Simulating Manual Control using Mavros

Blue Robotics Software
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23

Ok, try first with mavproxy to see if your setup is correct.

  1. Connect the ROV in your computer and wait for 1~2 minutes to finish the initialization.

  2. Start mavproxy. mavproxy.py --master=/dev/ttyACM0

  3. Use status to see if everything is working. status
    You’ll have this feedback.

32: AHRS {omegaIx : 0.0389807932079, omegaIy : -0.0134896915406, omegaIz : 0.0616827979684, accel_weight : 0.0, renorm_val : 0.0, error_rp : 0.00437930645421, error_yaw : 0.15694104135}
31: AHRS2 {roll : -1.58072090149, pitch : -0.0987562090158, yaw : -0.525687396526, altitude : 0.0, lat : 0, lng : 0}
31: AHRS3 {roll : -1.47963392735, pitch : -0.104524955153, yaw : 2.29476451874, altitude : 0.0, lat : 0, lng : 0, v1 : 0.0, v2 : 0.0, v3 : 0.0, v4 : 0.0}
31: ATTITUDE {time_boot_ms : 463779, roll : -1.47963392735, pitch : -0.104524955153, yaw : 2.29476451874, rollspeed : -7.24875135347e-05, pitchspeed : 0.0206718333066, yawspeed : 0.024894239381}
27: BAD_DATA {Bad prefix, data:['16']}
31: BATTERY_STATUS {id : 0, battery_function : 0, type : 0, temperature : 32767, voltages : [65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535], current_battery : 4, current_consumed : 6, energy_consumed : -1, battery_remaining : 99}
31: EKF_STATUS_REPORT {flags : 0, velocity_variance : 0.0, pos_horiz_variance : 0.0405917428434, pos_vert_variance : 0.0234755519778, compass_variance : 0.0247390381992, terrain_alt_variance : 0.0}
31: GLOBAL_POSITION_INT {time_boot_ms : 463579, lat : 0, lon : 0, alt : -2850, relative_alt : -2850, vx : -8, vy : 15, vz : -19, hdg : 13148}
7: GPS_RAW_INT {time_usec : 0, fix_type : 0, lat : 0, lon : 0, alt : 0, eph : 9999, epv : 0, vel : 0, cog : 0, satellites_visible : 0}
8: HEARTBEAT {type : 12, autopilot : 3, base_mode : 81, custom_mode : 19, system_status : 5, mavlink_version : 3}
32: HWSTATUS {Vcc : 4946, I2Cerr : 0}
32: MEMINFO {brkval : 0, freemem : 9344}
32: MISSION_CURRENT {seq : 0}
31: MOUNT_STATUS {target_system : 0, target_component : 0, pointing_a : 0, pointing_b : 0, pointing_c : 0}
240: NAMED_VALUE_FLOAT {time_boot_ms : 463699, name : InputHold, value : 0.0}
32: NAV_CONTROLLER_OUTPUT {nav_roll : -84.7731704712, nav_pitch : -5.99635505676, nav_bearing : 131, target_bearing : 90, wp_dist : 0, alt_error : 2.85751223564, aspd_error : 0.0, xtrack_error : 0.0}
689: PARAM_VALUE {param_id : RC16_DZ, param_value : 0.0, param_type : 4, param_count : 688, param_index : 687}
32: POWER_STATUS {Vcc : 4946, Vservo : 21, flags : 4}
31: RAW_IMU {time_usec : 463719568, xacc : -97, yacc : 1111, zacc : -62, xgyro : -1, ygyro : 21, zgyro : 27, xmag : -40, ymag : -270, zmag : -56}
32: RC_CHANNELS {time_boot_ms : 463619, chancount : 0, chan1_raw : 1500, chan2_raw : 1500, chan3_raw : 1500, chan4_raw : 1500, chan5_raw : 1500, chan6_raw : 1500, chan7_raw : 0, chan8_raw : 1500, chan9_raw : 1100, chan10_raw : 1100, chan11_raw : 1100, chan12_raw : 0, chan13_raw : 0, chan14_raw : 0, chan15_raw : 0, chan16_raw : 0, chan17_raw : 0, chan18_raw : 0, rssi : 0}
32: RC_CHANNELS_RAW {time_boot_ms : 463619, port : 0, chan1_raw : 1500, chan2_raw : 1500, chan3_raw : 1500, chan4_raw : 1500, chan5_raw : 1500, chan6_raw : 1500, chan7_raw : 0, chan8_raw : 1500, rssi : 0}
31: SCALED_IMU2 {time_boot_ms : 463719, xacc : -86, yacc : 985, zacc : 9, xgyro : -44, ygyro : 13, zgyro : -58, xmag : 0, ymag : 0, zmag : 0}
31: SCALED_PRESSURE {time_boot_ms : 463719, press_abs : 1010.05987549, press_diff : 0.180546864867, temperature : 4318}
3: SENSOR_OFFSETS {mag_ofs_x : 0, mag_ofs_y : 0, mag_ofs_z : 0, mag_declination : 0.0, raw_press : 101004, raw_temp : 4317, gyro_cal_x : 0.0, gyro_cal_y : 0.0, gyro_cal_z : 0.0, accel_cal_x : 0.0, accel_cal_y : 0.0, accel_cal_z : 0.0}
32: SERVO_OUTPUT_RAW {time_usec : 463619511, port : 0, servo1_raw : 1500, servo2_raw : 1500, servo3_raw : 1500, servo4_raw : 1500, servo5_raw : 1500, servo6_raw : 1500, servo7_raw : 1100, servo8_raw : 1500}
4: STATUSTEXT {severity : 6, text : PX4v2 0043001E 33365109 36353335}
64: SYSTEM_TIME {time_unix_usec : 0, time_boot_ms : 463699}
32: SYS_STATUS {onboard_control_sensors_present : 2161671, onboard_control_sensors_enabled : 2137095, onboard_control_sensors_health : 64519, load : 301, voltage_battery : 34, current_battery : 4, battery_remaining : -1, drop_rate_comm : 0, errors_comm : 0, errors_count1 : 0, errors_count2 : 0, errors_count3 : 0, errors_count4 : 0}
31: VFR_HUD {airspeed : 0.0, groundspeed : 0.0, heading : 131, throttle : 0, alt : -2.84999990463, climb : -0.209999993443}
31: VIBRATION {time_usec : 463700236, vibration_x : 0.0813180804253, vibration_y : 0.0598611645401, vibration_z : 0.0537432022393, clipping_0 : 0, clipping_1 : 0, clipping_2 : 0}
  1. arm the ROV. arm throttle
    You’ll receive this message.
MANUAL> Got MAVLink msg: COMMAND_ACK {command : 400, result : 0}
ARMED
  1. Active guided mode. mode GUIDED

If the result message is different from 0, than you’ll not be able to use this mode.
You have probably something wrong with your position system, check the status for GLOBAL_POSITION_ and GPS data.