Which channel controls the gain?

Blue Robotics Software
1

Dear all,

I want to control my bluerov in Manual mode using channel override, but I can’t find the Channel that increase/decrease the gain. On the logitech joystick it is mapped to the up/down arrow, but I can’t see which channels are modified on the Analyze tool of QGroundControl.

Is there a diagram showing the full mapping of channel/button somewhere? If that isn’t mapped on an RC channel, how can I change it programmatically (using the usual libraries such as pymavlink, DroneKit or mavros)?

Thank you all!

2

Gain is adjusted via a button function. The MANUAL_CONTROL message must be used.

3

Hi all!

Regarding this question, it is not clear to me how to change the gain from mavros just as we do from QGroundControl.

I’m using bluerov_ros_playground package, and I want to modify it to add the functionality of changing the gain. This raises two questions for me:

  1. Since the manual_control message has pitch, yaw, etc. parameters, would it conflict with the rc_override message used to command the robot?

  2. How’s the button function (BTNn_SFUNCTION) , related with the manual_control message? There are axis fields and a buttons field. But it seems to only publish the state of the buttons. Or maybe it is that you have to write the value of the BTNn_SFUNCTION command ( f.e. 42 for increasing the gain) on the ‘buttons’ field of MANUAL_CONTROL?

Thank you very much!

4

Hi Olaya,

You can use MANUAL_CONTROL to do what you want, ArduSub converts it to rc_override:

This is done here:

5

Hi Patrick, thanks for your answer.

So, If I want to change the gain from pymavlink, I have to push the button in the joystick that I previously assigned to the change of gain (from QGroundControl), and then just send a MANUAL_CONTROL message to the BlueROV with the state of the buttons?

6

Hi Olaya,

You only need to fill buttons field of MANUAL_CONTROL with the correct bit set for you gain.
Check our pymavlink Send Manual Control example.

7

Thank you Patrick,
That worked as you said :grinning:

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