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unexpected command while setting mode #1294

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v-to opened this issue Aug 14, 2019 · 5 comments
Open

unexpected command while setting mode #1294

v-to opened this issue Aug 14, 2019 · 5 comments

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@v-to
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v-to commented Aug 14, 2019

Issue details

Please describe the problem, or desired feature

I am trying to send mavlink commands via mavros to ardupilot rover.

mavsafety arm/disarm is working fine, mavcmd for setting servos as well, but I can't change mode of the autopilot

I am sending message with: rosrun mavros mavsys mode -b 4
I am getting response: CMD: Unexpected command 11, result 3

I run out of ideas how to solve this. Any idea of what might be the issue?

MAVROS version and platform

Mavros: 0.29.2
ROS: Lunar
Ubuntu: 16.04

Autopilot type and version

[ x ] ArduPilot
[ ] PX4

Version: 3.5.1 ArduRover

Node logs

[ INFO] [1565769114.857175129]: FCU URL: /dev/ttyS1:57600
[ INFO] [1565769114.858655472]: serial0: device: /dev/ttyS1 @ 57600 bps
[ INFO] [1565769114.858987507]: GCS URL: udp://@
[ INFO] [1565769114.859150206]: udp1: Bind address: 0.0.0.0:14555
[ INFO] [1565769114.878820334]: Plugin 3dr_radio loaded
[ INFO] [1565769114.880262191]: Plugin 3dr_radio initialized
[ INFO] [1565769114.880326545]: Plugin actuator_control loaded
[ INFO] [1565769114.883385227]: Plugin actuator_control initialized
[ INFO] [1565769114.891112436]: Plugin adsb loaded
[ INFO] [1565769114.903722850]: Plugin adsb initialized
[ INFO] [1565769114.904065093]: Plugin altitude loaded
[ INFO] [1565769114.907913076]: Plugin altitude initialized
[ INFO] [1565769114.908197238]: Plugin cam_imu_sync loaded
[ INFO] [1565769114.910433955]: Plugin cam_imu_sync initialized
[ INFO] [1565769114.910780415]: Plugin command loaded
[ INFO] [1565769114.929798884]: Plugin command initialized
[ INFO] [1565769114.930089141]: Plugin companion_process_status loaded
[ INFO] [1565769114.940013238]: Plugin companion_process_status initialized
[ INFO] [1565769114.940284215]: Plugin debug_value loaded
[ INFO] [1565769114.960504624]: Plugin debug_value initialized
[ INFO] [1565769114.960797651]: Plugin distance_sensor loaded
[ WARN] [1565769114.964736514]: DS: plugin not configured!
[ INFO] [1565769114.964815354]: Plugin distance_sensor initialized
[ INFO] [1565769114.965073022]: Plugin fake_gps loaded
[ INFO] [1565769114.999936357]: Plugin fake_gps initialized
[ INFO] [1565769115.000323849]: Plugin ftp loaded
[ INFO] [1565769115.023821379]: Plugin ftp initialized
[ INFO] [1565769115.024202377]: Plugin global_position loaded
[ INFO] [1565769115.078218371]: Plugin global_position initialized
[ INFO] [1565769115.078530845]: Plugin gps_rtk loaded
[ INFO] [1565769115.088804507]: Plugin gps_rtk initialized
[ INFO] [1565769115.089232083]: Plugin hil loaded
[ INFO] [1565769115.132297298]: Plugin hil initialized
[ INFO] [1565769115.132528141]: Plugin home_position loaded
[ INFO] [1565769115.139230362]: Plugin home_position initialized
[ INFO] [1565769115.139434098]: Plugin imu loaded
[ INFO] [1565769115.150187645]: Plugin imu initialized
[ INFO] [1565769115.150401325]: Plugin local_position loaded
[ INFO] [1565769115.160923382]: Plugin local_position initialized
[ INFO] [1565769115.161126213]: Plugin log_transfer loaded
[ INFO] [1565769115.166055331]: Plugin log_transfer initialized
[ INFO] [1565769115.166277394]: Plugin manual_control loaded
[ INFO] [1565769115.172050811]: Plugin manual_control initialized
[ INFO] [1565769115.172234636]: Plugin mocap_pose_estimate loaded
[ INFO] [1565769115.178572706]: Plugin mocap_pose_estimate initialized
[ INFO] [1565769115.178786036]: Plugin obstacle_distance loaded
[ INFO] [1565769115.183327480]: Plugin obstacle_distance initialized
[ INFO] [1565769115.183517415]: Plugin odom loaded
[ INFO] [1565769115.194977104]: Plugin odom initialized
[ INFO] [1565769115.195223829]: Plugin param loaded
[ INFO] [1565769115.200640146]: Plugin param initialized
[ INFO] [1565769115.200830801]: Plugin px4flow loaded
[ INFO] [1565769115.211481693]: Plugin px4flow initialized
[ INFO] [1565769115.211674291]: Plugin rangefinder loaded
[ INFO] [1565769115.212789203]: Plugin rangefinder initialized
[ INFO] [1565769115.213002720]: Plugin rc_io loaded
[ INFO] [1565769115.219271638]: Plugin rc_io initialized
[ INFO] [1565769115.219495461]: Plugin safety_area loaded
[ INFO] [1565769115.227534992]: Plugin safety_area initialized
[ INFO] [1565769115.227781765]: Plugin setpoint_accel loaded
[ INFO] [1565769115.233391734]: Plugin setpoint_accel initialized
[ INFO] [1565769115.233607678]: Plugin setpoint_attitude loaded
[ INFO] [1565769115.249610246]: Plugin setpoint_attitude initialized
[ INFO] [1565769115.249803637]: Plugin setpoint_position loaded
[ INFO] [1565769115.271869856]: Plugin setpoint_position initialized
[ INFO] [1565769115.272039560]: Plugin setpoint_raw loaded
[ INFO] [1565769115.281934571]: Plugin setpoint_raw initialized
[ INFO] [1565769115.282039306]: Plugin setpoint_velocity loaded
[ INFO] [1565769115.288683292]: Plugin setpoint_velocity initialized
[ INFO] [1565769115.288838281]: Plugin sys_status loaded
[ INFO] [1565769115.297458393]: Plugin sys_status initialized
[ INFO] [1565769115.297603547]: Plugin sys_time loaded
[ INFO] [1565769115.302266056]: TM: Timesync mode: MAVLINK
[ INFO] [1565769115.303286027]: Plugin sys_time initialized
[ INFO] [1565769115.303401904]: Plugin trajectory loaded
[ INFO] [1565769115.308299316]: Plugin trajectory initialized
[ INFO] [1565769115.308424416]: Plugin vfr_hud loaded
[ INFO] [1565769115.308971572]: Plugin vfr_hud initialized
[ INFO] [1565769115.309074649]: Plugin vibration loaded
[ INFO] [1565769115.309958964]: Plugin vibration initialized
[ INFO] [1565769115.310061265]: Plugin vision_pose_estimate loaded
[ INFO] [1565769115.315899988]: Plugin vision_pose_estimate initialized
[ INFO] [1565769115.316021102]: Plugin vision_speed_estimate loaded
[ INFO] [1565769115.320048809]: Plugin vision_speed_estimate initialized
[ INFO] [1565769115.320175454]: Plugin waypoint loaded
[ INFO] [1565769115.323769101]: Plugin waypoint initialized
[ INFO] [1565769115.323859340]: Plugin wheel_odometry loaded
[ WARN] [1565769115.327983322]: WO: Not all wheels have parameters specified (0/2).
[ WARN] [1565769115.328010581]: WO: No odometry computations will be performed.
[ INFO] [1565769115.328036199]: Plugin wheel_odometry initialized
[ INFO] [1565769115.328128786]: Plugin wind_estimation loaded
[ INFO] [1565769115.328690707]: Plugin wind_estimation initialized
[ INFO] [1565769115.328727009]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1565769115.328748877]: Built-in MAVLink package version: 2019.4.4
[ INFO] [1565769115.328775001]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1565769115.328795428]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1565769115.644516143]: CON: Got HEARTBEAT, connected. FCU: ArduPilot
[ INFO] [1565769115.750032680]: RC_CHANNELS message detected!
[ INFO] [1565769115.757520444]: IMU: Raw IMU message used.
[ INFO] [1565769116.677169086]: VER: 1.1: Capabilities 0x00000000000031cf
[ INFO] [1565769116.677278886]: VER: 1.1: Flight software: 030501ff ( 71093b8)
[ INFO] [1565769116.677382286]: VER: 1.1: Middleware software: 00000000 ( )
[ INFO] [1565769116.677466744]: VER: 1.1: OS software: 00000000 ( 35ad8a7)
[ INFO] [1565769116.677548681]: VER: 1.1: Board hardware: 00000000
[ INFO] [1565769116.677634672]: VER: 1.1: VID/PID: 0000:0000
[ INFO] [1565769116.677722839]: VER: 1.1: UID: 0000000000000000
[ WARN] [1565769116.678987484]: CMD: Unexpected command 520, result 0
[ INFO] [1565769125.668757958]: FCU: ArduRover V3.5.1 (71093b86)
[ INFO] [1565769125.676969048]: FCU: ChibiOS: 35ad8a79
[ INFO] [1565769125.687359377]: FCU: fmuv3 00430030 31365114 30313330
[ INFO] [1565769130.691732989]: WP: item #0 F:0 C: 16 p: 0.000000 0.000000 0.000000 0.000000 x: 54.312653 y: 18.110392 z: 143.169998
[ INFO] [1565769130.744116362]: WP: item #1 F:3 C: 16 p: 0.000000 0.000000 0.000000 0.000000 x: 54.315193 y: 18.109932 z: 100.000000
[ INFO] [1565769130.773072370]: WP: item #2 F:3 C: 16 p: 0.000000 0.000000 0.000000 0.000000 x: 54.315174 y: 18.110382 z: 100.000000
[ INFO] [1565769130.791839222]: WP: item #3 F:3 C: 16 p: 0.000000 0.000000 0.000000 0.000000 x: 54.314976 y: 18.110470 z: 100.000000
[ INFO] [1565769130.843224100]: WP: item #4 F:3 C: 16 p: 0.000000 0.000000 0.000000 0.000000 x: 54.314693 y: 18.110430 z: 100.000000
[ INFO] [1565769130.871632363]: WP: item #5 F:3 C: 16 p: 0.000000 0.000000 0.000000 0.000000 x: 54.314510 y: 18.110489 z: 100.000000
[ INFO] [1565769130.893041195]: WP: item #6 F:3 C: 16 p: 0.000000 0.000000 0.000000 0.000000 x: 54.314426 y: 18.110807 z: 100.000000
[ INFO] [1565769130.943817373]: WP: item #7 F:3 C: 16 p: 0.000000 0.000000 0.000000 0.000000 x: 54.314342 y: 18.111145 z: 100.000000
[ INFO] [1565769130.971802104]: WP: item #8 F:3 C: 16 p: 0.000000 0.000000 0.000000 0.000000 x: 54.314117 y: 18.111208 z: 100.000000
[ INFO] [1565769130.992662098]: WP: item #9 F:3 C: 16 p: 0.000000 0.000000 0.000000 0.000000 x: 54.313900 y: 18.110962 z: 100.000000
[ INFO] [1565769131.043232711]: WP: item #10 F:3 C: 16 p: 0.000000 0.000000 0.000000 0.000000 x: 54.313740 y: 18.110586 z: 100.000000
[ INFO] [1565769131.071572210]: WP: item #11 F:3 C: 16 p: 0.000000 0.000000 0.000000 0.000000 x: 54.313625 y: 18.109974 z: 100.000000
[ INFO] [1565769131.092891310]: WP: item #12 F:3 C: 16 p: 0.000000 0.000000 0.000000 0.000000 x: 54.313560 y: 18.109573 z: 100.000000
[ INFO] [1565769131.093086643]: WP: mission received
[ INFO] [1565769147.289256949]: PR: parameters list received

Diagnostics

header:
seq: 2737
stamp:
secs: 1565770882
nsecs: 829359576
frame_id: ''
status:

level: 0
name: "mavros: FCU connection"
message: "connected"
hardware_id: "/dev/ttyS1:57600"
values: 
  - 
    key: "Received packets:"
    value: "52780"
  - 
    key: "Dropped packets:"
    value: "0"
  - 
    key: "Buffer overruns:"
    value: "0"
  - 
    key: "Parse errors:"
    value: "0"
  - 
    key: "Rx sequence number:"
    value: "163"
  - 
    key: "Tx sequence number:"
    value: "200"
  - 
    key: "Rx total bytes:"
    value: "1575218"
  - 
    key: "Tx total bytes:"
    value: "4994"
  - 
    key: "Rx speed:"
    value: "1300.000000"
  - 
    key: "Tx speed:"
    value: "0.000000"

  • level: 0
    name: "mavros: GPS"
    message: "3D fix"
    hardware_id: "/dev/ttyS1:57600"
    values:

    key: "Satellites visible"
value: "17"
    • key: "Fix type"
      value: "3"
    • key: "EPH (m)"
      value: "0.61"
    • key: "EPV (m)"
      value: "0.88"

  • level: 0
    name: "mavros: Heartbeat"
    message: "Normal"
    hardware_id: "/dev/ttyS1:57600"
    values:

    key: "Heartbeats since startup"
value: "1768"
    • key: "Frequency (Hz)"
      value: "1.037019"
    • key: "Vehicle type"
      value: "Surface vessel"
    • key: "Autopilot type"
      value: "ArduPilot"
    • key: "Mode"
      value: "GUIDED"
    • key: "System status"
      value: "Active"

  • level: 0
    name: "mavros: System"
    message: "Normal"
    hardware_id: "/dev/ttyS1:57600"
    values:

    key: "Sensor present"
value: "0x0320DC27"
    • key: "Sensor enabled"
      value: "0x0020DC27"
    • key: "Sensor helth"
      value: "0x0320DC27"
    • key: "3D gyro"
      value: "Ok"
    • key: "3D accelerometer"
      value: "Ok"
    • key: "3D magnetometer"
      value: "Ok"
    • key: "GPS"
      value: "Ok"
    • key: "3D angular rate control"
      value: "Ok"
    • key: "attitude stabilization"
      value: "Ok"
    • key: "yaw position"
      value: "Ok"
    • key: "x/y position control"
      value: "Ok"
    • key: "motor outputs / control"
      value: "Ok"
    • key: "AHRS subsystem health"
      value: "Ok"
    • key: "CPU Load (%)"
      value: "11.0"
    • key: "Drop rate (%)"
      value: "0.0"
    • key: "Errors comm"
      value: "0"
    • key: "Errors count mavconn library. #1"
      value: "0"
    • key: "Errors count Pub/sub for Mavlink.msg #2"
      value: "0"
    • key: "Errors count Plugin loading functionality. #3"
      value: "0"
    • key: "Errors count Diagnostic mesages. #4"
      value: "0"

  • level: 1
    name: "mavros: Battery"
    message: "Low voltage"
    hardware_id: "/dev/ttyS1:57600"
    values:

    key: "Voltage"
value: "0.00"
    • key: "Current"
      value: "-0.0"
    • key: "Remaining"
      value: "-1.0"

Check ID

WARNING: mavros/target_system_id not set. Used default value: 1
WARNING: mavros/target_component_id not set. Used default value: 1
NOTE: Target parameters may be unset, but that may be result of incorrect --mavros-ns option.Double check results!
OK. I got messages from 1:1.

Received 442 messages, from 2 addresses
sys:comp list of messages
255:190 0, 111
1:1 0, 1, 2, 22, 129, 137, 152, 150, 24, 27, 29, 30, 32, 33, 34, 163, 36, 165, 42, 49, 178, 158, 182, 62, 65, 194, 74, 193, 111, 241, 242, 116, 125
@vooon
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vooon commented Aug 14, 2019

I suppose that better to use string-custom modes, i'm not sure does base mode mask still works ok.
Take a look at http://wiki.ros.org/mavros/CustomModes , it's a bit outdated, but most of modes should be there.

@v-to
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v-to commented Aug 16, 2019

Thanks vooon. I've tried this already. For custom modes I got "Unsupported FCU" :(
Any ideas why?

rgds

VV

@vooon
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vooon commented Aug 16, 2019

Check Rover modes, if not helps, then check that https://github.com/mavlink/mavros/blob/master/mavros/src/lib/uas_stringify.cpp#L197

@v-to
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v-to commented Jun 21, 2021

Hi vooon,

After shifting another project I am back to this place.
The problm is still unsolved however :(
I have looked over all the parameters.
The newest idea is that maybe there is an issue with FCU type?

I can see in code that MAV_TYPE should be SURFACE_BOAT.
In my mavros/diagnostics I have
key: "Vehicle type"
value: "Surface vessel" and not surface boat.
Can this be an issue?
Or maybe you have other ideas?

Kind regards

VV

@vooon
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vooon commented Jun 24, 2021

That's ok, vehicle type uses shortened description for entry: https://mavlink.io/en/messages/common.html#MAV_TYPE_SURFACE_BOAT

rosrun mavros mavsys mode -c AUTO - that didn't work?

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