Mavros rc in/ override +ardupilot + telem 433

naorwaiss · June 14, 2024, 6:17pm

hi i try to do some operation with mavros ros2
hardware - i am connect telem 433 of holybro to linux computer with joystick and try to run this node and script(add at the end):

mavros node:
ros2 run mavros mavros_node --ros-args -p fcu_url:=/dev/ttyUSB0:57600 -p gcs_url:=udp://@192.168.1.142:14550 -p sysid:=1
joy node
3)script (at the end)

i try with another widows computer to connect via udp and check if i get radio at the radio calibartion and i dont get any information

i try to run this script at px4 with sitl and get data about the controller

the script:

import rclpy
from rclpy.node import Node
from sensor_msgs.msg import Joy
from mavros_msgs.msg import OverrideRCIn  # Ensure this is the correct message type
import time

class RCOverrideNode(Node):
    def __init__(self):
        super().__init__('rc_override_node')
        self.publisher_ = self.create_publisher(OverrideRCIn, '/mavros/rc/override', 10)  # Update the publisher to OverrideRCIn
        self.joy_subscription = self.create_subscription(
            Joy,
            '/joy',
            self.joy_callback,
            10
        )
        self.joy_subscription  # prevent unused variable warning

        # Call reset_parameters once at startup
        self.reset_parameters()

    def reset_parameters(self):
        # Set all channels to 65535 at the start to indicate no override
        rc_override = OverrideRCIn()
        rc_override.channels = [65535] * 12  # Assuming 12 channels
        self.publisher_.publish(rc_override)
        self.get_logger().info('RC Override parameters reset to 65535')
        time.sleep(2)
        rc_override.channels = [0] * 12  # Assuming 12 channels
        self.publisher_.publish(rc_override)
        self.get_logger().info('RC Override parameters reset to 0')

    def joy_callback(self, msg):
        rc_override = OverrideRCIn()  # Create an instance of OverrideRCIn

        # Map joystick axes/buttons to RC channels
        rc_override.channels = [
            self.scale_value(msg.axes[0], -1.0, 1.0, 1000, 2000),  # Roll (Ch1)
            self.scale_value(msg.axes[1], -1.0, 1.0, 1000, 2000),  # Pitch (Ch2)
            self.scale_value(msg.axes[2], -1.0, 1.0, 1000, 2000),  # Throttle (Ch3)
            self.scale_value(msg.axes[3], -1.0, 1.0, 1000, 2000)   # Yaw (Ch4)
        ]

        # Debug statements
        self.get_logger().info(f'Joy axes: {msg.axes}')
        self.get_logger().info(f'RC Override: {rc_override.channels}')

        # Publish the RC override message
        self.publisher_.publish(rc_override)

    @staticmethod
    def scale_value(value, src_min, src_max, dst_min, dst_max):
        # Scale value from source range to destination range
        src_range = src_max - src_min
        dst_range = dst_max - dst_min
        scaled_value = ((value - src_min) * dst_range) / src_range + dst_min
        return int(scaled_value)

def main(args=None):
    rclpy.init(args=args)
    node = RCOverrideNode()
    rclpy.spin(node)
    node.destroy_node()
    rclpy.shutdown()

if __name__ == '__main__':
    main()

i think i got some problem with the callibration of my fc

thanks for the help

Mavros: 2.7.0
ROS: iron
Ubuntu: 22.04

Autopilot type and version

[ X ] ArduPilot
[ ] PX4

Version: 4.4.0

Diagnostics

header:
  stamp:
    sec: 1718367553
    nanosec: 449656643
  frame_id: ''
status:
- level: "\0"
  name: 'mavros: MAVROS UAS'
  message: connected
  hardware_id: uas:///uas1
  values: []
- level: "\x02"
  name: 'mavros: GPS'
  message: No satellites
  hardware_id: uas:///uas1
  values:
  - key: Satellites visible
    value: '0'
  - key: Fix type
    value: '0'
  - key: EPH (m)
    value: Unknown
  - key: EPV (m)
    value: Unknown
- level: "\x01"
  name: 'mavros: Mount'
  message: Can not diagnose in this targeting mode
  hardware_id: uas:///uas1
  values:
  - key: Mode
    value: '255'
- level: "\x02"
  name: 'mavros: System'
  message: Sensor health
  hardware_id: uas:///uas1
  values:
  - key: Sensor present
    value: '0x5330FC0F'
  - key: Sensor enabled
    value: '0x52209C0F'
  - key: Sensor health
    value: '0x43109C0B'
  - key: 3D gyro
    value: Ok
  - key: 3D accelerometer
    value: Ok
  - key: 3D magnetometer
    value: Fail
  - key: absolute pressure
    value: Ok
  - key: 3D angular rate control
    value: Ok
  - key: attitude stabilization
    value: Ok
  - key: yaw position
    value: Ok
  - key: motor outputs / control
    value: Ok
  - key: AHRS subsystem health
    value: Fail
  - key: Battery
    value: Ok
  - key: pre-arm check status. Always healthy when armed
    value: Fail
  - key: propulsion (actuator, esc, motor or propellor)
    value: Ok
  - key: CPU Load (%)
    value: '31.0'
  - key: Drop rate (%)
    value: '0.0'
  - key: Errors comm
    value: '0'
  - key: 'Errors count #1'
    value: '0'
  - key: 'Errors count #2'
    value: '0'
  - key: 'Errors count #3'
    value: '0'
  - key: 'Errors count #4'
    value: '0'
- level: "\0"
  name: 'mavros: Battery'
  message: Normal
  hardware_id: uas:///uas1
  values:
  - key: Voltage
    value: '12.40'
  - key: Current
    value: '-0.1'
  - key: Remaining
    value: '99.0'
- level: "\0"
  name: 'mavros: Heartbeat'
  message: Normal
  hardware_id: uas:///uas1
  values:
  - key: Heartbeats since startup
    value: '106'
  - key: Frequency (Hz)
    value: '1.000003'
  - key: Vehicle type
    value: Quadrotor
  - key: Autopilot type
    value: ArduPilot
  - key: Mode
    value: STABILIZE
  - key: System status
    value: STANDBY
- level: "\0"
  name: 'mavros: 3DR Radio'
  message: Normal
  hardware_id: uas:///uas1
  values:
  - key: RSSI
    value: '145'
  - key: RSSI (dBm)
    value: '-50.7'
  - key: Remote RSSI
    value: '141'
  - key: Remote RSSI (dBm)
    value: '-52.8'
  - key: Tx buffer (%)
    value: '100'
  - key: Noice level
    value: '56'
  - key: Remote noice level
    value: '65'
  - key: Rx errors
    value: '5'
  - key: Fixed
    value: '0'
---
header:
  stamp:
    sec: 1718367554
    nanosec: 443034005
  frame_id: ''
status:
- level: "\0"
  name: 'mavros_router: MAVROS Router'
  message: ok
  hardware_id: none
  values:
  - key: Endpoints
    value: '3'
  - key: Messages routed
    value: '5015'
  - key: Messages sent
    value: '9944'
  - key: Messages dropped
    value: '0'
- level: "\0"
  name: 'mavros_router: endpoint 1000: /dev/ttyUSB0:57600'
  message: ok
  hardware_id: none
  values:
  - key: Received packets
    value: '4591'
  - key: Dropped packets
    value: '0'
  - key: Buffer overruns
    value: '0'
  - key: Parse errors
    value: '0'
  - key: Rx sequence number
    value: '71'
  - key: Tx sequence number
    value: '0'
  - key: Rx total bytes
    value: '140357'
  - key: Tx total bytes
    value: '7877'
  - key: Rx speed
    value: '1605.000000'
  - key: Tx speed
    value: '59.000000'
  - key: Remotes count
    value: '5'
  - key: Remote [0]
    value: '0.0'
  - key: Remote [1]
    value: '1.0'
  - key: Remote [2]
    value: '1.1'
  - key: Remote [3]
    value: '51.0'
  - key: Remote [4]
    value: '51.68'
- level: "\0"
  name: 'mavros_router: endpoint 1001: udp://@192.168.1.142:14550'
  message: ok
  hardware_id: none
  values:
  - key: Received packets
    value: '292'
  - key: Dropped packets
    value: '0'
  - key: Buffer overruns
    value: '0'
  - key: Parse errors
    value: '0'
  - key: Rx sequence number
    value: '246'
  - key: Tx sequence number
    value: '0'
  - key: Rx total bytes
    value: '5640'
  - key: Tx total bytes
    value: '142842'
  - key: Rx speed
    value: '38.000000'
  - key: Tx speed
    value: '1636.000000'
  - key: Remotes count
    value: '3'
  - key: Remote [0]
    value: '0.0'
  - key: Remote [1]
    value: '255.0'
  - key: Remote [2]
    value: '255.190'
- level: "\0"
  name: 'mavros_router: endpoint 1002: /uas1'
  message: ok
  hardware_id: none
  values:
  - key: Remotes count
    value: '3'
  - key: Remote [0]
    value: '0.0'
  - key: Remote [1]
    value: '1.0'
  - key: Remote [2]
    value: '1.191'
---
header:
  stamp:
    sec: 1718367554
    nanosec: 449808470
  frame_id: ''
status:
- level: "\0"
  name: 'mavros: MAVROS UAS'
  message: connected
  hardware_id: uas:///uas1
  values: []
- level: "\x02"
  name: 'mavros: GPS'
  message: No satellites
  hardware_id: uas:///uas1
  values:
  - key: Satellites visible
    value: '0'
  - key: Fix type
    value: '0'
  - key: EPH (m)
    value: Unknown
  - key: EPV (m)
    value: Unknown
- level: "\x01"
  name: 'mavros: Mount'
  message: Can not diagnose in this targeting mode
  hardware_id: uas:///uas1
  values:
  - key: Mode
    value: '255'
- level: "\x02"
  name: 'mavros: System'
  message: Sensor health
  hardware_id: uas:///uas1
  values:
  - key: Sensor present
    value: '0x5330FC0F'
  - key: Sensor enabled
    value: '0x52209C0F'
  - key: Sensor health
    value: '0x43109C0B'
  - key: 3D gyro
    value: Ok
  - key: 3D accelerometer
    value: Ok
  - key: 3D magnetometer
    value: Fail
  - key: absolute pressure
    value: Ok
  - key: 3D angular rate control
    value: Ok
  - key: attitude stabilization
    value: Ok
  - key: yaw position
    value: Ok
  - key: motor outputs / control
    value: Ok
  - key: AHRS subsystem health
    value: Fail
  - key: Battery
    value: Ok
  - key: pre-arm check status. Always healthy when armed
    value: Fail
  - key: propulsion (actuator, esc, motor or propellor)
    value: Ok
  - key: CPU Load (%)
    value: '31.0'
  - key: Drop rate (%)
    value: '0.0'
  - key: Errors comm
    value: '0'
  - key: 'Errors count #1'
    value: '0'
  - key: 'Errors count #2'
    value: '0'
  - key: 'Errors count #3'
    value: '0'
  - key: 'Errors count #4'
    value: '0'
- level: "\0"
  name: 'mavros: Battery'
  message: Normal
  hardware_id: uas:///uas1
  values:
  - key: Voltage
    value: '12.40'
  - key: Current
    value: '-0.1'
  - key: Remaining
    value: '99.0'
- level: "\0"
  name: 'mavros: Heartbeat'
  message: Normal
  hardware_id: uas:///uas1
  values:
  - key: Heartbeats since startup
    value: '107'
  - key: Frequency (Hz)
    value: '0.999982'
  - key: Vehicle type
    value: Quadrotor
  - key: Autopilot type
    value: ArduPilot
  - key: Mode
    value: STABILIZE
  - key: System status
    value: STANDBY
- level: "\0"
  name: 'mavros: 3DR Radio'
  message: Normal
  hardware_id: uas:///uas1
  values:
  - key: RSSI
    value: '136'
  - key: RSSI (dBm)
    value: '-55.4'
  - key: Remote RSSI
    value: '142'
  - key: Remote RSSI (dBm)
    value: '-52.3'
  - key: Tx buffer (%)
    value: '100'
  - key: Noice level
    value: '57'
  - key: Remote noice level
    value: '65'
  - key: Rx errors
    value: '5'
  - key: Fixed
    value: '0'
---

Check ID

---
header:
  stamp:
    sec: 1718367767
    nanosec: 147378560
  frame_id: ''
connected: true
armed: false
guided: false
manual_input: true
mode: STABILIZE
system_status: 3
---
header:
  stamp:
    sec: 1718367768
    nanosec: 206044287
  frame_id: ''
connected: true
armed: false
guided: false
manual_input: true
mode: STABILIZE
system_status: 3
---

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Mavros rc in/ override +ardupilot + telem 433

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Mavros rc in/ override +ardupilot + telem 433

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