Pixhawk PWM AUX Control

[caio-freitas]

I've been trying to control a servo PWM motor with a Pixhawk 2.4.8, on AUX1, running PX4 v1.9.2 and ROS Kinetic, and all I could get was an Error LED from the Pixhawk. This is the code: `#include <ros/ros.h>

include <mavros_msgs/CommandBool.h>

include <std_msgs/String.h>

include <mavros_msgs/ActuatorControl.h>

include <mavros_msgs/CommandLong.h>

include <mavros_msgs/CommandLongRequest.h>

std_msgs::String message; mavros_msgs::ActuatorControl servocon;

int main(int argc, char *argv) { ros::init(argc, argv, "servo_control"); ros::NodeHandle nh; ros::Rate rate(20.0); ros::ServiceClient command_client = nh.serviceClient("/mavros/cmd/command"); int index=1; float value=1900; // thruster value int pulse_width = (value + 1) 400 + 1100; mavros_msgs::CommandLong srv; srv.request.command = 184; //because it didn't accept mavros_msgs::CommandLong::CMD_DO_SET_SERVO;// srv.request.param1 = index + 1; // servos are 1-indexed here srv.request.param2 = pulse_width; while (ros::ok()) { bool result = command_client.call(srv); ros::spinOnce(); rate.sleep(); } return 0; } `

Does anyone know why it doesn't work or how to do it work?

MAVROS version and platform

Mavros: 0.29.2 ROS: Kinetic Ubuntu: 16.04.5

Autopilot type and version

[ ] ArduPilot [ X ] PX4

Version: ?3.7.1?

Node logs

It logs nothing

Diagnostics

header: seq: 59 stamp: secs: 1567798296 nsecs: 746577989 frame_id: '' status:

• level: 0 name: "mavros: FCU connection" message: "connected" hardware_id: "/dev/ttyUSB0:57600" values:

  • key: "Received packets:" value: "1150"

  • key: "Dropped packets:" value: "0"

  • key: "Buffer overruns:" value: "0"

  • key: "Parse errors:" value: "0"

  • key: "Rx sequence number:" value: "121"

  • key: "Tx sequence number:" value: "38"

  • key: "Rx total bytes:" value: "54243"

  • key: "Tx total bytes:" value: "16199"

  • key: "Rx speed:" value: "2253.000000"

  • key: "Tx speed:" value: "736.000000"

• level: 2 name: "mavros: GPS" message: "No satellites" hardware_id: "/dev/ttyUSB0:57600" values:

  • key: "Satellites visible" value: "0"

  • key: "Fix type" value: "0"

  • key: "EPH (m)" value: "99.99"

  • key: "EPV (m)" value: "99.99"

• level: 0 name: "mavros: Heartbeat" message: "Normal" hardware_id: "/dev/ttyUSB0:57600" values:

  • key: "Heartbeats since startup" value: "32"

  • key: "Frequency (Hz)" value: "0.999983"

  • key: "Vehicle type" value: "Hexarotor"

  • key: "Autopilot type" value: "PX4 Autopilot"

  • key: "Mode" value: "MANUAL"

  • key: "System status" value: "Standby"

• level: 2 name: "mavros: System" message: "Sensor helth" hardware_id: "/dev/ttyUSB0:57600" values:

  • key: "Sensor present" value: "0x000E002F"

  • key: "Sensor enabled" value: "0x0021000F"

  • key: "Sensor helth" value: "0x000E002F"

  • key: "3D gyro" value: "Ok"

  • key: "3D accelerometer" value: "Ok"

  • key: "3D magnetometer" value: "Ok"

  • key: "absolute pressure" value: "Ok"

  • key: "rc receiver" value: "Fail"

  • key: "AHRS subsystem health" value: "Fail"

  • key: "CPU Load (%)" value: "33.1"

  • key: "Drop rate (%)" value: "0.0"

  • key: "Errors comm" value: "0"

  • key: "Errors count #1" value: "0"

  • key: "Errors count #2" value: "0"

  • key: "Errors count #3" value: "0"

  • key: "Errors count #4" value: "0"

• level: 0 name: "mavros: Battery" message: "Normal" hardware_id: "/dev/ttyUSB0:57600" values:

  • key: "Voltage" value: "65.54"

  • key: "Current" value: "-0.0"

  • key: "Remaining" value: "-1.0"

• level: 2 name: "mavros: Time Sync" message: "No events recorded." hardware_id: "/dev/ttyUSB0:57600" values:

  • key: "Timesyncs since startup" value: "0"

  • key: "Frequency (Hz)" value: "0.000000"

  • Check ID

OK. I got messages from 1:1.

---

Received 481 messages, from 1 addresses sys:comp list of messages 1:1 0, 1, 83, 36, 230, 32, 105, 74, 331, 77, 111, 141, 241, 147, 340, 245, 22, 24, 4, 30

[Ken-Thorburn]

Were you able to control an aux port with a mavros command? I just started researching the possibility today.

[dibukk95]

hai i am also going through the same for last few days.but i am not able to control the aux via mavros.i tried diiferent msgs & various topics but still not able to do.if you figured it please share.

thanks in advance

[purvikpatel]

Hi @dibukk95 Did you find the solution ?

[ntrinite]

Bump for solution?

[tiralonghipol]

@caio-freitas hei, any news on this?