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fix issue #1930 #1935

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merged 1 commit into from
Mar 1, 2024
Merged

fix issue #1930 #1935

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14 changes: 5 additions & 9 deletions mavros/launch/apm_config.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,28 +7,24 @@

# --- system plugins ---

# sys_status & sys_time connection options
/mavros/**/conn:
ros__parameters:
heartbeat_rate: 1.0 # send heartbeat rate in Hertz
heartbeat_mav_type: "ONBOARD_CONTROLLER"
timeout: 10.0 # heartbeat timeout in seconds
timesync_rate: 10.0 # TIMESYNC rate in Hertz (feature disabled if 0.0)
system_time_rate: 1.0 # send system time to FCU rate in Hertz (disabled if 0.0)

# sys_status
/mavros/**/sys:
ros__parameters:
min_voltage: [10.0] # diagnostics min voltage, use a vector i.e. [16.2, 16.0] for multiple batteries, up-to 10 are supported
# to achieve the same on a ROS launch file do: <rosparam param="sys/min_voltage">[16.2, 16.0]</rosparam>
disable_diag: false # disable all sys_status diagnostics, except heartbeat
heartbeat_rate: 1.0 # send heartbeat rate in Hertz
heartbeat_mav_type: "ONBOARD_CONTROLLER"
conn_timeout: 10.0 # heartbeat timeout in seconds

# sys_time
/mavros/**/time:
ros__parameters:
time_ref_source: "fcu" # time_reference source
timesync_mode: MAVLINK
timesync_avg_alpha: 0.6 # timesync averaging factor
timesync_rate: 10.0 # TIMESYNC rate in Hertz (feature disabled if 0.0)
system_time_rate: 1.0 # send system time to FCU rate in Hertz (disabled if 0.0)

# --- mavros plugins (alphabetical order) ---

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12 changes: 4 additions & 8 deletions mavros/launch/px4_config.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,26 +4,22 @@
ros__parameters:
startup_px4_usb_quirk: false

# sys_status & sys_time connection options
/**/conn:
ros__parameters:
heartbeat_rate: 1.0 # send heartbeat rate in Hertz
timeout: 10.0 # heartbeat timeout in seconds
timesync_rate: 10.0 # TIMESYNC rate in Hertz (feature disabled if 0.0)
system_time_rate: 1.0 # send system time to FCU rate in Hertz (disabled if 0.0)

# sys_status
/**/sys:
ros__parameters:
min_voltage: [10.0] # diagnostics min voltage, use a vector i.e. [16.2, 16.0] for multiple batteries, up-to 10 are supported to achieve the same on a ROS launch file do: <rosparam param="sys/min_voltage">[16.2, 16.0]</rosparam>
disable_diag: false # disable all sys_status diagnostics, except heartbeat
heartbeat_rate: 1.0 # send heartbeat rate in Hertz
conn_timeout: 10.0 # heartbeat timeout in seconds

# sys_time
/**/time:
ros__parameters:
time_ref_source: fcu # time_reference source
timesync_mode: MAVLINK
timesync_avg_alpha: 0.6 # timesync averaging factor
timesync_rate: 10.0 # TIMESYNC rate in Hertz (feature disabled if 0.0)
system_time_rate: 1.0 # send system time to FCU rate in Hertz (disabled if 0.0)

# --- mavros plugins (alphabetical order) ---

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