Odd. I’d suggest trying with smaller components of the script and build up as you confirm functionality. Try
- just changing the mode, then
- add arming, then
- add a small thruster movement (e.g. turn on one thruster, sleep for 0.1 seconds, turn off the thruster)
- try your actual script
I think this should be fine without physically disconnecting the controller as long as you don’t have some other mavlink process/thread running. It may be helpful to keep QGC open and just disable the joystick from the joystick settings page though - I believe it should still give you status updates like when the ROV changes mode or gets armed (that might be wrong though).
I’ve just noticed your command loop has quite a long wait between command updates. @patrickelectric mentions (in the post I linked to earlier) that RC_OVERRIDE has a timeout controlled by RC_OVERRIDE_TIME, after which RC overrides stop applying. It’s documented here, but I’m unsure what the default timeout amount is.
It’s perhaps also worth noting that at the bottom of this post @jwalser mentions stabilise and depth-hold mode lock their angle target after 250ms of no additional control commands (he links to the source code).