Mavros rc/override causes mode problems

[harewei]

Hi I've used mavros to send commands to pixhawk, such as changing mode and arming, which works fine. I've also tried to send rc/override in an attempt to control vehicle movement. Now, this works since I've subscribed to rc/in to make sure the rc values does change.

The problem is this: 1.When unarmed, if I set all 8 rc channels to 1300~1400, the mode jumped from alt_hold to stabilize 2.When unarmed, if I set all 8 rc channels to 1200 or below, the mode jumped from alt_hold/stabilize to loiter 3.When unarmed, if I set all 8 rc channels to 1500 or above, the mode jumped from stabilize/loiter to alt_hold 4.When armed and flying in alt_hold, if I attempt to change any RC value, it goes to stabilize and immediately changes to land

Is this due to some safety feature which I need to turn off? Because it seems that my commands are issuing correctly. here is one of my command for rc value changes: rostopic pub -1 /mavros/rc/override mavros_msgs/OverrideRCIn '[1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]'

Help appreciated

[khancyr]

Hi,

I don't know it is the same on PX4 firmware, but with APM firmware, rc channel 6 change flight mode :

http://copter.ardupilot.com/wiki/common-rc-transmitter-flight-mode-configuration/

So you need to config your drone parameter first then use rc override

[vooon]

And what you expect if you override RC mode switches?

[harewei]

RIght, as vooon said, I totally forgot channel 5~8 is used for mode switching. As a side question, I saw on the mavros command page that giving a 0 is for channel release (giving control back to the remote controller) while 65535 means maintain whatever value is was previously on, is this correct?

[vooon]

http://mavlink.org/messages/common#RC_CHANNELS_OVERRIDE