offboard reject #327
Comments
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@dreamkeep are you sending any kind of setepoint stream to the FCU? (using setpoint plugins for example). Cause you have to. Otherwise FCU will reject changing to |
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I have meet this. Now I use RC change to the Manual Mode and Offboard Mode, which seem works well. |
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I use RC change to the Manual mode is ok. I use this setpoint example: import rospy
import thread
import threading
import time
from geometry_msgs.msg import PoseStamped, Quaternion
from math import *
from mavros.srv import CommandBool
from mavros.utils import *
from std_msgs.msg import Header
from std_msgs.msg import String
from tf.transformations import quaternion_from_euler
class Setpoint:
def __init__(self, pub, rospy):
self.pub = pub
self.rospy = rospy
self.x = 0.0
self.y = 0.0
self.z = 0.0
try:
thread.start_new_thread( self.navigate, () )
except:
print "Error: Unable to start thread"
# TODO(simon): Clean this up.
self.done = False
self.done_evt = threading.Event()
sub = rospy.Subscriber('/mavros/local_position/local', PoseStamped, self.reached)
def navigate(self):
rate = self.rospy.Rate(10) # 10hz
msg = PoseStamped()
msg.header = Header()
msg.header.frame_id = "base_footprint"
msg.header.stamp = rospy.Time.now()
while 1:
msg.pose.position.x = self.x
msg.pose.position.y = self.y
msg.pose.position.z = self.z
# For demo purposes we will lock yaw/heading to north.
yaw_degrees = 0 # North
yaw = radians(yaw_degrees)
quaternion = quaternion_from_euler(0, 0, yaw)
msg.pose.orientation = Quaternion(*quaternion)
self.pub.publish(msg)
rate.sleep()
def set(self, x, y, z, delay=0, wait=True):
self.done = False
self.x = x
self.y = y
self.z = z
if wait:
rate = rospy.Rate(5)
while not self.done:
rate.sleep()
time.sleep(delay)
def reached(self, topic):
#print topic.pose.position.z, self.z, abs(topic.pose.position.z - self.z)
if abs(topic.pose.position.x - self.x) < 0.5 and abs(topic.pose.position.y - self.y) < 0.5 and abs(topic.pose.position.z - self.z) < 0.5:
self.done = True
self.done_evt.set()
def setpoint_demo():
pub = rospy.Publisher('/mavros/setpoint_position/local_position', PoseStamped, queue_size=10)
rospy.init_node('pose', anonymous=True)
rate = rospy.Rate(10)
setpoint = Setpoint(pub, rospy)
print "Climb"
setpoint.set(0.0, 0.0, 3.0, 0)
setpoint.set(0.0, 0.0, 10.0, 5)
print "Sink"
setpoint.set(0.0, 0.0, 8.0, 5)
print "Fly to the right"
setpoint.set(10.0, 4.0, 8.0, 5)
print "Fly to the left"
setpoint.set(0.0, 0.0, 8.0, 5)
offset_x = 0.0
offset_y = 0.0
offset_z = 10.0
sides = 360
radius = 20
print "Fly in a circle"
setpoint.set(0.0, 0.0, 10.0, 3) # Climb to the starting height first
i = 0
while not rospy.is_shutdown():
x = radius * cos(i*2*pi/sides) + offset_x
y = radius * sin(i*2*pi/sides) + offset_y
z = offset_z
wait = False
delay = 0
if (i == 0 or i == sides):
# Let it reach the setpoint.
wait = True
delay = 5
setpoint.set(x, y, z, delay, wait)
i = i + 1
rate.sleep()
if (i > sides):
print "Fly home"
setpoint.set(0.0, 0.0, 10.0, 5)
break
# Simulate a slow landing.
setpoint.set(0.0, 0.0, 8.0, 5)
setpoint.set(0.0, 0.0, 3.0, 5)
setpoint.set(0.0, 0.0, 2.0, 2)
setpoint.set(0.0, 0.0, 1.0, 2)
setpoint.set(0.0, 0.0, 0.0, 2)
setpoint.set(0.0, 0.0, -0.2, 2)
print "Bye!"
if __name__ == '__main__':
try:
setpoint_demo()
except rospy.ROSInterruptException:
pass |
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In the def init(self, pub, rospy): part sub = rospy.Subscriber('/mavros/local_position/local', PoseStamped, self.reached) |
No, that's a subscription. Doesn't have nothing to do with the setpoints -> it's just a way of retrieving feedback from the FCU (through Setpoints are being published through |
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@dreamkeep do you have position lock on your FCU (i.e. big status LED blinking green instead of blue)? |
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@dreamkeep what's the status on this? |
@vooon when i switch to offboard ,it report that:
[ WARN] [1435839397.770402629]: GPS: no fix
[ERROR] [1435839407.447141970]: FCU: REJECT OFFBOARD
[ERROR] [1435839417.539181644]: FCU: REJECT OFFBOARD
when I run rosrun mavros mavsys mode -c OFFBOARD
it show :
Timed out!
this is my comand list:
and then I arm pixhawk on qgroundstation ,and it success arm.
then run ./setpoint_demo.py
then I switch mode to OFFBOARD ,so it show this:
[ WARN] [1435843066.282789513]: PR: request list timeout, retries left 0
[ERROR] [1435843071.536739849]: FCU: REJECT OFFBOARD
so I don't know how to fix this issue ,
this is my /diagnostics
what should i do?
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