Fwd: Proper way to arm FCU via Mavlink

[Vladimir Ermakov]

Hi All,

I need to know how to arm the system.
I send the command #400 - MAV_CMD_COMPONENT_ARM_DISARM with 1.0 (arm) or 0.0 (disarm) in param1.

It works fine with APM:Plane (but actually not needed), but mavros users have issues with arming (e.g. http://answers.ros.org/question/194507/mavros-not-arming-quadcopter/).
Usually returns 3 - MAV_CMD_ACK_ERR_NOT_SUPPORTED and that confuse me.

So i want check how to arm systems and add this to FAQ (or fix code).
Please tell what conditions must be ok to arm systems, APM:Plane, APM:Copter.

With best regards,

Vladimir

[Jonathan Challinger]

My suggestion would be to take a look at how the mavproxy "arm" command works... it always does for me.

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[Arthur Benemann]

Here is the way I do it on DroidPlanner https://github.com/DroidPlanner/droidplanner/blob/master/Core/src/org/droidplanner/core/MAVLink/MavLinkArm.java

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Arthur Benemann

[Vladimir Ermakov]

Thank you all,

I compared the code MAVProxy, DroidPlanner and mavros, and do all the same. In addition to the values ​​target_component: I set fcu id, and not MAV_COMP_ID_SYSTEM_CONTROL, but it does not matter because APM does not check component_id.

https://github.com/mavlink/mavros/blob/master/mavros/src/plugins/command.cpp#L285

четверг, 9 октября 2014 г., 4:36:46 UTC+4 пользователь Arthur Benemann написал:

[Lucas Chiesa]

Hi Vladimir,

I'm having the same problem.

Are you using arducopter 3.1.5? I found that it works on arducopter 3.2, but not in 3.1.5.

Were you able to make it work using 3.1.5?

Thank you very much!
Lucas

[Vladimir Ermakov]

Hi Lucas,

Actually i use ArduPlane and do not have any copter.

Now the flight season is over and I'm slowly going to prepare for the next.

I think easier is to update firmware when it stabilize, and use hand arm now (RC).


пятница, 31 октября 2014 г., 23:15:33 UTC+3 пользователь Lucas Chiesa написал:

[Lucas Chiesa]

Dear Vladimir,

Thanks for the answer! Yesterday we were finally able to arm arducopter 3.1 by changing the target component id when opening mavros. The target component id that worked was 250. For some reason when using 3.2 that value does not seem to make a difference.

Thank you again!

Lucas

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[Charles Goddard]

Hi Vladimir,

I'm not too familiar with your codebase but I managed to kludge together an arm function that works. Here's what I did:

https://github.com/cg123/mavros/commit/6ff26a2d7564cdbb3a8bd34bc74493b14c5fec21

It consistently arms my 3DR Iris, while the regular arm service always fails. It looks like the PX4 firmware might insist the target component must be MAV_COMP_ID_SYSTEM_CONTROL.

I hope this is vaguely helpful!

Best,

Charles

[Vladimir Ermakov]

FYU: i just added parameter ~cmd/use_comp_id_system_control
It it enabled, all commands addressed to MAV_COMP_ID_SYSTEM_CONTROL.

среда, 8 октября 2014 г., 20:22:32 UTC+4 пользователь Vladimir Ermakov написал:

[Randy Mackay]

 

     I don’t fully understand what we’re getting at here but one common cause of the copter failing to arm is the pre-arm checks.  Try setting the ARMING_CHECK parameter to 0.

              http://copter.ardupilot.com/wiki/prearm_safety_check/

 

 

-Randy

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[Владимир ПроектныйТренинг]

Владимир, хотелось бы с вами пообщаться отдельно по данной теме.

Сообщите свой скайп-ник.

С Уважением, тоже Владимир.

среда, 8 октября 2014 г., 19:22:32 UTC+3 пользователь Vladimir Ermakov написал:

[Randy Mackay]

Vladirmir (the first one),

 

      It’s very likely failing because of a pre-arm check failure.  It should have sent a text message to the GCS just before the failure response which has the reason for the failure.  We intend to add a more easily-understood-by-machines error message but haven’t quite got to it yet.  Hopefully that’ll happen for AC3.3.

 

      In the meantime, the “Error Not Supported” nack is misleading and I’ll replace it with “Error Failed”.

 

      Thanks for the report!

 

-Randy

P.S isn’t google translate amazing at least with Russian!

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[Ihor Khomyn]

Hi Charles, I've tried your arm_hack, but still no luck with arming my Pixhawk with PX4 flight stack on it with Mavros. Any ideas where to go next? Thanks.

https://github.com/cg123/mavros/commit/6ff26a2d7564cdbb3a8bd34bc74493b14c5fec21