3rd Party Software Control - RC_Override vs Manual_Control

[patrickelectric (Patrick José Pereira)]

Hi,

@DrewFulton

Could this be the case? Should I be using MANUAL_CONTROL commands instead?

MANUAL_CONTROL is a higher abstraction level for ArduSub of RC_OVERRIDE, you can check that here.

@DrewFulton

Do I need to continue to send the forward command in that loop or once I send the forward command, will it continue to drive forward until I send a stop command? Looking at the MANUAL_CONTROL command, it looks like I will always have to send an x, y, z, and r value for each command while with RC_OVERRIDE I could have just sent the drive forward command and then waited. Am I understanding this correctly?

Since MANUAL_CONTROL uses RC_OVERRIDE to accomplish the functionality, you need to send the commands periodically for both commands. The timeout is configured with RC_OVERRIDE_TIME parameter.

• RC_OVERRIDE_TIME: Timeout after which RC overrides will no longer be used, and RC input will resume…

@DrewFulton

I’m going to install SITL now to see if I can test this without getting the ROV wet but am hoping to get it back in the water and do some testing again this weekend. Thanks for the guidance!

I highly recommend SITL to test your script, this will ensure you that the same setup will work with the real ROV.

@DrewFulton

I’m now thinking that the choppiness wasn’t my code but a conflict with QGC and the Xbox controller that was plugged in. Could this be the case?

Yes, that’s probably what is going. To allow MANUAL_CONTROL or RC_OVERRIDE in your script, you should disconnect or disable joystick in QGC. There is no workaround for it yet to allow multiple MANUAL_CONTROL or RC_OVERRIDE messages.