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joule with px4 can't change to Offboard mode #894

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wraysx opened this issue Dec 16, 2017 · 2 comments
Closed

joule with px4 can't change to Offboard mode #894

wraysx opened this issue Dec 16, 2017 · 2 comments
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@wraysx
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wraysx commented Dec 16, 2017

Now i change pixhawk to px4, but i can't make it to change to offboard mode, neither using RC or mavros.
when i run mavsetp, it shows something like this:

rosrun mavros mavsetp local -v 0 0 0 0
Requesting OFFBOARD mode...
OFFBOARD mode are set.

and

[ WARN] [1513421776.805711484]: CMD: Unexpected command 176, result 1

but pixhawk's red light blinks for maybe 4 times, with buzzer rings 3 times, and can't change it to offboard.

i think i need to send several position to it before, but everything seems the same.

and someone said that after the drone fly in the sky, change to alt-hold(may be other name i guess), then change to offboard and success, but i manage to change to position mode , but fail to change to offboard with the same situation like this.

MAVROS version and platform

Mavros: ros-kinetic-mavros is already the newest version (0.21.5-0xenial-20171201-081620-0800).

ROS: Kinetic
Ubuntu: 16.04

Autopilot type and version

[ ] ArduPilot
[ x ] PX4

Version: installed from latest qgc, maybe 1.7.0 i guess

Node logs

joule@joule-570x-DVT3:~$ roslaunch mavros px4.launch
... logging to /home/joule/.ros/log/97af8a86-e24f-11e7-ad78-f78ca70923e1/roslaunch-joule-570x-DVT3-7754.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://joule-570x-DVT3:36437/

SUMMARY

CLEAR PARAMETERS

  • /mavros/

PARAMETERS

  • /mavros/cmd/use_comp_id_system_control: False
  • /mavros/conn/heartbeat_rate: 10.0
  • /mavros/conn/system_time_rate: 1.0
  • /mavros/conn/timeout: 10.0
  • /mavros/conn/timesync_rate: 0.0
  • /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
  • /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
  • /mavros/distance_sensor/hrlv_ez4_pub/id: 0
  • /mavros/distance_sensor/hrlv_ez4_pub/orientation: ROLL_180
  • /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
  • /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
  • /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
  • /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
  • /mavros/distance_sensor/laser_1_sub/id: 3
  • /mavros/distance_sensor/laser_1_sub/orientation: ROLL_180
  • /mavros/distance_sensor/laser_1_sub/subscriber: True
  • /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
  • /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
  • /mavros/distance_sensor/lidarlite_pub/id: 1
  • /mavros/distance_sensor/lidarlite_pub/orientation: ROLL_180
  • /mavros/distance_sensor/lidarlite_pub/send_tf: True
  • /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
  • /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
  • /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
  • /mavros/distance_sensor/sonar_1_sub/id: 2
  • /mavros/distance_sensor/sonar_1_sub/orientation: ROLL_180
  • /mavros/distance_sensor/sonar_1_sub/subscriber: True
  • /mavros/fake_gps/eph: 2.0
  • /mavros/fake_gps/epv: 2.0
  • /mavros/fake_gps/fix_type: 3
  • /mavros/fake_gps/geo_origin/alt: 408.0
  • /mavros/fake_gps/geo_origin/lat: 47.3667
  • /mavros/fake_gps/geo_origin/lon: 8.55
  • /mavros/fake_gps/gps_rate: 5.0
  • /mavros/fake_gps/mocap_transform: True
  • /mavros/fake_gps/satellites_visible: 5
  • /mavros/fake_gps/tf/child_frame_id: fix
  • /mavros/fake_gps/tf/frame_id: map
  • /mavros/fake_gps/tf/listen: False
  • /mavros/fake_gps/tf/rate_limit: 10.0
  • /mavros/fake_gps/tf/send: False
  • /mavros/fake_gps/use_mocap: True
  • /mavros/fake_gps/use_vision: False
  • /mavros/fcu_url: /dev/ttyS1:921600
  • /mavros/gcs_url:
  • /mavros/global_position/child_frame_id: base_link
  • /mavros/global_position/frame_id: map
  • /mavros/global_position/rot_covariance: 99999.0
  • /mavros/global_position/tf/child_frame_id: base_link
  • /mavros/global_position/tf/frame_id: map
  • /mavros/global_position/tf/global_frame_id: earth
  • /mavros/global_position/tf/send: False
  • /mavros/global_position/use_relative_alt: True
  • /mavros/image/frame_id: px4flow
  • /mavros/imu/angular_velocity_stdev: 0.000349065850399
  • /mavros/imu/frame_id: base_link
  • /mavros/imu/linear_acceleration_stdev: 0.0003
  • /mavros/imu/magnetic_stdev: 0.0
  • /mavros/imu/orientation_stdev: 1.0
  • /mavros/local_position/frame_id: map
  • /mavros/local_position/tf/child_frame_id: base_link
  • /mavros/local_position/tf/frame_id: map
  • /mavros/local_position/tf/send: False
  • /mavros/local_position/tf/send_fcu: False
  • /mavros/mission/pull_after_gcs: True
  • /mavros/mocap/use_pose: True
  • /mavros/mocap/use_tf: False
  • /mavros/odometry/estimator_type: 3
  • /mavros/odometry/frame_tf/desired_frame: ned
  • /mavros/plugin_blacklist: ['safety_area', '...
  • /mavros/plugin_whitelist: []
  • /mavros/px4flow/frame_id: px4flow
  • /mavros/px4flow/ranger_fov: 0.118682389136
  • /mavros/px4flow/ranger_max_range: 5.0
  • /mavros/px4flow/ranger_min_range: 0.3
  • /mavros/safety_area/p1/x: 1.0
  • /mavros/safety_area/p1/y: 1.0
  • /mavros/safety_area/p1/z: 1.0
  • /mavros/safety_area/p2/x: -1.0
  • /mavros/safety_area/p2/y: -1.0
  • /mavros/safety_area/p2/z: -1.0
  • /mavros/setpoint_accel/send_force: False
  • /mavros/setpoint_attitude/reverse_thrust: False
  • /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
  • /mavros/setpoint_attitude/tf/frame_id: map
  • /mavros/setpoint_attitude/tf/listen: False
  • /mavros/setpoint_attitude/tf/rate_limit: 50.0
  • /mavros/setpoint_attitude/use_quaternion: False
  • /mavros/setpoint_position/tf/child_frame_id: target_position
  • /mavros/setpoint_position/tf/frame_id: map
  • /mavros/setpoint_position/tf/listen: False
  • /mavros/setpoint_position/tf/rate_limit: 50.0
  • /mavros/startup_px4_usb_quirk: True
  • /mavros/sys/disable_diag: False
  • /mavros/sys/min_voltage: 10.0
  • /mavros/target_component_id: 1
  • /mavros/target_system_id: 1
  • /mavros/tdr_radio/low_rssi: 40
  • /mavros/time/time_ref_source: fcu
  • /mavros/time/timesync_avg_alpha: 0.6
  • /mavros/time/timesync_mode: MAVLINK
  • /mavros/vibration/frame_id: base_link
  • /mavros/vision_pose/tf/child_frame_id: vision_estimate
  • /mavros/vision_pose/tf/frame_id: map
  • /mavros/vision_pose/tf/listen: False
  • /mavros/vision_pose/tf/rate_limit: 10.0
  • /mavros/vision_speed/listen_twist: False
  • /rosdistro: kinetic
  • /rosversion: 1.12.12

NODES
/
mavros (mavros/mavros_node)

auto-starting new master
process[master]: started with pid [7765]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 97af8a86-e24f-11e7-ad78-f78ca70923e1
process[rosout-1]: started with pid [7779]
started core service [/rosout]
process[mavros-2]: started with pid [7797]
[ INFO] [1513421714.643147521]: FCU URL: /dev/ttyS1:921600
[ WARN] [1513421714.644168217]: init: message from ASLUAV, MSG-ID 201 ignored! Table has different entry.
[ WARN] [1513421714.644518264]: init: message from autoquad, MSG-ID 150 ignored! Table has different entry.
[ WARN] [1513421714.644565190]: init: message from autoquad, MSG-ID 152 ignored! Table has different entry.
[ WARN] [1513421714.644838158]: init: message from matrixpilot, MSG-ID 150 ignored! Table has different entry.
[ WARN] [1513421714.644875178]: init: message from matrixpilot, MSG-ID 151 ignored! Table has different entry.
[ WARN] [1513421714.644909148]: init: message from matrixpilot, MSG-ID 152 ignored! Table has different entry.
[ WARN] [1513421714.644940410]: init: message from matrixpilot, MSG-ID 153 ignored! Table has different entry.
[ WARN] [1513421714.644968149]: init: message from matrixpilot, MSG-ID 155 ignored! Table has different entry.
[ WARN] [1513421714.644996873]: init: message from matrixpilot, MSG-ID 156 ignored! Table has different entry.
[ WARN] [1513421714.645029195]: init: message from matrixpilot, MSG-ID 157 ignored! Table has different entry.
[ WARN] [1513421714.645060320]: init: message from matrixpilot, MSG-ID 158 ignored! Table has different entry.
[ WARN] [1513421714.645093739]: init: message from matrixpilot, MSG-ID 170 ignored! Table has different entry.
[ WARN] [1513421714.645126231]: init: message from matrixpilot, MSG-ID 171 ignored! Table has different entry.
[ WARN] [1513421714.645156685]: init: message from matrixpilot, MSG-ID 172 ignored! Table has different entry.
[ WARN] [1513421714.645185980]: init: message from matrixpilot, MSG-ID 173 ignored! Table has different entry.
[ WARN] [1513421714.645225005]: init: message from matrixpilot, MSG-ID 174 ignored! Table has different entry.
[ WARN] [1513421714.645265061]: init: message from matrixpilot, MSG-ID 175 ignored! Table has different entry.
[ WARN] [1513421714.645304846]: init: message from matrixpilot, MSG-ID 176 ignored! Table has different entry.
[ WARN] [1513421714.645343880]: init: message from matrixpilot, MSG-ID 177 ignored! Table has different entry.
[ WARN] [1513421714.645383153]: init: message from matrixpilot, MSG-ID 178 ignored! Table has different entry.
[ WARN] [1513421714.645421557]: init: message from matrixpilot, MSG-ID 179 ignored! Table has different entry.
[ WARN] [1513421714.645462192]: init: message from matrixpilot, MSG-ID 180 ignored! Table has different entry.
[ WARN] [1513421714.645500841]: init: message from matrixpilot, MSG-ID 181 ignored! Table has different entry.
[ WARN] [1513421714.645539889]: init: message from matrixpilot, MSG-ID 182 ignored! Table has different entry.
[ WARN] [1513421714.645598643]: init: message from matrixpilot, MSG-ID 183 ignored! Table has different entry.
[ WARN] [1513421714.645639971]: init: message from matrixpilot, MSG-ID 184 ignored! Table has different entry.
[ WARN] [1513421714.645680640]: init: message from matrixpilot, MSG-ID 185 ignored! Table has different entry.
[ WARN] [1513421714.645722533]: init: message from matrixpilot, MSG-ID 186 ignored! Table has different entry.
[ WARN] [1513421714.645971994]: init: message from paparazzi, MSG-ID 180 ignored! Table has different entry.
[ WARN] [1513421714.646009468]: init: message from paparazzi, MSG-ID 181 ignored! Table has different entry.
[ WARN] [1513421714.646044315]: init: message from paparazzi, MSG-ID 182 ignored! Table has different entry.
[ WARN] [1513421714.646080673]: init: message from paparazzi, MSG-ID 183 ignored! Table has different entry.
[ WARN] [1513421714.646119824]: init: message from paparazzi, MSG-ID 184 ignored! Table has different entry.
[ WARN] [1513421714.646356285]: init: message from slugs, MSG-ID 170 ignored! Table has different entry.
[ WARN] [1513421714.646393755]: init: message from slugs, MSG-ID 172 ignored! Table has different entry.
[ WARN] [1513421714.646427295]: init: message from slugs, MSG-ID 173 ignored! Table has different entry.
[ WARN] [1513421714.646466734]: init: message from slugs, MSG-ID 176 ignored! Table has different entry.
[ WARN] [1513421714.646505500]: init: message from slugs, MSG-ID 177 ignored! Table has different entry.
[ WARN] [1513421714.646546905]: init: message from slugs, MSG-ID 179 ignored! Table has different entry.
[ WARN] [1513421714.646606419]: init: message from slugs, MSG-ID 180 ignored! Table has different entry.
[ WARN] [1513421714.646648135]: init: message from slugs, MSG-ID 181 ignored! Table has different entry.
[ WARN] [1513421714.646687256]: init: message from slugs, MSG-ID 184 ignored! Table has different entry.
[ WARN] [1513421714.646724096]: init: message from slugs, MSG-ID 185 ignored! Table has different entry.
[ WARN] [1513421714.646761282]: init: message from slugs, MSG-ID 186 ignored! Table has different entry.
[ WARN] [1513421714.646799051]: init: message from slugs, MSG-ID 188 ignored! Table has different entry.
[ WARN] [1513421714.646839739]: init: message from slugs, MSG-ID 191 ignored! Table has different entry.
[ WARN] [1513421714.646878249]: init: message from slugs, MSG-ID 192 ignored! Table has different entry.
[ WARN] [1513421714.646914168]: init: message from slugs, MSG-ID 193 ignored! Table has different entry.
[ WARN] [1513421714.646952666]: init: message from slugs, MSG-ID 194 ignored! Table has different entry.
[ INFO] [1513421714.647525415]: serial0: device: /dev/ttyS1 @ 921600 bps
[ INFO] [1513421714.749760698]: GCS bridge disabled
[ INFO] [1513421714.846258997]: Plugin 3dr_radio loaded
[ INFO] [1513421714.853044009]: Plugin 3dr_radio initialized
[ INFO] [1513421714.853514594]: Plugin actuator_control loaded
[ INFO] [1513421714.869312803]: Plugin actuator_control initialized
[ INFO] [1513421714.939124362]: Plugin adsb loaded
[ INFO] [1513421714.954767112]: Plugin adsb initialized
[ INFO] [1513421714.955165092]: Plugin altitude loaded
[ INFO] [1513421714.959875592]: Plugin altitude initialized
[ INFO] [1513421714.960267323]: Plugin cam_imu_sync loaded
[ INFO] [1513421714.963795369]: Plugin cam_imu_sync initialized
[ INFO] [1513421714.964314955]: Plugin command loaded
[ INFO] [1513421714.988554850]: Plugin command initialized
[ INFO] [1513421714.989040162]: Plugin debug_value loaded
[ INFO] [1513421715.012704734]: Plugin debug_value initialized
[ INFO] [1513421715.012828291]: Plugin distance_sensor blacklisted
[ INFO] [1513421715.013197957]: Plugin fake_gps loaded
[ INFO] [1513421715.075287365]: Plugin fake_gps initialized
[ INFO] [1513421715.075843331]: Plugin ftp loaded
[ INFO] [1513421715.110856112]: Plugin ftp initialized
[ INFO] [1513421715.111287306]: Plugin global_position loaded
[ INFO] [1513421715.183165512]: Plugin global_position initialized
[ INFO] [1513421715.183829322]: Plugin hil loaded
[ INFO] [1513421715.249026870]: Plugin hil initialized
[ INFO] [1513421715.249731698]: Plugin home_position loaded
[ INFO] [1513421715.278049774]: Plugin home_position initialized
[ INFO] [1513421715.278987481]: Plugin imu loaded
[ INFO] [1513421715.317085232]: Plugin imu initialized
[ INFO] [1513421715.317496930]: Plugin local_position loaded
[ INFO] [1513421715.343959928]: Plugin local_position initialized
[ INFO] [1513421715.344417705]: Plugin manual_control loaded
[ INFO] [1513421715.351011920]: Plugin manual_control initialized
[ INFO] [1513421715.351711326]: Plugin mocap_pose_estimate loaded
[ INFO] [1513421715.369355214]: Plugin mocap_pose_estimate initialized
[ INFO] [1513421715.369750237]: Plugin odom loaded
[ INFO] [1513421715.395333065]: Plugin odom initialized
[ INFO] [1513421715.396018728]: Plugin param loaded
[ INFO] [1513421715.415065249]: Plugin param initialized
[ INFO] [1513421715.415654572]: Plugin px4flow loaded
[ INFO] [1513421715.441735175]: Plugin px4flow initialized
[ INFO] [1513421715.441834209]: Plugin rangefinder blacklisted
[ INFO] [1513421715.442296809]: Plugin rc_io loaded
[ INFO] [1513421715.460979701]: Plugin rc_io initialized
[ INFO] [1513421715.461092374]: Plugin safety_area blacklisted
[ INFO] [1513421715.461521245]: Plugin setpoint_accel loaded
[ INFO] [1513421715.477961440]: Plugin setpoint_accel initialized
[ INFO] [1513421715.478766357]: Plugin setpoint_attitude loaded
[ INFO] [1513421715.531463609]: Plugin setpoint_attitude initialized
[ INFO] [1513421715.531998297]: Plugin setpoint_position loaded
[ INFO] [1513421715.559800079]: Plugin setpoint_position initialized
[ INFO] [1513421715.560306408]: Plugin setpoint_raw loaded
[ INFO] [1513421715.604669037]: Plugin setpoint_raw initialized
[ INFO] [1513421715.605268068]: Plugin setpoint_velocity loaded
[ INFO] [1513421715.625312491]: Plugin setpoint_velocity initialized
[ INFO] [1513421715.625991107]: Plugin sys_status loaded
[ INFO] [1513421715.653044817]: Plugin sys_status initialized
[ INFO] [1513421715.653423399]: Plugin sys_time loaded
[ INFO] [1513421715.668205487]: TM: Timesync mode: MAVLINK
[ INFO] [1513421715.670823546]: Plugin sys_time initialized
[ INFO] [1513421715.671209517]: Plugin vfr_hud loaded
[ INFO] [1513421715.676822411]: Plugin vfr_hud initialized
[ INFO] [1513421715.676923354]: Plugin vibration blacklisted
[ INFO] [1513421715.677273742]: Plugin vision_pose_estimate loaded
[ INFO] [1513421715.711217773]: Plugin vision_pose_estimate initialized
[ INFO] [1513421715.711748036]: Plugin vision_speed_estimate loaded
[ INFO] [1513421715.725896476]: Plugin vision_speed_estimate initialized
[ INFO] [1513421715.726338428]: Plugin waypoint loaded
[ INFO] [1513421715.748986110]: Plugin waypoint initialized
[ INFO] [1513421715.749132939]: Autostarting mavlink via USB on PX4
[ INFO] [1513421715.749227329]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1513421715.749300477]: Built-in MAVLink package version: 2017.11.11
[ INFO] [1513421715.749367475]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1513421715.749455249]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1513421715.754745582]: IMU: Attitude quaternion IMU detected!
[ INFO] [1513421715.761287832]: RC_CHANNELS message detected!
[ INFO] [1513421715.768812941]: IMU: High resolution IMU detected!
[ WARN] [1513421715.890978814]: GP: No GPS fix
[ INFO] [1513421716.672160908]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1513421716.675391810]: IMU: Attitude quaternion IMU detected!
[ INFO] [1513421716.689627816]: IMU: High resolution IMU detected!
[ INFO] [1513421716.714215919]: RC_CHANNELS message detected!
[ INFO] [1513421717.684120107]: VER: 1.1: Capabilities 0x000000000000e4ef
[ INFO] [1513421717.684232515]: VER: 1.1: Flight software: 010700ff (000000006109C1EA)
[ INFO] [1513421717.684297607]: VER: 1.1: Middleware software: 010700ff (000000006109C1EA)
[ INFO] [1513421717.684349567]: VER: 1.1: OS software: 071600ff (0000000000000000)
[ INFO] [1513421717.684399337]: VER: 1.1: Board hardware: 00000011
[ INFO] [1513421717.684479192]: VER: 1.1: VID/PID: 26ac:0011
[ INFO] [1513421717.684525698]: VER: 1.1: UID: 3536511737353630
[ WARN] [1513421717.685317695]: CMD: Unexpected command 520, result 0
[ INFO] [1513421726.673524094]: HP: requesting home position
[ WARN] [1513421731.017511350]: PR: request param #245 timeout, retries left 2, and 15 params still missing
[ INFO] [1513421731.679955869]: WP: mission received
[ WARN] [1513421732.024286988]: PR: request param #246 timeout, retries left 2, and 14 params still missing
[ WARN] [1513421733.030464516]: PR: request param #247 timeout, retries left 2, and 13 params still missing
[ WARN] [1513421734.034328952]: PR: request param #422 timeout, retries left 2, and 12 params still missing
[ WARN] [1513421735.038416373]: PR: request param #423 timeout, retries left 2, and 11 params still missing
[ WARN] [1513421736.042169099]: PR: request param #424 timeout, retries left 2, and 10 params still missing
[ INFO] [1513421736.673570105]: HP: requesting home position
[ WARN] [1513421737.047979110]: PR: request param #434 timeout, retries left 2, and 9 params still missing
[ WARN] [1513421738.053163586]: PR: request param #435 timeout, retries left 2, and 8 params still missing
[ WARN] [1513421739.058911783]: PR: request param #436 timeout, retries left 2, and 7 params still missing
[ WARN] [1513421740.069401170]: PR: request param #437 timeout, retries left 2, and 6 params still missing
[ WARN] [1513421741.076240946]: PR: request param #438 timeout, retries left 2, and 5 params still missing
[ WARN] [1513421742.079508764]: PR: request param #439 timeout, retries left 2, and 4 params still missing
[ WARN] [1513421743.085368077]: PR: request param #719 timeout, retries left 2, and 3 params still missing
[ WARN] [1513421744.092100517]: PR: request param #720 timeout, retries left 2, and 2 params still missing
[ WARN] [1513421745.096748833]: PR: request param #721 timeout, retries left 2, and 1 params still missing
[ WARN] [1513421746.087828035]: GP: No GPS fix
[ INFO] [1513421746.673530002]: HP: requesting home position

Diagnostics

joule@joule-570x-DVT3:~$ rostopic echo -n1 /diagnostics
header:
seq: 58
stamp:
secs: 1513421784
nsecs: 750998711
frame_id: ''
status:

level: 0
name: "mavros: FCU connection"
message: "connected"
hardware_id: "/dev/ttyS1:921600"
values: 
  - 
    key: "Received packets:"
    value: "25624"
  - 
    key: "Dropped packets:"
    value: "0"
  - 
    key: "Buffer overruns:"
    value: "0"
  - 
    key: "Parse errors:"
    value: "0"
  - 
    key: "Rx sequence number:"
    value: "137"
  - 
    key: "Tx sequence number:"
    value: "192"
  - 
    key: "Rx total bytes:"
    value: "1058882"
  - 
    key: "Tx total bytes:"
    value: "30409"
  - 
    key: "Rx speed:"
    value: "14744.000000"
  - 
    key: "Tx speed:"
    value: "430.000000"

  • level: 2
    name: "mavros: GPS"
    message: "No satellites"
    hardware_id: "/dev/ttyS1:921600"
    values:

    key: "Satellites visible"
value: "0"
    • key: "Fix type"
      value: "0"
    • key: "EPH (m)"
      value: "99.99"
    • key: "EPV (m)"
      value: "99.99"

  • level: 0
    name: "mavros: Heartbeat"
    message: "Normal"
    hardware_id: "/dev/ttyS1:921600"
    values:

    key: "Heartbeats since startup"
value: "69"
    • key: "Frequency (Hz)"
      value: "1.000019"
    • key: "Vehicle type"
      value: "Quadrotor"
    • key: "Autopilot type"
      value: "PX4 Autopilot"
    • key: "Mode"
      value: "STABILIZED"
    • key: "System status"
      value: "Standby"

  • level: 0
    name: "mavros: System"
    message: "Normal"
    hardware_id: "/dev/ttyS1:921600"
    values:

    key: "Sensor present"
value: "0x00000000"

  • level: 0
    name: "mavros: Battery"
    message: "Normal"
    hardware_id: "/dev/ttyS1:921600"
    values:

    key: "Voltage"
value: "65.54"
    • key: "Current"
      value: "-0.0"
    • key: "Remaining"
      value: "-1.0"

Check ID

joule@joule-570x-DVT3:~$ rosrun mavros checkid
OK. I got messages from 1:1.

Received 5474 messages, from 1 addresses
sys:comp list of messages
1:1 0, 1, 2, 140, 141, 147, 24, 30, 31, 32, 36, 65, 70, 74, 76, 77, 87, 230, 231, 105, 111, 241, 245
@TSC21
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TSC21 commented Dec 16, 2017

mavsetp won't work the way you expect (it actually requires an update). Reade the offboard docs on the PX4 devguide and you will see you are missing something critical: you are not sending a stream of setpoints to the board before changing to Offboard mode. That'a why it does not change mode.

@TSC21 TSC21 added the question label Dec 16, 2017
@wraysx
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wraysx commented Dec 18, 2017

@TSC21 thanks a lot, now i understand what means setpoints, i am able to make it to the Offboard mode by publish /mavros/setpoint plugins, really appreciate!

@wraysx wraysx closed this as completed Dec 18, 2017
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