yaw () is the yaw function I defined with channel 4, and here I created a thread to control this function. I wanted the thread to pause and then resume, but I found that when I paused the thread, I couldn’t resume the thread. I suspect it was a communication blackout, but I don’t understand why it h…

Hi @robotmark , This is more of a general Python question than one specific to ArduSub/pymavlink usage. You haven’t explained what’s actually happening here when you try to pause / resume the thread, and you’ve posted your code as an image so it’s not easy for us to try to test your code ourselves (…

Thank you for your reply. Now I will specifically describe the problem I encountered. When the program run to line 107 “add_thread2.start()”, the ROV starts to rotate. When the ROV rotates for 3 seconds, line 109 “add_thread2.pause()” is executed, and the ROV stops rotating. Line 111 of code “add_th…

[image] robotmark: Line 111 of code “add_thread2.resume()” is executed after stopping the rotation for 5 seconds, but I find that the ROV has not restarted the rotation until the program was finished. The terminal output shows that it’s resuming as expected, so it’s the commands to the vehicl…

How can I prevent the ROV from disarming? Otherwise I have to try arming again, which may take a little time and the machine may return to the surface. Thank you for your reply!

[image] robotmark: How can I prevent the ROV from disarming? The failsafes are there to ensure the vehicle is still under control. Ideally your program should send regular heartbeat messages (which avoids the heartbeat failsafe), and also send regular control inputs (which avoids the pilot in…

Can I only disable failsafe in QGC? Does this disable failsafe take effect when I program to control the ROV? Do I also need to reset failsafe in the code? Thanks again for your reply!

[image] robotmark: Can I only disable failsafe in QGC? The failsafes are based on parameters. It’s easiest to modify them in QGC because it provides a convenient interface for doing so, but you can also set the parameter values manually with MAVLink messages if you prefer. [image] robotma…

Thank you again for your answer！

I couldn't connect to the ROV after resuming the thread

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I couldn't connect to the ROV after resuming the thread

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I couldn't connect to the ROV after resuming the thread

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