I have the following setup, I have my jetson connected to the Raspi over ethernet and I am running mavros on Jetson. I am able to control the boat through set_velocity, set_position etc which is through guided mode and other ones which require GPS. I would like to control the boat through left and right PWM in manual mode. Is there any way to do it through mavros? I tried through the /mavros/rc/override topic but it is not acceting any messages from the orin at all and is only responding to QGC. Any help would be appreciated!
I’m not experienced with MAVROS, but I’m aware others on the forum have managed to get it working before. Have you tried searching for existing threads on what was required to do that?
MAVLink RC channels overrides or manual control messages should both work for vehicle control, though you will need to configure your MAVLink connection correctly (e.g. source and target system ID and component ID, and port number), and specify the channels and their values correctly depending on the message type.
Thanks for pointing out the configuration, I was able to solve the problem. I had one another query. I am now sending RCOverride message. If my understanding is correct, if both RCOverride message and RC messages are being sent, it uses the last message as the one to control the boat. Is there a way to avoid it and have a mux approach where if joystick movement is there, the Override messages are totally ignored?
I want to use manual mode for control as I am sending the steering and thrust PWM values and cannot use the guided mode as it is expecting velocity commands
Joystick movements are interpreted by the firmware as RC overrides, so it can’t differentiate between the two sources.
It seems problematic if you’re sending two types of control signals to the vehicle at the same time? Ideally you would do input multiplexing / source selection at a stage before the vehicle, so the autopilot just receives coherent and reasonable commands, rather than alternating and conflicting ones.
Thank you for mentioning this! Is there any mux implementation which is there in the navigator which prioritizes the Jetson commands if certain button is pressed and let joystick take over otherwise? If you have any particular steps/other ideas in mind which we can take to have such an implementation in place, please do let me know!