I am re-posting a question from another subforum, with additional info.
I am trying the following MAVProxy commands and keep getting the corresponding results (in both Linux and Windows environments):
open mavproxy (it connects to Bluerov2 normally)
arm throttle (motors armed as shown in console)
rc 3 1510 (motors start spinning trying to move rov forward)
rc 3 1500 (motors continue – although I think they should stop)
disarm (motors stop – camera servo starts “hiccup”)
arm throttle (motors start spinning)
disarm (motors stop);
I was expecting that I could start/stop thrusters with “rc” mavproxy commands, but this doesnot happen.
Any ideas?
In addition, I tried the same thing by connecting to the companion raspberry (through “SSH pi@192.168.2.2”) and issuing the following commands in order to get into MAVProxy:
% sudo screen -ls #to find mavproxy's PID
% sudo screen -r "PID" #where "PID" is the process id of mavproxy
This gets me into the running MAVProxy with the prompt:
mode (19)>
Then I enter the above MAVProxy commands with the same results.
What is happening and how can I control the bluerov through commands in MAVProxy command line?
PS: During the above tests, I had not QGC running.
Try using ‘rc all 1500’ first. You can open qgroundcontrol without a joystick connected, and use the mavlink inspector widget to look at RC_CHANNELS_RAW and SERVO_OUTPUT_RAW to get a sense of what is going on.
To use qgroundcontrol and mavproxy at the same time, start mavproxy like this:
I just upgraded to Ardusub3.4-RC1 and downloaded the latest QGC.
I suppose that the mavproxy start command you propose is for the companion raspberry, meaning that I have to edit the start_mavproxy script there accordingly?
Just starting mavproxy in companion raspberry doesn’t work…
UPDATE:
If connect through ssh to companion raspberry and do a screen -r "mavproxy_pid", open QGC in the computer and start giving “mavproxy rc” commands it works! (with the exception of changing between modes which has to be done through QGC.
UPDATE #2:
If I close QGC and start mavproxy (with no options) in the “surface computer” I can also arm/disarm and give mavproxy rc commands successfully.
The only thing that does not work (and used to work before the 3.4 upgrade) is the capability to change between modes by giving the command rc 5 1100 (or 1300 or 1420) for Manual/Depth_Hold/Stabilize modes accordingly.
I had no success on running QGC in parallel (no joystick connected)
Using rc 5 to change modes will no longer work, the channel value will change when you enter different modes using the joystick just so that QGC will show you which mode you are on in the flight modes page. You can use the mode command in mavproxy. ‘mode 0’ for stabilize, ‘mode 2’ for depth hold, and ‘mode 19’ for manual.
Oh, yes I’m sorry the mavproxy command you would use for the surface computer connected to BROV2 would be:
My mistake, the mode mapping is in pymavlink master, but not the package release. You will have to download pymavlink and install/build from source to use the mode command. Otherwise, you can still use the SET_MODE mavlink message.
In QGroundControl, select udp for the type and 14551 for the port, you shouldn’t have to put anything for target host.