Mavros: ΠΡΠ΅ ΡΠ΅ΠΌΡ mavros ΠΏΡΡΡΡ
Π‘ΠΎΠ·Π΄Π°Π½Π½ΡΠΉ Π½Π° 25 ΠΈΡΠ». 2018
Β·
4ΠΠΎΠΌΠΌΠ΅Π½ΡΠ°ΡΠΈΠΈ
Β·
ΠΡΡΠΎΡΠ½ΠΈΠΊ: mavlink/mavros
ΠΠ΅ΡΠ°Π»ΠΈ ΠΏΡΠΎΠ±Π»Π΅ΠΌΡ
Π― Π·Π°ΠΏΡΡΠΊΠ°Ρ mavros Π½Π° ΡΠ²ΠΎΠ΅ΠΌ ΠΊΠΎΠΌΠΏΡΡΡΠ΅ΡΠ΅ ΠΈ ΠΏΠΎΠ΄ΠΊΠ»ΡΡΠ°ΡΡΡ ΠΊ pixhawk Ρ ΠΏΠΎΠΌΠΎΡΡΡ ΡΠ΅Π»Π΅ΠΌΠ΅ΡΡΠΈΠΈ, Π²ΡΠ΅ ΠΏΠΎΡΡΡ Π½Π°ΡΡΡΠΎΠ΅Π½Ρ ΠΏΡΠ°Π²ΠΈΠ»ΡΠ½ΠΎ, ΠΎΠ΄Π½Π°ΠΊΠΎ Π²ΡΠ΅ ΡΠ΅ΠΌΡ mavros ΠΊΠ°ΠΆΡΡΡΡ ΠΏΡΡΡΡΠΌΠΈ, Π΅Π΄ΠΈΠ½ΡΡΠ²Π΅Π½Π½Π°Ρ, Π² ΠΊΠΎΡΠΎΡΠΎΠΉ Π±ΡΠ»ΠΈ ΠΎΠΏΡΠ±Π»ΠΈΠΊΠΎΠ²Π°Π½Ρ ΠΊΠ°ΠΊΠΈΠ΅-Π»ΠΈΠ±ΠΎ Π΄Π°Π½Π½ΡΠ΅, Π±ΡΠ»Π° / mavros / state, ΠΊΠ°ΠΊ Ρ ΠΌΠΎΠ³Ρ ΡΠ΅ΡΠΈΡΡ ΡΡΠΎ?
ΠΠ΅ΡΡΠΈΡ ΠΈ ΠΏΠ»Π°ΡΡΠΎΡΠΌΠ° ΠΠΠΠ ΠΠ‘
ΠΠ°Π²ΡΠΎΡ:? 0.18.4?
ROS: ΠΊΠΈΠ½Π΅ΡΠΈΡΠ΅ΡΠΊΠ°Ρ
Ubuntu: 16.04
Π’ΠΈΠΏ ΠΈ Π²Π΅ΡΡΠΈΡ Π°Π²ΡΠΎΠΏΠΈΠ»ΠΎΡΠ°
[] ArduPilot
[x] PX4
ΠΠ΅ΡΡΠΈΡ: 2.4.8
ΠΡΡΠ½Π°Π»Ρ ΡΠ·Π»ΠΎΠ²
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://furgbot:44159/
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/ttyUSB0
* /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)
ROS_MASTER_URI=http://localhost:11311
process[mavros-1]: started with pid [10135]
[ INFO] [1532524740.139679607]: FCU URL: /dev/ttyUSB0
[ INFO] [1532524740.140570367]: serial0: device: /dev/ttyUSB0 @ 57600 bps
[ INFO] [1532524740.141457809]: GCS bridge disabled
[ INFO] [1532524740.147259861]: Plugin 3dr_radio loaded
[ INFO] [1532524740.148295592]: Plugin 3dr_radio initialized
[ INFO] [1532524740.148352517]: Plugin actuator_control loaded
[ INFO] [1532524740.150609825]: Plugin actuator_control initialized
[ INFO] [1532524740.151957946]: Plugin adsb loaded
[ INFO] [1532524740.155132081]: Plugin adsb initialized
[ INFO] [1532524740.155391407]: Plugin altitude loaded
[ INFO] [1532524740.158531972]: Plugin altitude initialized
[ INFO] [1532524740.158602914]: Plugin cam_imu_sync loaded
[ INFO] [1532524740.159171173]: Plugin cam_imu_sync initialized
[ INFO] [1532524740.159235399]: Plugin command loaded
[ INFO] [1532524740.162443798]: Plugin command initialized
[ INFO] [1532524740.162497119]: Plugin debug_value loaded
[ INFO] [1532524740.165695481]: Plugin debug_value initialized
[ INFO] [1532524740.165715167]: Plugin distance_sensor blacklisted
[ INFO] [1532524740.165766480]: Plugin fake_gps loaded
[ INFO] [1532524740.179250610]: Plugin fake_gps initialized
[ INFO] [1532524740.179332789]: Plugin ftp loaded
[ INFO] [1532524740.183631735]: Plugin ftp initialized
[ INFO] [1532524740.183690164]: Plugin global_position loaded
[ INFO] [1532524740.193809273]: Plugin global_position initialized
[ INFO] [1532524740.193869528]: Plugin hil loaded
[ INFO] [1532524740.202786257]: Plugin hil initialized
[ INFO] [1532524740.202895671]: Plugin home_position loaded
[ INFO] [1532524740.208622619]: Plugin home_position initialized
[ INFO] [1532524740.208927381]: Plugin imu loaded
[ INFO] [1532524740.215678847]: Plugin imu initialized
[ INFO] [1532524740.215770317]: Plugin local_position loaded
[ INFO] [1532524740.219332028]: Plugin local_position initialized
[ INFO] [1532524740.219415692]: Plugin manual_control loaded
[ INFO] [1532524740.221468151]: Plugin manual_control initialized
[ INFO] [1532524740.221525631]: Plugin mocap_pose_estimate loaded
[ INFO] [1532524740.224106463]: Plugin mocap_pose_estimate initialized
[ INFO] [1532524740.224158163]: Plugin obstacle_distance loaded
[ INFO] [1532524740.226010979]: Plugin obstacle_distance initialized
[ INFO] [1532524740.226068412]: Plugin odom loaded
[ INFO] [1532524740.228473191]: Plugin odom initialized
[ INFO] [1532524740.228540709]: Plugin param loaded
[ INFO] [1532524740.229898319]: Plugin param initialized
[ INFO] [1532524740.229963278]: Plugin px4flow loaded
[ INFO] [1532524740.235888441]: Plugin px4flow initialized
[ INFO] [1532524740.235947078]: Plugin rangefinder blacklisted
[ INFO] [1532524740.236092940]: Plugin rc_io loaded
[ INFO] [1532524740.243778549]: Plugin rc_io initialized
[ INFO] [1532524740.243802586]: Plugin safety_area blacklisted
[ INFO] [1532524740.243870030]: Plugin setpoint_accel loaded
[ INFO] [1532524740.246187187]: Plugin setpoint_accel initialized
[ INFO] [1532524740.246253737]: Plugin setpoint_attitude loaded
[ INFO] [1532524740.252595059]: Plugin setpoint_attitude initialized
[ INFO] [1532524740.252657187]: Plugin setpoint_position loaded
[ INFO] [1532524740.261450252]: Plugin setpoint_position initialized
[ INFO] [1532524740.261515864]: Plugin setpoint_raw loaded
[ INFO] [1532524740.268158623]: Plugin setpoint_raw initialized
[ INFO] [1532524740.268383531]: Plugin setpoint_velocity loaded
[ INFO] [1532524740.276825212]: Plugin setpoint_velocity initialized
[ INFO] [1532524740.276920055]: Plugin sys_status loaded
[ INFO] [1532524740.282360303]: Plugin sys_status initialized
[ INFO] [1532524740.282423479]: Plugin sys_time loaded
[ INFO] [1532524740.286036302]: TM: Timesync mode: MAVLINK
[ INFO] [1532524740.286767320]: Plugin sys_time initialized
[ INFO] [1532524740.286817082]: Plugin trajectory loaded
[ INFO] [1532524740.290167432]: Plugin trajectory initialized
[ INFO] [1532524740.290226974]: Plugin vfr_hud loaded
[ INFO] [1532524740.290598036]: Plugin vfr_hud initialized
[ INFO] [1532524740.290610682]: Plugin vibration blacklisted
[ INFO] [1532524740.290650152]: Plugin vision_pose_estimate loaded
[ INFO] [1532524740.296187419]: Plugin vision_pose_estimate initialized
[ INFO] [1532524740.296276442]: Plugin vision_speed_estimate loaded
[ INFO] [1532524740.299224358]: Plugin vision_speed_estimate initialized
[ INFO] [1532524740.299365077]: Plugin waypoint loaded
[ INFO] [1532524740.307388635]: Plugin waypoint initialized
[ INFO] [1532524740.307476371]: Plugin wind_estimation loaded
[ INFO] [1532524740.307867388]: Plugin wind_estimation initialized
[ INFO] [1532524740.307885804]: Autostarting mavlink via USB on PX4
[ INFO] [1532524740.307908617]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1532524740.307920568]: Built-in MAVLink package version: 2018.6.6
[ INFO] [1532524740.307938150]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1532524740.307951275]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1532524740.662002728]: CON: Got HEARTBEAT, connected. FCU: ArduPilotMega / ArduCopter
[ERROR] [1532524741.664232667]: FCU: PreArm: RC not calibrated
[ WARN] [1532524742.666504554]: VER: broadcast request timeout, retries left 4
[ WARN] [1532524743.666206438]: VER: broadcast request timeout, retries left 3
[ WARN] [1532524749.666643707]: VER: unicast request timeout, retries left 2
[ INFO] [1532524750.663332281]: HP: requesting home position
[ WARN] [1532524754.670196600]: VER: unicast request timeout, retries left 1
[ WARN] [1532524754.670448943]: PR: request list timeout, retries left 2
[ WARN] [1532524755.671549987]: PR: request list timeout, retries left 1
[ WARN] [1532524756.668121134]: WP: timeout, retries left 2
[ WARN] [1532524756.672777236]: PR: request list timeout, retries left 0
[ WARN] [1532524757.668707712]: WP: timeout, retries left 1
[ WARN] [1532524758.669090605]: WP: timeout, retries left 0
[ERROR] [1532524759.669772958]: WP: timed out.
[ WARN] [1532524759.673896620]: VER: unicast request timeout, retries left 0
[ INFO] [1532524760.663114292]: HP: requesting home position
[ WARN] [1532524764.677398420]: VER: your FCU don't support AUTOPILOT_VERSION, switched to default capabilities
[ INFO] [1532524770.662948243]: HP: requesting home position
[ERROR] [1532524771.768363026]: FCU: PreArm: RC not calibrated
[ INFO] [1532524780.663289432]: HP: requesting home position
[ INFO] [1532524790.662794211]: HP: requesting home position
[ INFO] [1532524800.662551567]: HP: requesting home position
[ERROR] [1532524801.804852187]: FCU: PreArm: RC not calibrated
[ INFO] [1532524810.662370647]: HP: requesting home position
ΠΠΈΠ°Π³Π½ΠΎΡΡΠΈΠΊΠ°
ΠΠ°Π³ΠΎΠ»ΠΎΠ²ΠΎΠΊ:
seq: 14
ΠΏΠ΅ΡΠ°ΡΡ:
ΡΠ΅ΠΊ: 1532524754
Π½ΡΠ΅ΠΊ: 670326788
frame_id: ''
ΠΏΠΎΠ»ΠΎΠΆΠ΅Π½ΠΈΠ΅ Π΄Π΅Π»:
ΡΡΠΎΠ²Π΅Π½Ρ: 0
name: "mavros: ΡΠΎΠ΅Π΄ΠΈΠ½Π΅Π½ΠΈΠ΅ FCU"
ΡΠΎΠΎΠ±ΡΠ΅Π½ΠΈΠ΅: "ΠΏΠΎΠ΄ΠΊΠ»ΡΡΠ΅Π½"
hardware_id: "/ dev / ttyUSB0"
ΡΠ΅Π½Π½ΠΎΡΡΠΈ:
ΠΊΠ»ΡΡ: "ΠΠΎΠ»ΡΡΠ΅Π½Π½ΡΠ΅ ΠΏΠ°ΠΊΠ΅ΡΡ:"
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: "16"
ΠΊΠ»ΡΡ: "ΠΡΠ±ΡΠΎΡΠ΅Π½Π½ΡΠ΅ ΠΏΠ°ΠΊΠ΅ΡΡ:"
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: Β«0Β»
ΠΊΠ»Π°Π²ΠΈΡΠ°: "ΠΠ΅ΡΠ΅ΠΏΠΎΠ»Π½Π΅Π½ΠΈΠ΅ Π±ΡΡΠ΅ΡΠ°:"
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: Β«0Β»
ΠΊΠ»ΡΡ: "ΠΡΠΈΠ±ΠΊΠΈ ΡΠΈΠ½ΡΠ°ΠΊΡΠΈΡΠ΅ΡΠΊΠΎΠ³ΠΎ Π°Π½Π°Π»ΠΈΠ·Π°:"
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: Β«0Β»
ΠΊΠ»Π°Π²ΠΈΡΠ°: "ΠΠΎΡΡΠ΄ΠΊΠΎΠ²ΡΠΉ Π½ΠΎΠΌΠ΅Ρ Rx:"
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: "67"
ΠΊΠ»Π°Π²ΠΈΡΠ°: "ΠΠΎΡΡΠ΄ΠΊΠΎΠ²ΡΠΉ Π½ΠΎΠΌΠ΅Ρ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΠΈ:"
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: "131"
ΠΊΠ»ΡΡ: "ΠΡΠ΅Π³ΠΎ Π±Π°ΠΉΡ Rx:"
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: "314"
ΠΊΠ»ΡΡ: "ΠΡΠ΅Π³ΠΎ Π±Π°ΠΉΡΠΎΠ² ΠΏΠ΅ΡΠ΅Π΄Π°Π½ΠΎ:"
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: "3585"
ΠΊΠ»Π°Π²ΠΈΡΠ°: "Π‘ΠΊΠΎΡΠΎΡΡΡ ΠΏΡΠΈΠ΅ΠΌΠ°:"
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: "21.250000"
ΠΊΠ»Π°Π²ΠΈΡΠ°: "Π‘ΠΊΠΎΡΠΎΡΡΡ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΠΈ:"
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: "80.500000"
ΡΡΠΎΠ²Π΅Π½Ρ 2
ΠΈΠΌΡ: "mavros: GPS"
ΡΠΎΠΎΠ±ΡΠ΅Π½ΠΈΠ΅: "ΠΠ΅Ρ ΡΠΏΡΡΠ½ΠΈΠΊΠΎΠ²"
hardware_id: "/ dev / ttyUSB0"
ΡΠ΅Π½Π½ΠΎΡΡΠΈ:
ΠΊΠ»Π°Π²ΠΈΡΠ°: "Π‘ΠΏΡΡΠ½ΠΈΠΊΠΈ Π²ΠΈΠ΄Π½Ρ"
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: Β«0Β»
ΠΊΠ»ΡΡ: Β«Π’ΠΈΠΏ ΠΈΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΡΒ»
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: Β«0Β»
ΠΊΠ»ΡΡ: Β«EPH (ΠΌ)Β»
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: "ΠΠ΅ΠΈΠ·Π²Π΅ΡΡΠ½ΠΎ"
ΠΊΠ»ΡΡ: Β«EPV (ΠΌ)Β»
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: "ΠΠ΅ΠΈΠ·Π²Π΅ΡΡΠ½ΠΎ"
ΡΡΠΎΠ²Π΅Π½Ρ: 0
ΠΈΠΌΡ: "mavros: Heartbeat"
ΡΠΎΠΎΠ±ΡΠ΅Π½ΠΈΠ΅: "ΠΠΎΡΠΌΠ°Π»ΡΠ½ΡΠΉ"
hardware_id: "/ dev / ttyUSB0"
ΡΠ΅Π½Π½ΠΎΡΡΠΈ:
ΠΊΠ»ΡΡ: Β«Π‘Π΅ΡΠ΄ΡΠ΅Π±ΠΈΠ΅Π½ΠΈΠ΅ Ρ ΠΌΠΎΠΌΠ΅Π½ΡΠ° Π·Π°ΠΏΡΡΠΊΠ°Β»
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: "15"
ΠΊΠ»Π°Π²ΠΈΡΠ°: Β«Π§Π°ΡΡΠΎΡΠ° (ΠΡ)Β»
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: "1.042150"
ΠΊΠ»ΡΡ: Β«Π’ΠΈΠΏ ΡΡΠ°Π½ΡΠΏΠΎΡΡΠ½ΠΎΠ³ΠΎ ΡΡΠ΅Π΄ΡΡΠ²Π°Β»
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: Β«ΠΠ²Π°Π΄ΡΠΎΠΊΠΎΠΏΡΠ΅ΡΒ»
ΠΊΠ»ΡΡ: Β«Π’ΠΈΠΏ Π°Π²ΡΠΎΠΏΠΈΠ»ΠΎΡΠ°Β»
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: "ArduPilotMega / ArduCopter"
ΠΊΠ»ΡΡ: Β«Π Π΅ΠΆΠΈΠΌΒ»
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: "Π‘Π’ΠΠΠΠΠΠΠΠ¦ΠΠ―"
ΠΊΠ»Π°Π²ΠΈΡΠ°: Β«Π‘ΡΠ°ΡΡΡ ΡΠΈΡΡΠ΅ΠΌΡΒ»
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: Β«ΠΠΆΠΈΠ΄Π°Π½ΠΈΠ΅Β»
ΡΡΠΎΠ²Π΅Π½Ρ: 0
ΠΈΠΌΡ: "mavros: System"
ΡΠΎΠΎΠ±ΡΠ΅Π½ΠΈΠ΅: "ΠΠΎΡΠΌΠ°Π»ΡΠ½ΡΠΉ"
hardware_id: "/ dev / ttyUSB0"
ΡΠ΅Π½Π½ΠΎΡΡΠΈ:
ΠΊΠ»Π°Π²ΠΈΡΠ°: Β«ΠΠ°ΡΡΠΈΠΊ ΠΏΡΠΈΡΡΡΡΡΠ²ΡΠ΅ΡΒ»
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: "0x00000000"
ΠΊΠ»Π°Π²ΠΈΡΠ°: "ΠΠ°ΡΡΠΈΠΊ Π²ΠΊΠ»ΡΡΠ΅Π½"
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: "0x00000000"
ΠΊΠ»Π°Π²ΠΈΡΠ°: "Sensor helth"
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: "0x00000000"
ΠΊΠ»ΡΡ: "ΠΠ°Π³ΡΡΠ·ΠΊΠ° Π¦Π (%)"
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: "0,0"
ΠΊΠ»ΡΡ: "Π§Π°ΡΡΠΎΡΠ° Π²ΡΠΏΠ°Π΄Π΅Π½ΠΈΡ (%)"
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: "0,0"
ΠΊΠ»ΡΡ: "Π‘ΠΎΠΎΠ±ΡΠ΅Π½ΠΈΡ ΠΎΠ± ΠΎΡΠΈΠ±ΠΊΠ°Ρ "
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: Β«0Β»
key: "ΠΠΎΠ»ΠΈΡΠ΅ΡΡΠ²ΠΎ ΠΎΡΠΈΠ±ΠΎΠΊ β1"
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: Β«0Β»
key: "ΠΠΎΠ»ΠΈΡΠ΅ΡΡΠ²ΠΎ ΠΎΡΠΈΠ±ΠΎΠΊ # 2"
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: Β«0Β»
key: "ΠΠΎΠ»ΠΈΡΠ΅ΡΡΠ²ΠΎ ΠΎΡΠΈΠ±ΠΎΠΊ β3"
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: Β«0Β»
key: "ΠΠΎΠ»ΠΈΡΠ΅ΡΡΠ²ΠΎ ΠΎΡΠΈΠ±ΠΎΠΊ # 4"
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: Β«0Β»
ΡΡΠΎΠ²Π΅Π½Ρ 2
ΠΈΠΌΡ: "mavros: Battery"
ΡΠΎΠΎΠ±ΡΠ΅Π½ΠΈΠ΅: "ΠΠ΅Ρ Π΄Π°Π½Π½ΡΡ "
hardware_id: "/ dev / ttyUSB0"
ΡΠ΅Π½Π½ΠΎΡΡΠΈ:
ΠΊΠ»ΡΡ: Β«ΠΠ°ΠΏΡΡΠΆΠ΅Π½ΠΈΠ΅Β»
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: "-1.00"
ΠΊΠ»ΡΡ: "Π’Π΅ΠΊΡΡΠΈΠΉ"
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: "0,0"
ΠΊΠ»ΡΡ: Β«ΠΡΡΠ°Π»ΠΎΡΡΒ»
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: "0,0"
ΡΡΠΎΠ²Π΅Π½Ρ 2
ΠΈΠΌΡ: "mavros: Time Sync"
ΡΠΎΠΎΠ±ΡΠ΅Π½ΠΈΠ΅: Β«Π‘ΠΎΠ±ΡΡΠΈΡ Π½Π΅ Π·Π°ΠΏΠΈΡΠ°Π½ΡΒ».
hardware_id: "/ dev / ttyUSB0"
ΡΠ΅Π½Π½ΠΎΡΡΠΈ:
ΠΊΠ»ΡΡ: Β«Π‘ΠΈΠ½Ρ ΡΠΎΠ½ΠΈΠ·Π°ΡΠΈΡ Ρ ΠΌΠΎΠΌΠ΅Π½ΡΠ° Π·Π°ΠΏΡΡΠΊΠ°Β»
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: Β«0Β»
ΠΊΠ»Π°Π²ΠΈΡΠ°: Β«Π§Π°ΡΡΠΎΡΠ° (ΠΡ)Β»
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: "0.000000"
ΠΊΠ»ΡΡ: Β«ΠΠΎΡΠ»Π΅Π΄Π½ΠΈΠΉ RTT (ΠΌΡ)Β»
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: "0.000000"
ΠΊΠ»ΡΡ: Β«Π‘ΡΠ΅Π΄Π½Π΅Π΅ RTT (ΠΌΡ)Β»
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: "0.000000"
ΠΊΠ»ΡΡ: "ΠΠΎΡΠ»Π΅Π΄Π½Π΅Π΅ ΡΠ΄Π°Π»Π΅Π½Π½ΠΎΠ΅ Π²ΡΠ΅ΠΌΡ (Π°)"
Π·Π½Π°ΡΠ΅Π½ΠΈΠ΅: "0.000000000"
ΠΊΠ»ΡΡ: Β«Π Π°ΡΡΠ΅ΡΠ½ΠΎΠ΅ ΡΠΌΠ΅ΡΠ΅Π½ΠΈΠ΅ (Ρ) Π²ΡΠ΅ΠΌΠ΅Π½ΠΈΒ»
### Check ID
OK. ΠΠΎΠ»ΡΡΠ°Π» ΡΠΎΠΎΠ±ΡΠ΅Π½ΠΈΡ ΠΎΡ 1: 1.
ΠΠΎΠ»ΡΡΠ΅Π½ΠΎ 16 ΡΠΎΠΎΠ±ΡΠ΅Π½ΠΈΠΉ Ρ 1 Π°Π΄ΡΠ΅ΡΠ°
sys: ΡΠΎΡΡΠ°Π²ΠΈΡΡ ΡΠΏΠΈΡΠΎΠΊ ΡΠΎΠΎΠ±ΡΠ΅Π½ΠΈΠΉ
1: 1 0, 253
`` ''
TeixeiraRafael
ΠΡΠ΅ 4 ΠΠΎΠΌΠΌΠ΅Π½ΡΠ°ΡΠΈΠΉ
ΠΡΠΎΠ²Π΅ΡΡΡΠ΅ ΠΏΡΠΎΠ²ΠΎΠ΄ΠΊΡ, ΠΏΠΎΡ
ΠΎΠΆΠ΅, ΡΡΠΎ USB-UART Tx -> FCU Rx ΡΠ»ΠΎΠΌΠ°Π½.
Π’Π°ΠΊΠΆΠ΅ ΠΏΡΠΎΠ²Π΅ΡΡΡΠ΅ ΡΠΊΠΎΡΠΎΡΡΡ ΠΏΠΎΡΠΎΠΊΠ°. ΠΠΎΠΏΡΠΎΠ±ΡΠΉΡΠ΅ rosrun mavros mavsys rate --all 10 .
vooon
25 ΠΈΡΠ». 2018
👍2
ΠΠΎΠ»ΡΠ·ΡΡΡΡ ΡΠ΅Π»Π΅ΠΌΠ΅ΡΡΠΈΠ΅ΠΉ, ΠΏΡΠΎΠ²ΠΎΠ΄ΠΊΠΈ Π½Π΅Ρ.
ΠΠ°ΠΏΡΡΠΊ rosrun mavros mavsys rate --all 10 Π½Π΅ ΡΠ΅ΡΠΈΠ» ΠΏΡΠΎΠ±Π»Π΅ΠΌΡ :(
TeixeiraRafael
25 ΠΈΡΠ». 2018
@TeixeiraRafael ΠΎΠ±Π½ΠΎΠ²Π»Π΅Π½ΠΈΡ?
TSC21
31 ΠΌΠ°Ρ 2019
ΠΡΠΎΠ²Π΅ΡΡΡΠ΅ ΠΏΡΠΎΠ²ΠΎΠ΄ΠΊΡ, ΠΏΠΎΡ ΠΎΠΆΠ΅, ΡΡΠΎ USB-UART Tx -> FCU Rx ΡΠ»ΠΎΠΌΠ°Π½.
Π’Π°ΠΊΠΆΠ΅ ΠΏΡΠΎΠ²Π΅ΡΡΡΠ΅ ΡΠΊΠΎΡΠΎΡΡΡ ΠΏΠΎΡΠΎΠΊΠ°. ΠΠΎΠΏΡΠΎΠ±ΡΠΉΡΠ΅rosrun mavros mavsys rate --all 10.
ΠΡΠΎ ΡΠ΅ΡΠΈΠ»ΠΎ ΠΌΠΎΡ ΠΏΡΠΎΠ±Π»Π΅ΠΌΡ, Π±ΠΎΠ»ΡΡΠΎΠ΅ ΡΠΏΠ°ΡΠΈΠ±ΠΎ !!!
AbelMartinez90
20 ΡΠ΅Π²Ρ. 2020
ΠΡΠ»Π° Π»ΠΈ ΡΡΠ° ΡΡΡΠ°Π½ΠΈΡΠ° ΠΏΠΎΠ»Π΅Π·Π½ΠΎΠΉ?
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