MAVROS Experimentation w/ Pi and Nano

gistfile1.txt

# PX4 launch command
roslaunch mavros px4.launch

# PX4 launch file (default fcu_url worked fine for Pi 4 running Ubuntu server)
https://github.com/mavlink/mavros/blob/master/mavros/launch/px4.launch

If using the mini USB connector on Pi 4 you can use the default fcu_url
<arg name="fcu_url" default="/dev/ttyACM0:57600" />

If using the telemetry 2 port on Pixhawk you need this.
<arg name="fcu_url" default="/dev/ttyS0:921600" />

For using the telemetry 2 port you need the following params as specified at the bottom of this page:
https://docs.px4.io/v1.9.0/en/peripherals/mavlink_peripherals.html

If you want to override the fcu_url value in the launch file you can do:
roslaunch mavros px4.launch fcu_url:=/dev/ttyS0:921600

# Broadcast to QGroundControl running on another compuater on same network
<arg name="gcs_url" default="udp://:[email protected]:14550" />

# Change ROS_MASTER_URI to connect to ROS master on another computer (on the same network)
export ROS_MASTER_URI=http://192.168.86.38:11311

# Sample change flight mode
rosrun mavros mavsys mode -b 80 # stablize disarmed
rosrun mavros mavsys mode -b 64 # manual disarmed

# Get diagnostics
rostopic echo /diagnostics

# Get status
rostopic echo /mavros/state

# Get/set airframe type 0=generic micro air vehicle, 2=quadrotor
https://docs.px4.io/v1.9.0/en/advanced_config/parameter_reference.html
rosrun mavros mavparam get MAV_TYPE
rosrun mavros mavparam set MAV_TYPE 2

# Dump params to a text file
rosrun mavros mavparam dump params.txt

# Arm
rosrun mavros mavsafety arm

# Takeoff from current position (work in progress)
rosrun mavros mavcmd takeoffcur 0 0 0

# Land