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mavlink / qgroundcontrol

Cross-platform ground control station for drones (Android, iOS, Mac OS, Linux, Windows)
http://qgroundcontrol.io
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Virtual Joystick can't control PX4 flight stack. #3378

Closed SamChenzx closed 8 years ago

SamChenzx commented 8 years ago

I'm using Qgroundcontrol 2.9.7b as my ground station and I want to use the virtual joystick without a real RC or joystick radio by setting COM_RC_IN_MODE to 0(Joystick/No RC Checks). I can arm motors by command line. The problem is when I attempt to takeoff my quadrotor in manual flight mode which runs PX4 flight code, no matter how I move the virtual joystick, the PWM output seems always be 0, I want to know that do I need extra setup before using virtual joystick, or virtual joystick can not control a real quadrotor?

dagar commented 8 years ago

Try COM_RC_IN_MODE 1

SamChenzx commented 8 years ago

When I change COM_RC_IN_MODE to 1, as I don't have a real RC radio connected to quadrotor, QGC warns that: Detected 0 radio channels. To operate PX4, you need at least 5channels. And the Radio menu turn into red color. Does it works?

On Mon, May 16, 2016 at 11:16 AM, Daniel Agar notifications@github.com wrote:

Try COM_RC_IN_MODE 1

— You are receiving this because you authored the thread. Reply to this email directly or view it on GitHub https://github.com/mavlink/qgroundcontrol/issues/3378#issuecomment-219502174

andrejpan commented 8 years ago

Hey,

I set up pixracer and QGC 2.9.7 with psp3 gamepad. COM_RC_IN_MODE has settings Joystick/No RC Checks (I do not see any number with this parameter any more). There is also settings for a joystick, QGC should recognize type of gamepad and calibration should be also made. gamepad_settings

And I think this is it. In few days I will also try QGC 2.9.7beta and I can report if gamepad control still works.

LorenzMeier commented 8 years ago

@SamChenzx You need to arm via QGC to control the system. You cannot arm it with the virtual joysticks. It sounds like you're trying to do that.

andrejpan commented 8 years ago

Currently I am arming/disarming motors with virtual joystick with no problem, should we make another issue?

SamChenzx commented 8 years ago

@LorenzMeier Yes, that's the problem, I can't arm it with the virtual joysticks. Besides, seems can't arm it via QGC, as in the screen shot, QGC just start with a white circle with no arm/disarm option.

screen shot 2016-05-18 at 12 51 16 pm
LorenzMeier commented 8 years ago

QGC does only allow you to arm if you have GPS. The reason is that flying the system reliably without any position input is very hard for untrained pilots. We only recommend to fly the system in POSCTL mode with thumb sticks.

SamChenzx commented 8 years ago

With a GPS lock, it't much reliable to control vehicle. But how about the indoor application, we are not so easy to acquire GPS information in a hermetic room.

SamChenzx commented 8 years ago

Other issues here are as follows: Firstly, QGC sometimes can't arm quadrotor even with GPS locked, as using virtual joystick, QGC warns that:Arming DENIED. Manual throttle non-zero. At this situation, my virtual joystick's two thumb pads are both at zero point actually. Does it mean I should pull the left thumb pad down to make throttle to zero?

screen shot 2016-05-19 at 8 51 11 am

Secondly, when I arm it via command line, the output PWM signals seems always have one motor or two at a high duty cycle, but which motor can be high duty varies from time to time(shows in the below screen shots, can be motor 2 or sometimes motor 4), though I still leave thumb pads at zero point and keep my quadrotor horizontal and stable on the ground. I have no idea it's an issue of QGC or PX4 flight code.

screen shot 2016-05-19 at 8 39 32 am screen shot 2016-05-19 at 8 47 16 am
MathiasGilson commented 8 years ago

Found it ! You need to disable the safety switch from the parameters: put the param CBRK_IO_SAFETY from 0 to 22027. This will simulate that the safety switch is always on and you will be able to arm it ;)

DonLakeFlyer commented 8 years ago

@LorenzMeier Shouldn't firmware send better error to ground station about failure to arm if it's the safety switch. Otherwise user has no idea what the problem is?

dagar commented 8 years ago

I still find arming and mode change rejection errors bewildering. https://github.com/PX4/Firmware/issues/4663

sneiman commented 7 years ago

I have this problem. cf2 running px4. QGC 3.0.1 on ubuntu 16.04. flight mode set to stabilized, CBRK_IO_SAFETY = 22027. using taranis 9d plus as joystick. cfbridge to QGC to MAVLink to Crazyradio PA. Can only arm using flight screen ARM button. Can fly once I do this. Its a problem for my specific development - working on swarms of cf2s and a custom 130 for both controlled and preplanned follow flight - REALLY need to make things happen from controller. Am I missing something? thanks

DonLakeFlyer commented 7 years ago

Do you get no response from the Vehicle. Or does it send back that it rejected the arm?

sneiman commented 7 years ago

I get nothing - no messages on flight screen, or in console, or in status bar. Am I correct in trying to arm with throttle at 0, and yaw/rudder extreme right for 5 seconds?

On a minor note, when using a joystick with 0 throttle at extreme bottom, system calibrates properly but requires the throttle stick to be moved each time QGC is started to show correct stick position/value. Just fyi.

DonLakeFlyer commented 7 years ago

What version of QGC are you using?

sneiman commented 7 years ago

3.0.1 on Ubuntu 16.04.

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From: Don Gagne notifications@github.com Reply-To: mavlink/qgroundcontrol reply@reply.github.com Date: Thursday, October 20, 2016 at 12:50 PM To: mavlink/qgroundcontrol qgroundcontrol@noreply.github.com Cc: Seth Neiman seth@lizardms.com, Comment comment@noreply.github.com Subject: Re: [mavlink/qgroundcontrol] Virtual Joystick can't control PX4 flight stack. (#3378)

What version of QGC are you using?

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SamChenzx commented 7 years ago

Hi, Burak

If use companion computer, you can try offboard mode to control the drone.

On Tue, Nov 22, 2016 at 23:45 Burak Metin notifications@github.com wrote:

Hi, when we arm and takeoff via QGC, then use virtual joystick in POSCTRL mode, QGC sends the manual control mavlink messages to Pixhawk through the telemetry 1. When we use the telemetry 2 port of Pixhawk (in POSCTRL mode) with a companion computer on the drone and send the same mavlink messages to Pixhawk as what the virtual joystick sends, we can not control the drone. Does the POSCTRL mode only accept the manual control messages from Telemetry 1?

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DonLakeFlyer commented 7 years ago

QGC sends the manual control mavlink messages to Pixhawk through the telemetry 1. When we use the telemetry 2 port of Pixhawk (in POSCTRL mode) with a companion computer on the drone and send the same mavlink messages to Pixhawk as what the virtual joystick sends, we can not control the drone.

@metinburak You are going to have to ask the firmware folks about that. Not really a QGC question.

Mocart96 commented 6 years ago

hello @metinburak I know topic is old but did you find an answer on Telemetry2 port issue? Could you explain me little more what means "we can not control the drone"?

sneiman commented 6 years ago

sorry - not much help from me. i stopped using this setup some time ago before fully resolving this issue. good luck

Sent from mobile device - sorry for typos and brevity.

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On May 1, 2018, at 10:05 AM, Adam notifications@github.com<mailto:notifications@github.com> wrote:

hello @metinburakhttps://github.com/metinburak I know topic is old but did you find an answer on Telemetry2 port issue? Could you explain me little more what means "we can not control the drone"?

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apurvadey commented 4 years ago

Hey have you been able to to use the virtual joystick without a real RC or joystick radio by using COM_RC_IN_MODE ??