Hello, I am currently working on a project involving an underwater vehicle equipped with the Pixhawk running ArduSub firmware. My goal is to publish fake GPS messages using MAVROS to facilitate arming the vehicle in GUIDED mode.I have been exploring the use of the fake_gps plugin in MAVROS, but I am encountering challenges in getting reliable GPS fixes and successfully switching to GUIDED mode. Specifically, I would appreciate guidance on the following:
- Correct Configuration: What parameters should be set in the ArduSub configuration to ensure that fake GPS data is accepted? I have seen references to the
GPS_TYPEparameter but would like clarification on its correct usage. - Publishing Messages: Could you provide examples or best practices on how to publish messages to the
/mavros/fake_gps/mocap/posetopic effectively? Any tips on ensuring that these messages are correctly processed by ArduSub would be invaluable. - Home Position Setting: I am also having difficulty setting the home position using the
/mavros/cmd/set_homeservice, which seems crucial for transitioning into GUIDED mode. Any insights into common pitfalls or troubleshooting steps would be greatly appreciated.
Additionally, I noticed that there has been a previous thread addressing a similar issue, but it did not carry the specific topic names and instructions clearly. More clarity on these points would be extremely helpful in resolving my challenges.Thank you for your time and assistance. I look forward to your guidance on these issues so that I can successfully implement fake GPS functionality in my project.