rmackay9
commented
6 years ago Hi there. so the APM hardware is very old now - our last firmware for it was written about 3 years ago. It would be much better to buy a more powerful flight controller. The Pixhawk/Cube is the most popular but there are other options: http://ardupilot.org/rover/docs/common-autopilots.html
Once you have one of those, if you load the lastest beta (Rover-3.2.0-rc3) it should work.
Support request should really go into the forums here so I will close this request. https://discuss.ardupilot.org/c/ardurover/rover-3-2
Thanks for using ArduPilot!
Issue details
i am new in mavros, and i want to control a motor by using mavros, i have APM V2.5 and flash it by ardurover by using Mission planner i connect this APM by ESC using output channel No 1 and connect a motor to the ESC
my problem is when i run the mavros node the motor start run in a fixed speed and not change it's speed although i sent cmd to change the speed of the motor the following lines explaining what i did in details;
I run the following command to run the mavros;
roslaunch mavros apm2.launch fcu_url:=/dev/ttyACM0:115200after executing the motor run in a fixed speedthen i transfer the mode to Guided by using the following cmd;
rosrun mavros mavsys mode -c GUIDEDthen i puplished the following data to /mavros/rc/override by the following cmd;
rostopic pub /mavros/rc/override mavros_gs/OverrideRCIn "channels: [1200, 1200, 1200, 1200, 1200, 1200, 1200, 1200]"i changed the data many times but the problem is the motor speed always constantthe following is the data show after run the mavros cmd; `wael@wael-Inspiron-N5010:~/catkin_ws$ roslaunch mavros apm2.launch fcu_url:=/dev/ttyACM0:115200 ... logging to /home/wael/.ros/log/6ef236ba-e971-11e7-92f7-606720841920/roslaunch-wael-Inspiron-N5010-6737.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://wael-Inspiron-N5010:32868/
SUMMARY
CLEAR PARAMETERS
PARAMETERS
NODES / mavros (mavros/mavros_node)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found process[mavros-1]: started with pid [6756] [ INFO] [1514210227.514842219]: FCU URL: /dev/ttyACM0:115200 [ INFO] [1514210227.515260751]: serial0: device: /dev/ttyACM0 @ 115200 bps [ INFO] [1514210227.515767402]: GCS bridge disabled [ INFO] [1514210227.559659364]: Plugin 3dr_radio loaded and initialized [ INFO] [1514210227.559949979]: Plugin actuator_control blacklisted [ INFO] [1514210227.559979137]: Plugin altitude blacklisted [ INFO] [1514210227.618908755]: Plugin cam_imu_sync loaded and initialized [ INFO] [1514210227.625284410]: Plugin command loaded and initialized [ INFO] [1514210227.625420237]: Plugin distance_sensor blacklisted [ INFO] [1514210227.625445699]: Plugin ftp blacklisted [ INFO] [1514210227.635965601]: Plugin global_position loaded and initialized [ INFO] [1514210227.636906269]: Plugin hil_controls loaded and initialized [ INFO] [1514210227.637044504]: Plugin image_pub blacklisted [ INFO] [1514210227.644655900]: Plugin imu_pub loaded and initialized [ INFO] [1514210227.653388163]: Plugin local_position loaded and initialized [ INFO] [1514210227.654404590]: Plugin manual_control loaded and initialized [ INFO] [1514210227.654539809]: Plugin mocap_pose_estimate blacklisted [ INFO] [1514210227.658188033]: Plugin param loaded and initialized [ INFO] [1514210227.658312716]: Plugin px4flow blacklisted [ INFO] [1514210227.662886059]: Plugin rc_io loaded and initialized [ INFO] [1514210227.663027752]: Plugin safety_area blacklisted [ INFO] [1514210227.667174828]: Plugin setpoint_accel loaded and initialized [ INFO] [1514210227.667234123]: Plugin setpoint_attitude blacklisted [ INFO] [1514210227.673783633]: Plugin setpoint_position loaded and initialized [ INFO] [1514210227.687578301]: Plugin setpoint_raw loaded and initialized [ INFO] [1514210227.690639482]: Plugin setpoint_velocity loaded and initialized [ INFO] [1514210227.697211827]: Plugin sys_status loaded and initialized [ INFO] [1514210227.701536919]: Plugin sys_time loaded and initialized [ INFO] [1514210227.702975027]: Plugin vfr_hud loaded and initialized [ INFO] [1514210227.703122576]: Plugin vibration blacklisted [ INFO] [1514210227.703162309]: Plugin vision_pose_estimate blacklisted [ INFO] [1514210227.703196554]: Plugin vision_speed_estimate blacklisted [ INFO] [1514210227.707718556]: Plugin waypoint loaded and initialized [ INFO] [1514210227.707913116]: Built-in SIMD instructions: SSE, SSE2 [ INFO] [1514210227.707957012]: Built-in MAVLink package version: 2017.12.12 [ INFO] [1514210227.707987431]: Built-in MAVLink dialect: ardupilotmega [ INFO] [1514210227.708016127]: MAVROS started. MY ID 1.240, TARGET ID 1.1 [ERROR] [1514210230.739177581]: FCU: Calibrating barometer [ INFO] [1514210230.743176587]: CON: Got HEARTBEAT, connected. FCU: ArduPilotMega [ERROR] [1514210231.778468060]: FCU: command received: [ INFO] [1514210231.786587190]: VER: 1.1: Capabilities 0x0000000000000000 [ INFO] [1514210231.786747897]: VER: 1.1: Flight software: 00000080 (705d3d56) [ INFO] [1514210231.786921200]: VER: 1.1: Middleware software: 00000000 ( ) [ INFO] [1514210231.787078035]: VER: 1.1: OS software: 00000000 ( ) [ INFO] [1514210231.787151379]: VER: 1.1: Board hardware: 00000000 [ INFO] [1514210231.787196496]: VER: 1.1: VID/PID: 0000:0000 [ INFO] [1514210231.787239551]: VER: 1.1: UID: 0000000000000000 [ WARN] [1514210231.787510768]: CMD: Unexpected command 520, result 0 [ERROR] [1514210232.101673461]: FCU: Warming up ADC... [ERROR] [1514210232.600966732]: FCU: Beginning INS calibration; do not move vehicle [ERROR] [1514210232.740213029]: FCU: GROUND START
[ERROR] [1514210234.737536396]: FCU: Initialising APM...
Ready to drive. [ WARN] [1514210235.863226846]: GP: No GPS fix [ WARN] [1514210235.887751514]: TM: Wrong FCU time. [ERROR] [1514210240.794844952]: FCU: ArduRover v2.51-beta (705d3d56) [ERROR] [1514210240.839692691]: FCU: Failsafe trigger 0x1 [ INFO] [1514210244.797719972]: PR: parameters list received [ INFO] [1514210245.767647510]: WP: mission received `
The following data is the state subscribe
`header: seq: 47 stamp: secs: 1514208890 nsecs: 197449012 frame_id: '' connected: True armed: True guided: True mode: GUIDED
`
Version
Ubuntu 14.04 Ros Indigo
Platform
[ ] All [ ] AntennaTracker [ ] Copter [ ] Plane [x] Rover [ ] Submarine
Airframe type
ardurover
Hardware type
APM V2.5 and flashing it by ardurover by using Mission planner
how can i do this; and also is there any related tutorial can help me thank you in advance