Hi there,
we have an underwater vehicle, with the Pixhawk ardusub firmware installed on it.
The milestone we wan’t to achive is to be able to provide external position data through fake_gps, and we either will want to send some velocity setpoints or position setpoints, and basically expect the vehicle to achieve that pose or that velocity.
the fake_gps works pretty well since we can get the data we publish from /mavros/global_position/local, but we cannot get any data from /mavros/local_position/pose, which we think the problem is due to setting home position. here is the script we use for setting position
def __init__(self):
self.homepos_client = rospy.ServiceProxy("/mavros/cmd/set_home", CommandHome)
def set_home(self, home_pos):
srv = CommandHomeRequest()
srv.current_gps = True
srv.altitude = home_pos["alt"]
srv.latitude = home_pos["lat"]
srv.longitude = home_pos["lon"]
resp = self.homepos_client(srv)
print resp
After we try to set the home position, the request fails and returns a success: False, result: 4 error.
Because we fail at any of those, we fail to switch to guided mode, which is i think the required mode for position/velocity based movement.
The manual/rcoverride method is the method we currently use, but if this can be a solution, we don’t want to waste time with custom controllers etc since the imu data is published at 50hz, but of course it is the must do option if it is not possible to use guided mode.
We even get a GPS lock, which the indicator lights green.
Here is our parameter list
# Onboard parameters for Vehicle 1
#
# Stack: ArduPilot
# Vehicle: Sub
# Version: 3.6.0 dev
# Git Revision: 4bec75d
#
# Vehicle-Id Component-Id Name Value Type
1 1 ACRO_BAL_PITCH 1.000000000000000000 9
1 1 ACRO_BAL_ROLL 1.000000000000000000 9
1 1 ACRO_EXPO 0.300000011920928955 9
1 1 ACRO_RP_P 4.500000000000000000 9
1 1 ACRO_TRAINER 2 2
1 1 ACRO_YAW_P 3.375000000000000000 9
1 1 AHRS_COMP_BETA 0.100000001490116119 9
1 1 AHRS_CUSTOM_PIT 0.000000000000000000 9
1 1 AHRS_CUSTOM_ROLL 0.000000000000000000 9
1 1 AHRS_CUSTOM_YAW 0.000000000000000000 9
1 1 AHRS_EKF_TYPE 2 2
1 1 AHRS_GPS_GAIN 1.000000000000000000 9
1 1 AHRS_GPS_MINSATS 6 2
1 1 AHRS_GPS_USE 1 2
1 1 AHRS_ORIENTATION 0 2
1 1 AHRS_RP_P 0.200000002980232239 9
1 1 AHRS_TRIM_X 0.022342924028635025 9
1 1 AHRS_TRIM_Y -0.026222474873065948 9
1 1 AHRS_TRIM_Z 0.000000000000000000 9
1 1 AHRS_WIND_MAX 0 2
1 1 AHRS_YAW_P 0.200000002980232239 9
1 1 ANGLE_MAX 4500 4
1 1 ARMING_ACCTHRESH 0.750000000000000000 9
1 1 ARMING_CHECK 448 4
1 1 ATC_ACCEL_P_MAX 110000.000000000000000000 9
1 1 ATC_ACCEL_R_MAX 110000.000000000000000000 9
1 1 ATC_ACCEL_Y_MAX 110000.000000000000000000 9
1 1 ATC_ANGLE_BOOST 1 2
1 1 ATC_ANG_LIM_TC 1.000000000000000000 9
1 1 ATC_ANG_PIT_P 6.000000000000000000 9
1 1 ATC_ANG_RLL_P 6.000000000000000000 9
1 1 ATC_ANG_YAW_P 6.000000000000000000 9
1 1 ATC_INPUT_TC 0.150000005960464478 9
1 1 ATC_RATE_FF_ENAB 1 2
1 1 ATC_RATE_P_MAX 0.000000000000000000 9
1 1 ATC_RATE_R_MAX 0.000000000000000000 9
1 1 ATC_RATE_Y_MAX 0.000000000000000000 9
1 1 ATC_RAT_PIT_D 0.003599999938160181 9
1 1 ATC_RAT_PIT_FF 0.000000000000000000 9
1 1 ATC_RAT_PIT_FILT 30.000000000000000000 9
1 1 ATC_RAT_PIT_I 0.090000003576278687 9
1 1 ATC_RAT_PIT_IMAX 0.444000005722045898 9
1 1 ATC_RAT_PIT_P 0.135000005364418030 9
1 1 ATC_RAT_RLL_D 0.003599999938160181 9
1 1 ATC_RAT_RLL_FF 0.000000000000000000 9
1 1 ATC_RAT_RLL_FILT 30.000000000000000000 9
1 1 ATC_RAT_RLL_I 0.090000003576278687 9
1 1 ATC_RAT_RLL_IMAX 0.444000005722045898 9
1 1 ATC_RAT_RLL_P 0.135000005364418030 9
1 1 ATC_RAT_YAW_D 0.000000000000000000 9
1 1 ATC_RAT_YAW_FF 0.000000000000000000 9
1 1 ATC_RAT_YAW_FILT 5.000000000000000000 9
1 1 ATC_RAT_YAW_I 0.017999999225139618 9
1 1 ATC_RAT_YAW_IMAX 0.222000002861022949 9
1 1 ATC_RAT_YAW_P 0.180000007152557373 9
1 1 ATC_SLEW_YAW 6000.000000000000000000 9
1 1 ATC_THR_MIX_MAN 0.500000000000000000 9
1 1 ATC_THR_MIX_MAX 0.500000000000000000 9
1 1 ATC_THR_MIX_MIN 0.100000001490116119 9
1 1 BATT2_MONITOR 0 2
1 1 BATT3_MONITOR 0 2
1 1 BATT4_MONITOR 0 2
1 1 BATT5_MONITOR 0 2
1 1 BATT6_MONITOR 0 2
1 1 BATT7_MONITOR 0 2
1 1 BATT8_MONITOR 0 2
1 1 BATT9_MONITOR 0 2
1 1 BATT_AMP_OFFSET 0.000000000000000000 9
1 1 BATT_AMP_PERVLT 17.000000000000000000 9
1 1 BATT_ARM_MAH 0 6
1 1 BATT_ARM_VOLT 0.000000000000000000 9
1 1 BATT_CAPACITY 3300 6
1 1 BATT_CRT_MAH 0.000000000000000000 9
1 1 BATT_CRT_VOLT 0.000000000000000000 9
1 1 BATT_CURR_PIN 3 2
1 1 BATT_FS_CRT_ACT 0 2
1 1 BATT_FS_LOW_ACT 0 2
1 1 BATT_FS_VOLTSRC 0 2
1 1 BATT_LOW_MAH 0.000000000000000000 9
1 1 BATT_LOW_TIMER 10 2
1 1 BATT_LOW_VOLT 0.000000000000000000 9
1 1 BATT_MONITOR 4 2
1 1 BATT_SERIAL_NUM -1 6
1 1 BATT_VOLT_MULT 10.100000381469726563 9
1 1 BATT_VOLT_PIN 2 2
1 1 BRD_IMU_TARGTEMP -1 2
1 1 BRD_IO_ENABLE 1 2
1 1 BRD_PWM_COUNT 4 2
1 1 BRD_RTC_TYPES 1 2
1 1 BRD_SAFETYENABLE 0 2
1 1 BRD_SAFETYOPTION 3 4
1 1 BRD_SAFETY_MASK 0 6
1 1 BRD_SBUS_OUT 1 2
1 1 BRD_SER1_RTSCTS 2 2
1 1 BRD_SER2_RTSCTS 2 2
1 1 BRD_SERIAL_NUM 0 4
1 1 BRD_TYPE 2 2
1 1 BRD_VBUS_MIN 4.300000190734863281 9
1 1 BRD_VSERVO_MIN 0.000000000000000000 9
1 1 BTN0_FUNCTION 0 2
1 1 BTN0_SFUNCTION 0 2
1 1 BTN10_FUNCTION 22 2
1 1 BTN10_SFUNCTION 26 2
1 1 BTN11_FUNCTION 42 2
1 1 BTN11_SFUNCTION 47 2
1 1 BTN12_FUNCTION 43 2
1 1 BTN12_SFUNCTION 46 2
1 1 BTN13_FUNCTION 33 2
1 1 BTN13_SFUNCTION 45 2
1 1 BTN14_FUNCTION 32 2
1 1 BTN14_SFUNCTION 44 2
1 1 BTN15_FUNCTION 0 2
1 1 BTN15_SFUNCTION 0 2
1 1 BTN1_FUNCTION 5 2
1 1 BTN1_SFUNCTION 0 2
1 1 BTN2_FUNCTION 7 2
1 1 BTN2_SFUNCTION 0 2
1 1 BTN3_FUNCTION 6 2
1 1 BTN3_SFUNCTION 0 2
1 1 BTN4_FUNCTION 4 2
1 1 BTN4_SFUNCTION 0 2
1 1 BTN5_FUNCTION 1 2
1 1 BTN5_SFUNCTION 0 2
1 1 BTN6_FUNCTION 3 2
1 1 BTN6_SFUNCTION 0 2
1 1 BTN7_FUNCTION 21 2
1 1 BTN7_SFUNCTION 0 2
1 1 BTN8_FUNCTION 48 2
1 1 BTN8_SFUNCTION 0 2
1 1 BTN9_FUNCTION 23 2
1 1 BTN9_SFUNCTION 27 2
1 1 CAN_D1_PROTOCOL 1 2
1 1 CAN_D2_PROTOCOL 1 2
1 1 CAN_P1_DRIVER 0 2
1 1 CAN_P2_DRIVER 0 2
1 1 CIRCLE_RADIUS 1000.000000000000000000 9
1 1 CIRCLE_RATE 2.000000000000000000 9
1 1 COMPASS_AUTODEC 1 2
1 1 COMPASS_AUTO_ROT 2 2
1 1 COMPASS_CAL_FIT 16.000000000000000000 9
1 1 COMPASS_DEC 0.040936719626188278 9
1 1 COMPASS_DEV_ID 131594 6
1 1 COMPASS_DEV_ID2 0 6
1 1 COMPASS_DEV_ID3 0 6
1 1 COMPASS_DIA2_X 0.000000000000000000 9
1 1 COMPASS_DIA2_Y 0.000000000000000000 9
1 1 COMPASS_DIA2_Z 0.000000000000000000 9
1 1 COMPASS_DIA3_X 0.000000000000000000 9
1 1 COMPASS_DIA3_Y 0.000000000000000000 9
1 1 COMPASS_DIA3_Z 0.000000000000000000 9
1 1 COMPASS_DIA_X 1.000000000000000000 9
1 1 COMPASS_DIA_Y 1.000000000000000000 9
1 1 COMPASS_DIA_Z 1.000000000000000000 9
1 1 COMPASS_EXP_DID -1 6
1 1 COMPASS_EXP_DID2 -1 6
1 1 COMPASS_EXP_DID3 -1 6
1 1 COMPASS_EXTERN2 0 2
1 1 COMPASS_EXTERN3 0 2
1 1 COMPASS_EXTERNAL 0 2
1 1 COMPASS_FLTR_RNG 0 2
1 1 COMPASS_LEARN 0 2
1 1 COMPASS_MOT2_X 0.000000000000000000 9
1 1 COMPASS_MOT2_Y 0.000000000000000000 9
1 1 COMPASS_MOT2_Z 0.000000000000000000 9
1 1 COMPASS_MOT3_X 0.000000000000000000 9
1 1 COMPASS_MOT3_Y 0.000000000000000000 9
1 1 COMPASS_MOT3_Z 0.000000000000000000 9
1 1 COMPASS_MOTCT 0 2
1 1 COMPASS_MOT_X 0.000000000000000000 9
1 1 COMPASS_MOT_Y 0.000000000000000000 9
1 1 COMPASS_MOT_Z 0.000000000000000000 9
1 1 COMPASS_ODI2_X 0.000000000000000000 9
1 1 COMPASS_ODI2_Y 0.000000000000000000 9
1 1 COMPASS_ODI2_Z 0.000000000000000000 9
1 1 COMPASS_ODI3_X 0.000000000000000000 9
1 1 COMPASS_ODI3_Y 0.000000000000000000 9
1 1 COMPASS_ODI3_Z 0.000000000000000000 9
1 1 COMPASS_ODI_X 0.000000000000000000 9
1 1 COMPASS_ODI_Y 0.000000000000000000 9
1 1 COMPASS_ODI_Z 0.000000000000000000 9
1 1 COMPASS_OFFS_MAX 1000 4
1 1 COMPASS_OFS2_X 0.000000000000000000 9
1 1 COMPASS_OFS2_Y 0.000000000000000000 9
1 1 COMPASS_OFS2_Z 0.000000000000000000 9
1 1 COMPASS_OFS3_X 0.000000000000000000 9
1 1 COMPASS_OFS3_Y 0.000000000000000000 9
1 1 COMPASS_OFS3_Z 0.000000000000000000 9
1 1 COMPASS_OFS_X 0.000000000000000000 9
1 1 COMPASS_OFS_Y 0.000000000000000000 9
1 1 COMPASS_OFS_Z 0.000000000000000000 9
1 1 COMPASS_ORIENT 0 2
1 1 COMPASS_ORIENT2 0 2
1 1 COMPASS_ORIENT3 0 2
1 1 COMPASS_PMOT_EN 0 2
1 1 COMPASS_PRIMARY 0 2
1 1 COMPASS_TYPEMASK 0 6
1 1 COMPASS_USE 1 2
1 1 COMPASS_USE2 1 2
1 1 COMPASS_USE3 1 2
1 1 EK2_ABIAS_P_NSE 0.004999999888241291 9
1 1 EK2_ACC_P_NSE 0.600000023841857910 9
1 1 EK2_ALT_M_NSE 10.000000000000000000 9
1 1 EK2_ALT_SOURCE 0 2
1 1 EK2_BCN_DELAY 50 2
1 1 EK2_BCN_I_GTE 500 4
1 1 EK2_BCN_M_NSE 1.000000000000000000 9
1 1 EK2_CHECK_SCALE 100 4
1 1 EK2_EAS_I_GATE 400 4
1 1 EK2_EAS_M_NSE 1.399999976158142090 9
1 1 EK2_ENABLE 1 2
1 1 EK2_FLOW_DELAY 10 2
1 1 EK2_FLOW_I_GATE 300 4
1 1 EK2_FLOW_M_NSE 0.250000000000000000 9
1 1 EK2_GBIAS_P_NSE 0.000099999997473788 9
1 1 EK2_GLITCH_RAD 25 2
1 1 EK2_GPS_CHECK 31 2
1 1 EK2_GPS_TYPE 1 2
1 1 EK2_GSCL_P_NSE 0.000500000023748726 9
1 1 EK2_GYRO_P_NSE 0.029999999329447746 9
1 1 EK2_HGT_DELAY 60 4
1 1 EK2_HGT_I_GATE 500 4
1 1 EK2_IMU_MASK 3 2
1 1 EK2_LOG_MASK 1 2
1 1 EK2_MAGB_P_NSE 0.000099999997473788 9
1 1 EK2_MAGE_P_NSE 0.001000000047497451 9
1 1 EK2_MAG_CAL 3 2
1 1 EK2_MAG_I_GATE 300 4
1 1 EK2_MAG_MASK 0 2
1 1 EK2_MAG_M_NSE 0.050000000745058060 9
1 1 EK2_MAX_FLOW 2.500000000000000000 9
1 1 EK2_NOAID_M_NSE 10.000000000000000000 9
1 1 EK2_OGN_HGT_MASK 0 2
1 1 EK2_POSNE_M_NSE 1.000000000000000000 9
1 1 EK2_POS_I_GATE 500 4
1 1 EK2_RNG_I_GATE 500 4
1 1 EK2_RNG_M_NSE 0.500000000000000000 9
1 1 EK2_RNG_USE_HGT -1 2
1 1 EK2_RNG_USE_SPD 2.000000000000000000 9
1 1 EK2_TAU_OUTPUT 25 2
1 1 EK2_TERR_GRAD 0.100000001490116119 9
1 1 EK2_VELD_M_NSE 0.699999988079071045 9
1 1 EK2_VELNE_M_NSE 0.500000000000000000 9
1 1 EK2_VEL_I_GATE 500 4
1 1 EK2_WIND_PSCALE 0.500000000000000000 9
1 1 EK2_WIND_P_NSE 0.100000001490116119 9
1 1 EK2_YAW_I_GATE 300 4
1 1 EK2_YAW_M_NSE 0.500000000000000000 9
1 1 EK3_ENABLE 0 2
1 1 FENCE_ACTION 1 2
1 1 FENCE_ALT_MAX 100.000000000000000000 9
1 1 FENCE_ALT_MIN -10.000000000000000000 9
1 1 FENCE_ENABLE 0 2
1 1 FENCE_MARGIN 2.000000000000000000 9
1 1 FENCE_RADIUS 300.000000000000000000 9
1 1 FENCE_TOTAL 0 2
1 1 FENCE_TYPE 7 2
1 1 FRAME_CONFIG 1 2
1 1 FS_CRASH_CHECK 0 2
1 1 FS_EKF_ACTION 0 2
1 1 FS_EKF_THRESH 0.800000011920928955 9
1 1 FS_GCS_ENABLE 0 2
1 1 FS_LEAK_ENABLE 0 2
1 1 FS_PILOT_INPUT 0 2
1 1 FS_PILOT_TIMEOUT 3.000000000000000000 9
1 1 FS_PRESS_ENABLE 0 2
1 1 FS_PRESS_MAX 105000 6
1 1 FS_TEMP_ENABLE 0 2
1 1 FS_TEMP_MAX 62 2
1 1 FS_TERRAIN_ENAB 1 2
1 1 GCS_PID_MASK 0 4
1 1 GND_ABS_PRESS 100744.734375000000000000 9
1 1 GND_ABS_PRESS2 0.000000000000000000 9
1 1 GND_ABS_PRESS3 0.000000000000000000 9
1 1 GND_ALT_OFFSET 0.000000000000000000 9
1 1 GND_EXT_BUS 1 2
1 1 GND_FLTR_RNG 0 2
1 1 GND_PRIMARY 0 2
1 1 GND_SPEC_GRAV 1.000000000000000000 9
1 1 GND_TEMP 0.000000000000000000 9
1 1 GPS_AUTO_CONFIG 1 2
1 1 GPS_AUTO_SWITCH 1 2
1 1 GPS_BLEND_MASK 5 2
1 1 GPS_BLEND_TC 10.000000000000000000 9
1 1 GPS_DELAY_MS 0 4
1 1 GPS_DELAY_MS2 0 4
1 1 GPS_GNSS_MODE 0 2
1 1 GPS_GNSS_MODE2 0 2
1 1 GPS_INJECT_TO 127 2
1 1 GPS_MIN_DGPS 100 2
1 1 GPS_MIN_ELEV -100 2
1 1 GPS_NAVFILTER 8 2
1 1 GPS_POS1_X 0.000000000000000000 9
1 1 GPS_POS1_Y 0.000000000000000000 9
1 1 GPS_POS1_Z 0.000000000000000000 9
1 1 GPS_POS2_X 0.000000000000000000 9
1 1 GPS_POS2_Y 0.000000000000000000 9
1 1 GPS_POS2_Z 0.000000000000000000 9
1 1 GPS_RATE_MS 200 4
1 1 GPS_RATE_MS2 200 4
1 1 GPS_RAW_DATA 0 2
1 1 GPS_SAVE_CFG 2 2
1 1 GPS_SBAS_MODE 2 2
1 1 GPS_SBP_LOGMASK -256 4
1 1 GPS_TYPE 14 2
1 1 GPS_TYPE2 14 2
1 1 INS_ACC2OFFS_X -0.048896312713623047 9
1 1 INS_ACC2OFFS_Y -0.068199947476387024 9
1 1 INS_ACC2OFFS_Z 0.671753227710723877 9
1 1 INS_ACC2SCAL_X 1.000235915184020996 9
1 1 INS_ACC2SCAL_Y 0.981025695800781250 9
1 1 INS_ACC2SCAL_Z 1.007125139236450195 9
1 1 INS_ACC2_ID 1114634 6
1 1 INS_ACC3OFFS_X 0.000000000000000000 9
1 1 INS_ACC3OFFS_Y 0.000000000000000000 9
1 1 INS_ACC3OFFS_Z 0.000000000000000000 9
1 1 INS_ACC3SCAL_X 0.000000000000000000 9
1 1 INS_ACC3SCAL_Y 0.000000000000000000 9
1 1 INS_ACC3SCAL_Z 0.000000000000000000 9
1 1 INS_ACC3_ID 0 6
1 1 INS_ACCEL_FILTER 20 2
1 1 INS_ACCOFFS_X -0.010551984421908855 9
1 1 INS_ACCOFFS_Y -0.324601054191589355 9
1 1 INS_ACCOFFS_Z -1.904095530509948730 9
1 1 INS_ACCSCAL_X 0.999389052391052246 9
1 1 INS_ACCSCAL_Y 0.998169183731079102 9
1 1 INS_ACCSCAL_Z 0.984476685523986816 9
1 1 INS_ACC_BODYFIX 2 2
1 1 INS_ACC_ID 1246218 6
1 1 INS_ENABLE_MASK 3 2
1 1 INS_FAST_SAMPLE 0 2
1 1 INS_GYR2OFFS_X 0.028326001018285751 9
1 1 INS_GYR2OFFS_Y -0.003329514060169458 9
1 1 INS_GYR2OFFS_Z 0.011078460142016411 9
1 1 INS_GYR2_ID 2228490 6
1 1 INS_GYR3OFFS_X 0.000000000000000000 9
1 1 INS_GYR3OFFS_Y 0.000000000000000000 9
1 1 INS_GYR3OFFS_Z 0.000000000000000000 9
1 1 INS_GYR3_ID 0 6
1 1 INS_GYROFFS_X -0.000407375715440139 9
1 1 INS_GYROFFS_Y -0.021693699061870575 9
1 1 INS_GYROFFS_Z -0.016875222325325012 9
1 1 INS_GYRO_FILTER 20 2
1 1 INS_GYR_CAL 0 2
1 1 INS_GYR_ID 2163722 6
1 1 INS_LOG_BAT_CNT 1024 4
1 1 INS_LOG_BAT_LGCT 32 4
1 1 INS_LOG_BAT_LGIN 20 2
1 1 INS_LOG_BAT_MASK 0 2
1 1 INS_LOG_BAT_OPT 0 2
1 1 INS_NOTCH_ENABLE 0 2
1 1 INS_POS1_X 0.000000000000000000 9
1 1 INS_POS1_Y 0.000000000000000000 9
1 1 INS_POS1_Z 0.000000000000000000 9
1 1 INS_POS2_X 0.000000000000000000 9
1 1 INS_POS2_Y 0.000000000000000000 9
1 1 INS_POS2_Z 0.000000000000000000 9
1 1 INS_POS3_X 0.000000000000000000 9
1 1 INS_POS3_Y 0.000000000000000000 9
1 1 INS_POS3_Z 0.000000000000000000 9
1 1 INS_PRODUCT_ID 0 4
1 1 INS_STILL_THRESH 0.100000001490116119 9
1 1 INS_TRIM_OPTION 1 2
1 1 INS_USE 1 2
1 1 INS_USE2 1 2
1 1 INS_USE3 0 2
1 1 JS_GAIN_DEFAULT 1.000000000000000000 9
1 1 JS_GAIN_MAX 1.000000000000000000 9
1 1 JS_GAIN_MIN 0.100000001490116119 9
1 1 JS_GAIN_STEPS 4 2
1 1 JS_LIGHTS_STEPS 8 4
1 1 JS_THR_GAIN 1.000000000000000000 9
1 1 LEAK1_LOGIC 0 2
1 1 LEAK1_PIN -1 2
1 1 LEAK2_LOGIC 0 2
1 1 LEAK2_PIN -1 2
1 1 LEAK3_LOGIC 0 2
1 1 LEAK3_PIN -1 2
1 1 LOG_BACKEND_TYPE 3 2
1 1 LOG_BITMASK 176126 6
1 1 LOG_DISARMED 0 2
1 1 LOG_FILE_BUFSIZE 16 2
1 1 LOG_FILE_DSRMROT 0 2
1 1 LOG_MAV_BUFSIZE 8 2
1 1 LOG_REPLAY 0 2
1 1 LOITER_ACC_MAX 500.000000000000000000 9
1 1 LOITER_ANG_MAX 0.000000000000000000 9
1 1 LOITER_BRK_ACCEL 250.000000000000000000 9
1 1 LOITER_BRK_DELAY 1.000000000000000000 9
1 1 LOITER_BRK_JERK 500.000000000000000000 9
1 1 LOITER_SPEED 1250.000000000000000000 9
1 1 MAG_ENABLE 1 2
1 1 MIS_OPTIONS 0 4
1 1 MIS_RESTART 0 2
1 1 MIS_TOTAL 0 4
1 1 MNT_ANGMAX_PAN 4500 4
1 1 MNT_ANGMAX_ROL 4500 4
1 1 MNT_ANGMAX_TIL 4500 4
1 1 MNT_ANGMIN_PAN -4500 4
1 1 MNT_ANGMIN_ROL -4500 4
1 1 MNT_ANGMIN_TIL -4500 4
1 1 MNT_DEFLT_MODE 3 2
1 1 MNT_JSTICK_SPD 100 2
1 1 MNT_LEAD_PTCH 0.000000000000000000 9
1 1 MNT_LEAD_RLL 0.000000000000000000 9
1 1 MNT_NEUTRAL_X 0.000000000000000000 9
1 1 MNT_NEUTRAL_Y 0.000000000000000000 9
1 1 MNT_NEUTRAL_Z 0.000000000000000000 9
1 1 MNT_RC_IN_PAN 7 2
1 1 MNT_RC_IN_ROLL 0 2
1 1 MNT_RC_IN_TILT 8 2
1 1 MNT_RETRACT_X 0.000000000000000000 9
1 1 MNT_RETRACT_Y 0.000000000000000000 9
1 1 MNT_RETRACT_Z 0.000000000000000000 9
1 1 MNT_STAB_PAN 0 2
1 1 MNT_STAB_ROLL 0 2
1 1 MNT_STAB_TILT 0 2
1 1 MNT_TYPE 0 2
1 1 MOT_10_DIRECTION 1 2
1 1 MOT_11_DIRECTION 1 2
1 1 MOT_12_DIRECTION 1 2
1 1 MOT_1_DIRECTION 1 2
1 1 MOT_2_DIRECTION 1 2
1 1 MOT_3_DIRECTION 1 2
1 1 MOT_4_DIRECTION 1 2
1 1 MOT_5_DIRECTION 1 2
1 1 MOT_6_DIRECTION 1 2
1 1 MOT_7_DIRECTION 1 2
1 1 MOT_8_DIRECTION 1 2
1 1 MOT_9_DIRECTION 1 2
1 1 MOT_BAT_CURR_MAX 0.000000000000000000 9
1 1 MOT_BAT_CURR_TC 5.000000000000000000 9
1 1 MOT_BAT_IDX 0 2
1 1 MOT_BAT_VOLT_MAX 0.000000000000000000 9
1 1 MOT_BAT_VOLT_MIN 0.000000000000000000 9
1 1 MOT_BOOST_SCALE 0.000000000000000000 9
1 1 MOT_FV_CPLNG_K 1.000000000000000000 9
1 1 MOT_HOVER_LEARN 2 2
1 1 MOT_PWM_MAX 1900 4
1 1 MOT_PWM_MIN 1100 4
1 1 MOT_PWM_TYPE 0 2
1 1 MOT_SAFE_DISARM 0 2
1 1 MOT_SPIN_ARM 0.100000001490116119 9
1 1 MOT_SPIN_MAX 0.949999988079071045 9
1 1 MOT_SPIN_MIN 0.150000005960464478 9
1 1 MOT_SPOOL_TIME 0.200000002980232239 9
1 1 MOT_THST_EXPO 0.649999976158142090 9
1 1 MOT_THST_HOVER 0.349999994039535522 9
1 1 MOT_YAW_HEADROOM 200 4
1 1 NTF_BUZZ_ENABLE 1 2
1 1 NTF_BUZZ_PIN 0 2
1 1 NTF_DISPLAY_TYPE 0 2
1 1 NTF_LED_BRIGHT 3 2
1 1 NTF_LED_OVERRIDE 0 2
1 1 NTF_LED_TYPES 199 6
1 1 PILOT_ACCEL_Z 100 4
1 1 PILOT_SPEED_DN 0 4
1 1 PILOT_SPEED_UP 500 4
1 1 PILOT_THR_FILT 0.000000000000000000 9
1 1 PSC_ACCZ_D 0.000000000000000000 9
1 1 PSC_ACCZ_FF 0.000000000000000000 9
1 1 PSC_ACCZ_FILT 20.000000000000000000 9
1 1 PSC_ACCZ_I 0.100000001490116119 9
1 1 PSC_ACCZ_IMAX 100.000000000000000000 9
1 1 PSC_ACCZ_P 0.500000000000000000 9
1 1 PSC_ACC_XY_FILT 2.000000000000000000 9
1 1 PSC_ANGLE_MAX 0.000000000000000000 9
1 1 PSC_POSXY_P 1.000000000000000000 9
1 1 PSC_POSZ_P 3.000000000000000000 9
1 1 PSC_VELXY_D 0.000000000000000000 9
1 1 PSC_VELXY_D_FILT 5.000000000000000000 9
1 1 PSC_VELXY_FILT 5.000000000000000000 9
1 1 PSC_VELXY_I 0.500000000000000000 9
1 1 PSC_VELXY_IMAX 1000.000000000000000000 9
1 1 PSC_VELXY_P 1.000000000000000000 9
1 1 PSC_VELZ_P 8.000000000000000000 9
1 1 RC10_DZ 30 4
1 1 RC10_MAX 1900 4
1 1 RC10_MIN 1100 4
1 1 RC10_REVERSED 0 2
1 1 RC10_TRIM 1500 4
1 1 RC11_DZ 30 4
1 1 RC11_MAX 1900 4
1 1 RC11_MIN 1100 4
1 1 RC11_REVERSED 0 2
1 1 RC11_TRIM 1500 4
1 1 RC12_DZ 30 4
1 1 RC12_MAX 1900 4
1 1 RC12_MIN 1100 4
1 1 RC12_REVERSED 0 2
1 1 RC12_TRIM 1500 4
1 1 RC13_DZ 30 4
1 1 RC13_MAX 1900 4
1 1 RC13_MIN 1100 4
1 1 RC13_REVERSED 0 2
1 1 RC13_TRIM 1500 4
1 1 RC14_DZ 30 4
1 1 RC14_MAX 1900 4
1 1 RC14_MIN 1100 4
1 1 RC14_REVERSED 0 2
1 1 RC14_TRIM 1500 4
1 1 RC15_DZ 30 4
1 1 RC15_MAX 1900 4
1 1 RC15_MIN 1100 4
1 1 RC15_REVERSED 0 2
1 1 RC15_TRIM 1500 4
1 1 RC16_DZ 30 4
1 1 RC16_MAX 1900 4
1 1 RC16_MIN 1100 4
1 1 RC16_REVERSED 0 2
1 1 RC16_TRIM 1500 4
1 1 RC1_DZ 30 4
1 1 RC1_MAX 1900 4
1 1 RC1_MIN 1100 4
1 1 RC1_REVERSED 0 2
1 1 RC1_TRIM 1500 4
1 1 RC2_DZ 30 4
1 1 RC2_MAX 1900 4
1 1 RC2_MIN 1100 4
1 1 RC2_REVERSED 0 2
1 1 RC2_TRIM 1500 4
1 1 RC3_DZ 30 4
1 1 RC3_MAX 1900 4
1 1 RC3_MIN 1100 4
1 1 RC3_REVERSED 0 2
1 1 RC3_TRIM 1100 4
1 1 RC4_DZ 30 4
1 1 RC4_MAX 1900 4
1 1 RC4_MIN 1100 4
1 1 RC4_REVERSED 0 2
1 1 RC4_TRIM 1500 4
1 1 RC5_DZ 30 4
1 1 RC5_MAX 1900 4
1 1 RC5_MIN 1100 4
1 1 RC5_REVERSED 0 2
1 1 RC5_TRIM 1500 4
1 1 RC6_DZ 30 4
1 1 RC6_MAX 1900 4
1 1 RC6_MIN 1100 4
1 1 RC6_REVERSED 0 2
1 1 RC6_TRIM 1500 4
1 1 RC7_DZ 30 4
1 1 RC7_MAX 1900 4
1 1 RC7_MIN 1100 4
1 1 RC7_REVERSED 0 2
1 1 RC7_TRIM 1500 4
1 1 RC8_DZ 30 4
1 1 RC8_MAX 1900 4
1 1 RC8_MIN 1100 4
1 1 RC8_REVERSED 0 2
1 1 RC8_TRIM 1500 4
1 1 RC9_DZ 30 4
1 1 RC9_MAX 1900 4
1 1 RC9_MIN 1100 4
1 1 RC9_REVERSED 0 2
1 1 RC9_TRIM 1500 4
1 1 RC_OPTIONS 0 6
1 1 RC_OVERRIDE_TIME 3.000000000000000000 9
1 1 RC_SPEED 200 4
1 1 RELAY_DEFAULT 0 2
1 1 RELAY_PIN 54 2
1 1 RELAY_PIN2 55 2
1 1 RELAY_PIN3 -1 2
1 1 RELAY_PIN4 -1 2
1 1 RNGFND2_ADDR 0 2
1 1 RNGFND2_FUNCTION 0 2
1 1 RNGFND2_GNDCLEAR 10 2
1 1 RNGFND2_MAX_CM 700 4
1 1 RNGFND2_MIN_CM 20 4
1 1 RNGFND2_OFFSET 0.000000000000000000 9
1 1 RNGFND2_ORIENT 25 2
1 1 RNGFND2_PIN -1 2
1 1 RNGFND2_POS_X 0.000000000000000000 9
1 1 RNGFND2_POS_Y 0.000000000000000000 9
1 1 RNGFND2_POS_Z 0.000000000000000000 9
1 1 RNGFND2_RMETRIC 1 2
1 1 RNGFND2_SCALING 3.000000000000000000 9
1 1 RNGFND2_SETTLE 0 4
1 1 RNGFND2_STOP_PIN -1 2
1 1 RNGFND2_TYPE 0 2
1 1 RNGFND_ADDR 0 2
1 1 RNGFND_FUNCTION 0 2
1 1 RNGFND_GAIN 0.800000011920928955 9
1 1 RNGFND_GNDCLEAR 10 2
1 1 RNGFND_MAX_CM 700 4
1 1 RNGFND_MIN_CM 20 4
1 1 RNGFND_OFFSET 0.000000000000000000 9
1 1 RNGFND_ORIENT 25 2
1 1 RNGFND_PIN -1 2
1 1 RNGFND_POS_X 0.000000000000000000 9
1 1 RNGFND_POS_Y 0.000000000000000000 9
1 1 RNGFND_POS_Z 0.000000000000000000 9
1 1 RNGFND_PWRRNG 0 4
1 1 RNGFND_RMETRIC 1 2
1 1 RNGFND_SCALING 3.000000000000000000 9
1 1 RNGFND_SETTLE 0 4
1 1 RNGFND_STOP_PIN -1 2
1 1 RNGFND_TYPE 0 2
1 1 SCHED_DEBUG 0 2
1 1 SCHED_LOOP_RATE 400 4
1 1 SERIAL0_BAUD 115 6
1 1 SERIAL0_PROTOCOL 2 2
1 1 SERIAL1_BAUD 115 6
1 1 SERIAL1_OPTIONS 0 4
1 1 SERIAL1_PROTOCOL 1 2
1 1 SERIAL2_BAUD 921 6
1 1 SERIAL2_OPTIONS 1 4
1 1 SERIAL2_PROTOCOL 2 2
1 1 SERIAL3_BAUD 38 6
1 1 SERIAL3_OPTIONS 0 4
1 1 SERIAL3_PROTOCOL 5 2
1 1 SERIAL4_BAUD 38 6
1 1 SERIAL4_OPTIONS 0 4
1 1 SERIAL4_PROTOCOL 5 2
1 1 SERIAL5_BAUD 57 6
1 1 SERIAL5_OPTIONS 0 4
1 1 SERIAL5_PROTOCOL -1 2
1 1 SERIAL6_BAUD 57 6
1 1 SERIAL6_OPTIONS 0 4
1 1 SERIAL6_PROTOCOL -1 2
1 1 SERVO10_FUNCTION 0 2
1 1 SERVO10_MAX 1900 4
1 1 SERVO10_MIN 1100 4
1 1 SERVO10_REVERSED 0 2
1 1 SERVO10_TRIM 1500 4
1 1 SERVO11_FUNCTION 0 2
1 1 SERVO11_MAX 1900 4
1 1 SERVO11_MIN 1100 4
1 1 SERVO11_REVERSED 0 2
1 1 SERVO11_TRIM 1500 4
1 1 SERVO12_FUNCTION 0 2
1 1 SERVO12_MAX 1900 4
1 1 SERVO12_MIN 1100 4
1 1 SERVO12_REVERSED 0 2
1 1 SERVO12_TRIM 1500 4
1 1 SERVO13_FUNCTION 0 2
1 1 SERVO13_MAX 1900 4
1 1 SERVO13_MIN 1100 4
1 1 SERVO13_REVERSED 0 2
1 1 SERVO13_TRIM 1500 4
1 1 SERVO14_FUNCTION 0 2
1 1 SERVO14_MAX 1900 4
1 1 SERVO14_MIN 1100 4
1 1 SERVO14_REVERSED 0 2
1 1 SERVO14_TRIM 1500 4
1 1 SERVO15_FUNCTION 0 2
1 1 SERVO15_MAX 1900 4
1 1 SERVO15_MIN 1100 4
1 1 SERVO15_REVERSED 0 2
1 1 SERVO15_TRIM 1500 4
1 1 SERVO16_FUNCTION 0 2
1 1 SERVO16_MAX 1900 4
1 1 SERVO16_MIN 1100 4
1 1 SERVO16_REVERSED 0 2
1 1 SERVO16_TRIM 1500 4
1 1 SERVO1_FUNCTION 33 2
1 1 SERVO1_MAX 1900 4
1 1 SERVO1_MIN 1100 4
1 1 SERVO1_REVERSED 0 2
1 1 SERVO1_TRIM 1500 4
1 1 SERVO2_FUNCTION 34 2
1 1 SERVO2_MAX 1900 4
1 1 SERVO2_MIN 1100 4
1 1 SERVO2_REVERSED 0 2
1 1 SERVO2_TRIM 1500 4
1 1 SERVO3_FUNCTION 35 2
1 1 SERVO3_MAX 1900 4
1 1 SERVO3_MIN 1100 4
1 1 SERVO3_REVERSED 0 2
1 1 SERVO3_TRIM 1500 4
1 1 SERVO4_FUNCTION 36 2
1 1 SERVO4_MAX 1900 4
1 1 SERVO4_MIN 1100 4
1 1 SERVO4_REVERSED 0 2
1 1 SERVO4_TRIM 1500 4
1 1 SERVO5_FUNCTION 37 2
1 1 SERVO5_MAX 1900 4
1 1 SERVO5_MIN 1100 4
1 1 SERVO5_REVERSED 0 2
1 1 SERVO5_TRIM 1500 4
1 1 SERVO6_FUNCTION 38 2
1 1 SERVO6_MAX 1900 4
1 1 SERVO6_MIN 1100 4
1 1 SERVO6_REVERSED 0 2
1 1 SERVO6_TRIM 1500 4
1 1 SERVO7_FUNCTION 39 2
1 1 SERVO7_MAX 1900 4
1 1 SERVO7_MIN 1100 4
1 1 SERVO7_REVERSED 0 2
1 1 SERVO7_TRIM 1500 4
1 1 SERVO8_FUNCTION 40 2
1 1 SERVO8_MAX 1900 4
1 1 SERVO8_MIN 1100 4
1 1 SERVO8_REVERSED 0 2
1 1 SERVO8_TRIM 1500 4
1 1 SERVO9_FUNCTION 0 2
1 1 SERVO9_MAX 1900 4
1 1 SERVO9_MIN 1100 4
1 1 SERVO9_REVERSED 0 2
1 1 SERVO9_TRIM 1500 4
1 1 SERVO_RATE 50 4
1 1 SERVO_SBUS_RATE 50 4
1 1 SERVO_VOLZ_MASK 0 6
1 1 SR0_EXTRA1 20 4
1 1 SR0_EXTRA2 100 4
1 1 SR0_EXTRA3 100 4
1 1 SR0_EXT_STAT 2 4
1 1 SR0_PARAMS 10 4
1 1 SR0_POSITION 3 4
1 1 SR0_RAW_SENS 2 4
1 1 SR0_RC_CHAN 2 4
1 1 SR1_EXTRA1 0 4
1 1 SR1_EXTRA2 0 4
1 1 SR1_EXTRA3 0 4
1 1 SR1_EXT_STAT 0 4
1 1 SR1_PARAMS 0 4
1 1 SR1_POSITION 0 4
1 1 SR1_RAW_SENS 0 4
1 1 SR1_RC_CHAN 0 4
1 1 SR2_EXTRA1 0 4
1 1 SR2_EXTRA2 0 4
1 1 SR2_EXTRA3 0 4
1 1 SR2_EXT_STAT 0 4
1 1 SR2_PARAMS 0 4
1 1 SR2_POSITION 0 4
1 1 SR2_RAW_SENS 0 4
1 1 SR2_RC_CHAN 0 4
1 1 SR3_EXTRA1 0 4
1 1 SR3_EXTRA2 0 4
1 1 SR3_EXTRA3 0 4
1 1 SR3_EXT_STAT 0 4
1 1 SR3_PARAMS 0 4
1 1 SR3_POSITION 0 4
1 1 SR3_RAW_SENS 0 4
1 1 SR3_RC_CHAN 0 4
1 1 SURFACE_DEPTH -10.000000000000000000 9
1 1 SYSID_MYGCS 1 4
1 1 SYSID_SW_MREV 1 4
1 1 SYSID_THISMAV 1 4
1 1 THR_DZ 100 4
1 1 WPNAV_ACCEL 0.000000000000000000 9
1 1 WPNAV_ACCEL_Z 100.000000000000000000 9
1 1 WPNAV_RADIUS 200.000000000000000000 9
1 1 WPNAV_RFND_USE 1 2
1 1 WPNAV_SPEED 500.000000000000000000 9
1 1 WPNAV_SPEED_DN 150.000000000000000000 9
1 1 WPNAV_SPEED_UP 250.000000000000000000 9
1 1 WP_YAW_BEHAVIOR 4 2
1 1 XTRACK_ANG_LIM 45 2
And here is the apm_config.yaml
# Common configuration for APM2 autopilot
#
# node:
startup_px4_usb_quirk: false
# --- system plugins ---
# sys_status & sys_time connection options
conn:
heartbeat_rate: 1.0 # send hertbeat rate in Hertz
timeout: 10.0 # hertbeat timeout in seconds
timesync_rate: 0.0 # TIMESYNC rate in Hertz (feature disabled if 0.0)
system_time_rate: 0.0 # send system time to FCU rate in Hertz (disabled if 0.0)
# sys_status
sys:
min_voltage: 10.0 # diagnostics min voltage
disable_diag: false # disable all sys_status diagnostics, except heartbeat
# sys_time
time:
time_ref_source: "fcu" # time_reference source
timesync_mode: NONE
timesync_avg_alpha: 0.6 # timesync averaging factor
# --- mavros plugins (alphabetical order) ---
# 3dr_radio
tdr_radio:
low_rssi: 40 # raw rssi lower level for diagnostics
# actuator_control
# None
# command
cmd:
use_comp_id_system_control: false # quirk for some old FCUs
# dummy
# None
# ftp
# None
# global_position
global_position:
frame_id: "map" # origin frame
child_frame_id: "base_link" # body-fixed frame
rot_covariance: 99999.0 # covariance for attitude?
gps_uere: 1.0 # User Equivalent Range Error (UERE) of GPS sensor (m)
use_relative_alt: true # use relative altitude for local coordinates
tf:
send: true # send TF?
frame_id: "map" # TF frame_id
global_frame_id: "earth" # TF earth frame_id
child_frame_id: "base_link" # TF child_frame_id
# imu_pub
imu:
frame_id: "base_link"
# need find actual values
linear_acceleration_stdev: 0.0003
angular_velocity_stdev: !degrees 0.02
orientation_stdev: 1.0
magnetic_stdev: 0.0
# local_position
local_position:
frame_id: "map"
tf:
send: true
frame_id: "map"
child_frame_id: "base_link"
send_fcu: false
# param
# None, used for FCU params
# rc_io
# None
# safety_area
safety_area:
p1: {x: 1.0, y: 1.0, z: 1.0}
p2: {x: -1.0, y: -1.0, z: -1.0}
# setpoint_accel
setpoint_accel:
send_force: false
# setpoint_attitude
setpoint_attitude:
reverse_thrust: false # allow reversed thrust
use_quaternion: false # enable PoseStamped topic subscriber
tf:
listen: false # enable tf listener (disable topic subscribers)
frame_id: "map"
child_frame_id: "target_attitude"
rate_limit: 50.0
# setpoint_position
setpoint_position:
tf:
listen: false # enable tf listener (disable topic subscribers)
frame_id: "map"
child_frame_id: "target_position"
rate_limit: 50.0
mav_frame: LOCAL_NED
# setpoint_velocity
setpoint_velocity:
mav_frame: LOCAL_NED
# vfr_hud
# None
# waypoint
mission:
pull_after_gcs: true # update mission if gcs updates
# --- mavros extras plugins (same order) ---
# adsb
# None
# debug_value
# None
# distance_sensor
## Currently available orientations:
# Check http://wiki.ros.org/mavros/Enumerations
##
distance_sensor:
rangefinder_pub:
id: 0
frame_id: "lidar"
#orientation: PITCH_270 # sended by FCU
field_of_view: 0.0 # XXX TODO
send_tf: false
sensor_position: {x: 0.0, y: 0.0, z: -0.1}
rangefinder_sub:
subscriber: true
id: 1
orientation: PITCH_270 # only that orientation are supported by APM 3.4+
# image_pub
image:
frame_id: "px4flow"
# fake_gps
fake_gps:
# select data source
use_mocap: true # ~mocap/pose
mocap_transform: false # ~mocap/tf instead of pose
use_vision: false # ~vision (pose)
# origin (default: Zürich)
geo_origin:
lat: 47.3667 # latitude [degrees]
lon: 8.5500 # longitude [degrees]
alt: 408.0 # altitude (height over the WGS-84 ellipsoid) [meters]
eph: 2.0
epv: 2.0
satellites_visible: 5 # virtual number of visible satellites
fix_type: 3 # type of GPS fix (default: 3D)
tf:
listen: false
send: false # send TF?
frame_id: "map" # TF frame_id
child_frame_id: "fix" # TF child_frame_id
rate_limit: 10.0 # TF rate
gps_rate: 5.0 # GPS data publishing rate
# mocap_pose_estimate
mocap:
# select mocap source
use_tf: false # ~mocap/tf
use_pose: true # ~mocap/pose
# odom
odometry:
frame_tf:
desired_frame: "ned"
estimator_type: 3 # check enum MAV_ESTIMATOR_TYPE in <http://mavlink.org/messages/common>
# px4flow
px4flow:
frame_id: "px4flow"
ranger_fov: !degrees 6.8 # 6.8 degreens at 5 meters, 31 degrees at 1 meter
ranger_min_range: 0.3 # meters
ranger_max_range: 5.0 # meters
# vision_pose_estimate
vision_pose:
tf:
listen: false # enable tf listener (disable topic subscribers)
frame_id: "map"
child_frame_id: "vision_estimate"
rate_limit: 10.0
# vision_speed_estimate
vision_speed:
listen_twist: true # enable listen to twist topic, else listen to vec3d topic
twist_cov: true # enable listen to twist with covariance topic
# vibration
vibration:
frame_id: "base_link"
# vim:set ts=2 sw=2 et:
Thanks for your support!
