How to set modes with the current mavros code?

[TSC21]

I'm trying to set modes using the command line. Searching in the current scripts I haven't found any which can be used to set modes, which can be only sent by rosservice call /mavros/cmd/set_mode "mode:xxx". Can be a good thing to add to mavcmd some alias like

$ rosrun mavros mavcmd -set_mode <mode_name/MAV_MODE_num>

Anyway, the thing I want to know is how can I set modes beyond the ones of MAV_MODE ENUM available in https://github.com/vooon/mavros/blob/master/mavros/srv/CommandMode.srv? I see there's also the px4_custom_mode.h in src but how can it be used as to set the those modes via terminal, like for example POSCTL or OFFBOARD?

Thanks in advance!

[vooon]

I do not like that there is more than one way to change the mode (command or SET_MODE).
And I have not decided which interface is easy to use. Also what plugin should do it? Maybe sys_status, but i think i must rename it to system (because now it not only status).

And implementation deference:

• APM: SET_MODE can change custom modes, while cmd only predefined MAV_MODE
• PX4: SET_MODE translated to command

Perhaps i remove this shortcut and add set_mode service that will use SET_MODE message.
Also more useful use strings for modes, not numbers.

[TSC21]

Also what plugin should do it? Maybe sys_status, but i think i must rename it to system (because now it not only status).

That seems to be a good option to me :)

set_mode service that will use SET_MODE message.

This set_mode srv will allow set modes for both PX4 and APM simple and custom modes right?

[vooon]

@TSC21 check new tool - mavsys.

It sets any mode via SET_MODE message.

rosrun mavros mavsys mode -b <ENUM VALUE>
rosrun mavros mavsys mode -c ALTCTL

[TSC21]

Will do it 👍 just updating mavlink now!

[TSC21]

It's working! 👍 When adding info to wiki, can you please add a list of all possible base and custom modes available? It can be helpful to users.

[vooon]

Ok. Now you can find all supported strings here: https://github.com/vooon/mavros/blob/master/mavros/src/lib/uas.cpp#L64

[TSC21]

Do you know why the PX4 FCU gets to AUTO.LAND when we arm it using the mavsafety arm cmd?

[vooon]

No idea.

[TSC21]

I suppose it's the state machine behaviour when receiving that command. Probably ask on the PX4 Firmware side.

[TSC21]

Do you know why the PX4 FCU gets to AUTO.LAND when we arm it using the mavsafety arm cmd?

Already know the answer. It's a failsafe measure. If you don't have a RC connected, it goes to AUTO.LAND.

I think I can close this now 👍