705000"
-
key: "Estimated time offset (s)"
value: "1531909221.221841335"
---
question
eleboss
рд╕рднреА 3 рдЯрд┐рдкреНрдкрдгрд┐рдпрд╛рдБ
рдбрд╛рдпрдЧ рдкреНрд░рд╡рд┐рд╖реНрдЯрд┐ "рдорд╛рд╡рд░реЛрд╕: рдПрдлрд╕реАрдпреВ рдХрдиреЗрдХреНрд╢рди" рджреЗрдЦреЗрдВ, рдЬрдм рдЖрдк рдЕрддрд┐рдкреНрд░рд╡рд╛рд╣ рд╣реЛ рдЧрдПред
рдЕрдкрдиреЗ рд╕реЗрдЯрдкреЙрдЗрдВрдЯреНрд╕ рдХреА рдЬрд╛рдВрдЪ рджрд░, рдЙрдк 1M рдмреЙрдб 100 рд╣рд░реНрдЯреНрдЬ рдкрд░ рдареАрдХ рд╣реЛрдиреА рдЪрд╛рд╣рд┐рдПред
рд▓реЗрдХрд┐рди рдЖрдк рдХрд┐рд╕реА рддрд░рд╣ рдкреЛрд░реНрдЯ рдХреА рддреБрд▓рдирд╛ рдореЗрдВ рдмрд╣реБрдд рдЕрдзрд┐рдХ рд╕рдВрджреЗрд╢ рдЙрддреНрдкрдиреНрди рдХрд░ рд╕рдХрддреЗ рд╣реИрдВред
TX рдХрддрд╛рд░ рдореЗрдВ 1k рд╕реАрдорд╛ рд╣реЛрддреА рд╣реИ, рдЬреЛ рд╕рд╛рдорд╛рдиреНрдп рд╕реНрдерд┐рддрд┐ рдореЗрдВ рдирдИ рд╣рд┐рдЯ (рдЖрдорддреМрд░ рдкрд░ рдЕрдзрд┐рдХрддрдо 10 рдкреНрд░рд╡рд┐рд╖реНрдЯрд┐рдпрд╛рдВ) рд╣реЛрддреА рд╣реИред
рдЕрдиреНрдп рд╕рдВрднрд╛рд╡рд┐рдд рдмрд╛рдд, рдХрд┐ рдЖрдкрдХрд╛ UART рдЕрдбреИрдкреНрдЯрд░ 921600 рдФрд░ рдкреНрд░рднрд╛рд╡реА рдмреИрдВрдбрд╡рд┐рдбреНрде рдХреЛ рдХрд┐рд╕реА рдФрд░ рдЪреАрдЬрд╝ рджреНрд╡рд╛рд░рд╛ рд╕реАрдорд┐рдд рдирд╣реАрдВ рдХрд░ рд╕рдХрддрд╛ рд╣реИред
vooon
19 рдЬреБрд▓ре░ 2018
👍2
рд╣рд╛рдВ!!!!!!!!!!!!
рдЖрдк рдЗрд╕рдХреЗ рдмрд╛рд░реЗ рдореЗрдВ рд╕рд╣реА рд╣реИрдВя╝Б
рдореИрдВрдиреЗ рд╡рд┐рд╖рдп рдХреА рдкреНрд░рдХрд╛рд╢рд┐рдд рджрд░ рдХреА рдЬрд╛рдБрдЪ рдХреА, рдФрд░ рдкрд╛рдпрд╛ рдХрд┐ рдпрд╣ 1000HZ рд╣реЛ рдЧрдпрд╛, 100 HZ рдирд╣реАрдВ, рдФрд░ рдлрд┐рд░ рдореИрдВрдиреЗ рдкрд╛рдпрд╛ рдХрд┐ рдореЗрд░реЗ рдХреЛрдб рдореЗрдВ рдПрдХ рдЗрдВрдбреЗрдВрдЯ рддреНрд░реБрдЯрд┐ рд╣реИ рдЬреЛ рджрд░ рдореЗрдВ рд╡рд┐рдлрд▓ рд░рд╣реАред рдиреАрдВрдж (), рдореИрдВрдиреЗ рдЗрд╕реЗ рд╕рдВрд╢реЛрдзрд┐рдд рдХрд┐рдпрд╛, рдФрд░ рдпрд╣ рд╣рдореЗрд╢рд╛ рдХреА рддрд░рд╣ рдХрд╛рдо рдХрд░рддрд╛ рд╣реИ!
@vooon рдмрд╣реБрдд рдмрд╣реБрдд рдзрдиреНрдпрд╡рд╛рдж!
eleboss
19 рдЬреБрд▓ре░ 2018
👍2
рд╣рд╛рдп рджреЛрд╕реНрддреЛрдВ,
рдореБрдЭреЗ рд▓рдЧрддрд╛ рд╣реИ рдХрд┐ рдореБрдЭреЗ рднреА рдЖрдкрдХреА рддрд░рд╣ рд╣реА рд╕рдорд╕реНрдпрд╛ рд╣реИ, eleboss... рдореИрдВрдиреЗ 921600 рдкрд░ FCU рдмрджрд▓ рджрд┐рдпрд╛ рд▓реЗрдХрд┐рди рдореИрдВ рдЬрд╛рдирдирд╛ рдЪрд╛рд╣рддрд╛ рд╣реВрдВ рдХрд┐ рдЖрдкрдХреЛ рдкреНрд░рдХрд╛рд╢рд┐рдд рджрд░ рдХрд╣рд╛рдВ рдорд┐рд▓реА!
рдХреГрдкрдпрд╛ рдХреНрдпрд╛ рдЖрдк рдореЗрд░реЗ рд╕рд╣рд╛рдпрддрд╛ рдХрд░ рд╕рдХрддреЗ рд╣реИ? рдзрдиреНрдпрд╡рд╛рдж
Satano1991
29 рдЬреВрди 2020
рдХреНрдпрд╛ рдпрд╣ рдкреГрд╖реНрда рдЙрдкрдпреЛрдЧреА рдерд╛?
0 / 5 - 0 рд░реЗрдЯрд┐рдВрдЧреНрд╕
рд╕рдВрдмрдВрдзрд┐рдд рдореБрджреНрджреЛрдВ
mtsakaguchi
┬╖
5рдЯрд┐рдкреНрдкрдгрд┐рдпрд╛рдБ
Changliu52
┬╖
6рдЯрд┐рдкреНрдкрдгрд┐рдпрд╛рдБ
MasterRos
┬╖
12рдЯрд┐рдкреНрдкрдгрд┐рдпрд╛рдБ
tfoote
┬╖
5рдЯрд┐рдкреНрдкрдгрд┐рдпрд╛рдБ
jannsta1
┬╖
7рдЯрд┐рдкреНрдкрдгрд┐рдпрд╛рдБ
рд╕рдмрд╕реЗ рдЙрдкрдпреЛрдЧреА рдЯрд┐рдкреНрдкрдгреА
рд╣рд╛рдВ!!!!!!!!!!!!
рдЖрдк рдЗрд╕рдХреЗ рдмрд╛рд░реЗ рдореЗрдВ рд╕рд╣реА рд╣реИрдВя╝Б
рдореИрдВрдиреЗ рд╡рд┐рд╖рдп рдХреА рдкреНрд░рдХрд╛рд╢рд┐рдд рджрд░ рдХреА рдЬрд╛рдБрдЪ рдХреА, рдФрд░ рдкрд╛рдпрд╛ рдХрд┐ рдпрд╣ 1000HZ рд╣реЛ рдЧрдпрд╛, 100 HZ рдирд╣реАрдВ, рдФрд░ рдлрд┐рд░ рдореИрдВрдиреЗ рдкрд╛рдпрд╛ рдХрд┐ рдореЗрд░реЗ рдХреЛрдб рдореЗрдВ рдПрдХ рдЗрдВрдбреЗрдВрдЯ рддреНрд░реБрдЯрд┐ рд╣реИ рдЬреЛ рджрд░ рдореЗрдВ рд╡рд┐рдлрд▓ рд░рд╣реАред рдиреАрдВрдж (), рдореИрдВрдиреЗ рдЗрд╕реЗ рд╕рдВрд╢реЛрдзрд┐рдд рдХрд┐рдпрд╛, рдФрд░ рдпрд╣ рд╣рдореЗрд╢рд╛ рдХреА рддрд░рд╣ рдХрд╛рдо рдХрд░рддрд╛ рд╣реИ!
@vooon рдмрд╣реБрдд рдмрд╣реБрдд рдзрдиреНрдпрд╡рд╛рдж!