PX4 Offboard的各种设置

PX4 Offboard的各种设置

1 设置局域网PX4

<launch>
	<!-- vim: set ft=xml noet : -->
	<!-- example launch script for PX4 based FCU's -->

	<arg name="fcu_url" default="/dev/ttyACM0:921600" />
	<arg name="gcs_url" default="udp-b://@" />
	<arg name="tgt_system" default="1" />
	<arg name="tgt_component" default="1" />
	<arg name="log_output" default="screen" />
	<arg name="fcu_protocol" default="v2.0" />
	<arg name="respawn_mavros" default="false" />

	<include file="$(find mavros)/launch/node.launch">
		<arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml" />
		<arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" />

		<arg name="fcu_url" value="$(arg fcu_url)" />
		<arg name="gcs_url" value="$(arg gcs_url)" />
		<arg name="tgt_system" value="$(arg tgt_system)" />
		<arg name="tgt_component" value="$(arg tgt_component)" />
		<arg name="log_output" value="$(arg log_output)" />
		<arg name="fcu_protocol" value="$(arg fcu_protocol)" />
		<arg name="respawn_mavros" default="$(arg respawn_mavros)" />
	</include>
</launch>

主要设置<arg name="gcs_url" default="udp-b://@" />实现广播

2 纯姿态模式定位

SYS_MC_EST_GROUP = Q attitude estimator(no position)  
SYS_HAS_BARO = 0  
SYS_HAS_MAG = 0  

CBRK_IO_SAFETY = 22027  
CBRK_USB_CHK = 197848  
MAV_1_CONFIG = TELEM 2  

SYS_USE_IO = 0  

3 使用速度位置控制时，需要关闭GPS

这俩config都给disable了

4 使用EKF2必须开启气压计和磁力计

不然ekf2不工作，不会输出状态。

5 调IMU BAT频率

http://mavlink.io/en/messages/common.html#mav_commands

 rosrun mavros mavcmd long 511 105 10000 0 0 0 0 0  # imu data_raw
 rosrun mavros mavcmd long 511 31 10000 0 0 0 0 0   # imu data
  rosrun mavros mavcmd long 511 147 10000 0 0 0 0 0 #电池