damanfb
commented
8 years ago In case it's useful, I am using trying to control the attitude without a GPS of PXflow sensor indoors and here's my diagnostics:
odroid@odroid:~/ros_catkin_ws$ rostopic echo /diagnostics -n1
header:
seq: 737
stamp:
secs: 1454512513
nsecs: 993846509
frame_id: ''
status:
-
level: 0
name: mavros: FCU connection
message: connected
hardware_id: /dev/ttyACM0:115200
values:
-
key: Received packets:
value: 53132
-
key: Dropped packets:
value: 0
-
key: Buffer overruns:
value: 0
-
key: Parse errors:
value: 0
-
key: Rx sequence number:
value: 217
-
key: Tx sequence number:
value: 86
-
key: Rx total bytes:
value: 12833251
-
key: Tx total bytes:
value: 9394043
-
key: Rx speed:
value: 19430.000000
-
key: Tx speed:
value: 10972.000000
-
level: 0
name: mavros: Heartbeat
message: Normal
hardware_id: /dev/ttyACM0:115200
values:
-
key: Heartbeats since startup
value: 993
-
key: Frequency (Hz)
value: 0.962987
-
key: Vehicle type
value: Quadrotor
-
key: Autopilot type
value: PX4
-
key: Mode
value: MANUAL
-
key: System status
value: Standby
-
level: 0
name: mavros: System
message: Normal
hardware_id: /dev/ttyACM0:115200
values:
-
key: Sensor present
value: 0x00000000
-
key: Sensor enabled
value: 0x00000000
-
key: Sensor helth
value: 0x00000000
-
key: CPU Load (%)
value: 30.0
-
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/ttyACM0:115200
values:
-
key: Voltage
value: 11.81
-
key: Current
value: 0.4
-
key: Remaining
value: 78.0
-
level: 0
name: mavros: Time Sync
message: Normal
hardware_id: /dev/ttyACM0:115200
values:
-
key: Timesyncs since startup
value: 9934
-
key: Frequency (Hz)
value: 10.000248
-
key: Last dt (ms)
value: -0.431917
-
key: Mean dt (ms)
value: 0.007517
-
key: Last system time (s)
value: 2007.832714000
-
key: Time offset (s)
value: 1454510506.135898113
---
andre-nguyen
vooon
I am trying to control my pixhawk with PX4 stack through a USB connected Odroid XU4. I have mavros running on the odroid and I can connect to the Pixhawk and view the topic and services as I expect. I'm trying to control the roll and pitch angles, yaw rate, and throttle. I am using the setpoint_attitude plugin and for my test I have the following code in a node publishing the setpoint:
and I perform the following steps: 1) Launch mavros on my odroid using px4.launch and my setpoint publisher 2) Arm the pixhawk with my RC transmitter 3) Switch to offboard mode
Here is the output of Mavros during this process: