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Override RC inputs topic #22
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Need some tests. |
Tested. APM responds only to GCS sysid. |
Sorry for the stupid question - how to use it? And how set arm/disarm? |
Arm/disarm via arming service, or using RC override via it's topic, http://wiki.ros.org/mavros#rc_io |
Service /mavros/cmd/arming unavailable. I type $ rosservice list |
I type but $ rostopic echo /mavros/rc/in |
Because #48, i blacklist command and waypoint plugins. Now i have pixhawk, but i want close previous issues before trying it. Override should work, but maybe it requires arming or correct target ids. |
But RC should work without arming. Or I'm wrong? |
Does it work from GCS? APM for example silently drops override message not from GCS system id (parameter). |
Can the RC input be converted to a topic rather then a service? |
Quick question for @vooon on this! Do you know if there is a way to override just a few channels, while leaving the other channels under RC or autonomous control? |
@pmukherj If you publish 0 for the channel, it will give control back to the RC. Similarly, -1 for a channel means no change should be made to that channel. In order to send the -1, you need to send the maximum of the uint16_t which is 65535 (2^16 - 1). From what I understand, the pixhawk doesn't support rc override. |
Amazing! That's perfect. |
Are you using the RC override with the pixhawk? |
This won't work. We don't handle RC override in PX4 stack. |
Yea, I noticed that conversation in the joystick plugin ticket. Boo! |
We can do it via the FMU auxiliary pins. I'm already working on getting the pins started up by default, as they are currently totally "dead" |
They are already enabled. Check the rcS / firefly script for the logic how to load a mixer in there. |
My bad, I have the 3DR IRIS, so the gimbal connection is by default through the Aux out port (1 and 6 = roll and pitch of the gimbal). I was going to move them to the RC out so I can control it through mavros, but this would potentially work much cleaner. |
If this is easy to pass through, I can give this a test as well! |
@pmukherj Look constant CHAN_RELEASE in http://docs.ros.org/indigo/api/mavros/html/msg/OverrideRCIn.html But as mentioned by @mhkabir this message not supported by PX4. @LorenzMeier it is possible to add messages for gimbal controller? Maybe it exist BGC with mavlink support? |
Removed protobuf hacks. Fixes mavlink#22
Do you know if px4 support rc_channel_override yet ? |
Yes, now you can use simply by publishing to mavros/rc/override topic |
This still doesn't work on PX4, does it? |
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