search

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
36 stars 40 forks source link

sending mav_ctrl.msg with "body" type has no effects #63

Closed gonzalezsieira closed 7 years ago

gonzalezsieira commented 8 years ago

Hi:

Taking a look to the message definition which is used to send control commands, seems that it is possible to send velocities and positions using as reference the body of the robot. (setting type to velocity_body or position_body).

However, trying this with an Asctec Pelican produces no effects in the UAV. The message is sent, but the robot does not move at all. We have tried sending these kind of messages using both our code and the tests implemented in this repository, but none worked so far.

Since no errors are shown in the console, I was wondering if it is our fault, if we are missing something or there is some hidden error. Changing type of the message to other values such as type to velocity or position works as expected.

Any tip would be appreciated. Thank you in advance!

gonzalezsieira commented 7 years ago

Finally we figured out that we were using an outdated firmware flashed in the HL board. Updating it to the latest version in this repository did the trick.