Copter arm but doesn't take off

[mickael]

Hi there,

I continue this post : http://forum.erlerobotics.com/t/ros-issues-with-automatic-takeoff-and-land/1174?u=mickael

So I am using Escarlata and I want to make an autonomous fly but I have some issue

Firstable you have to remember that I am using the su mode because I have this error with the erle mode :

So I am using the su mode but I have this :

So the copter arm but don't take off and land after.

On the gsc I have this message :

That tell me the battery is empty even if the battery is full.

I am using the ros_erle_takeoff_land project.

After, I would add this program on the do stuff part my code :

rc_override_pub = n.advertise< mavros_msgs::OverrideRCIn >("/mavros/rc/override", 10);
  
 //while(ros::ok()){
    mavros_msgs::OverrideRCIn msg_override;
    msg_override.channels[0] = 1500;  //Roll
    msg_override.channels[1] = 1500;  //Pitch
    msg_override.channels[2] = 1700;  //Throttle
    msg_override.channels[3] = 1500;  //Yaw
    msg_override.channels[4] = 0;
    msg_override.channels[5] = 0;
    msg_override.channels[6] = 0;
    msg_override.channels[7] = 0;
//}
//ros::spinOnce;
rc_override_pub.publish(msg_override);
sleep(4);

I have add the mavros_msg file, could you tell me if I am missing something ?

Thanks for your answers.

Regards,
Mickael

[imuguruza]

Could be that mavros is not set up for RC overrding, please follow the steps said here:

Running rover in ROS using test script

Hi @igd, You need to : 1) Configure MAVROS launch script, edit this file /home/erle/ros_catkins_ws/install_isolated/setup_mavros.sh and add ?ids=255,252,1 to the line, like this: rosrun mavros mavros_node fcuurl:="udp://:6001@" gcsurl:="udp://10.0.0.1:9000@10.0.0.2:6000?ids=255,252,1" 2) Be sure that MAVROS is running (check it with sudo systemctl status mavros.service). 3) Under GCS, set SYSID_MYGCS parameter to 1. 4) Restart Erle-Brain. You don't need to create a ROS package f…

That tell me the battery is empty even if the battery is full.

In order to have readings of the battery, you need to use a Power Module and calibrate it.

Iñigo

[mickael]

I have follow the instructions, I don't have the low battery message anymore but the drone still doesn't takeoff.

I have change the setup-mavros.bash instead because the setup_mavros.sh doesn't exist

What is the CMD 22 ?

[imuguruza]

What is the CMD 22 ?

As said here, is MAV_CMD_NAV_TAKEOF command.

You need GPS fix to take off using autonomous modes like GUIDED
Iñigo

[mickael]

I don't want to use GPS, because I will fly indoor, that's why I am using ALT_HOLD mode instead of GUIDED

[imuguruza]

@mickael,

If you are sending takeoff messages means you're mixing the RC overriding and the automatic flight modes. So try it just using the override method.

Iñigo

[mickael]

Ok I am working on it, please don't close the topic for now

Thanks @imuguruza

[michielaernouts]

Hey @mickael, did you manage to fly your Erle-Copter indoor? How did you do it? Were you able to do yaw rotation?

[mickael]

Hi ! Unfortunately the project has been stop So I am not able to help you sorry
Good luck with your project !

[imuguruza]

I'm closing this thread... Open a new one in case you're facing problems.

Iñigo

[imuguruza]