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ethz-asl / asctec_mav_framework

Framework for data aquisition and position control to be used with the highlevel processor of Ascending Technologies helicopters
http://www.ros.org/wiki/asctec_mav_framework
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Cannot enable pose estimation or position control #5

Closed pathammer closed 11 years ago

pathammer commented 11 years ago

Hi, I have installed asctec_mav_framework onboard my pellican and am running vicon_bridge offboard. /fcu/status reports all correct data but does not report position control or state estimation enabled even thought fcu_parameters.yaml reads: position_control: POSCTRL_HIGHLEVEL state_estimation: STATE_EST_HIGHLEVEL_SSDK Flying the quad in Position hold results in crashes. Altitude hold works fine. Any advice on how to debug this? Thanks!

markusachtelik commented 11 years ago

Could you post a picture of your rosgraph? I.e. is the topic from the vicon_bridge remapped correctly, or is the tf correct? Also, the output of fcu/status would be interesting to see. Did you do the checks before flight described here: http://www.ros.org/wiki/asctec_hl_interface/Tutorials/hlp%20position%20control ?

pathammer commented 11 years ago

Got it working! I was setting the parameters to the wrong values (the allcaps ones, not the ones in parentheses) I would suggest revising the ros wiki to remove the hyperlinks in the parentheses under the ~state_estimation and ~position_control

markusachtelik commented 11 years ago

thanks for the hint with the links -- fixed