[Autonomous BlueROV2] MavLink/Ardusub help

[patrickelectric (Patrick José Pereira)]

Hi,

About your code.

master.mav.manual_control_send(
        master.target_system,
        0,#x
        0,#y
        100,#z
        100,#r
        0)

@ggttkl

And my rov began to descend rapidly.

This is because of some legacy workaround, you need to use your z between -1000 and 1000.

Manual_control_send unexpected behavior

Due to some legacy workaround stuff, z is 0-1000 instead of -1000-1000.

@ggttkl

The next problem I met is I want to make ROV work without QGC connected. But when I do this, after 1s the system protect itselt and disarm the machine. It seems that without a hearbeat from QGC, the system doesn’t work. Could you please give me some advice on how to generate a fake heartbeat signal on Rpi and how to protect the machine without QGC connected.

This should not be a problem, you can connect the pixhawk in your computer, start mavproxy (mavproxy.py --master=/dev/ttyACM0 --out=udpbcast:0.0.0.0:14550 --console) and after that run a simple script to arm the vehicle, the vehicle will continue armed after the script finish, you can even restart mavproxy and the vehicle will show as armed

Can you share your project/code to see what is going wrong ?