Interfacing FCU and QGC with mavros - uenota/f550_launch_odroid GitHub Wiki
mavros
We use mavros to communicate with FCU and GCS.
Launch File
Connection Type
Use mavros_odroid.launch when you connect Odroid and FCU with USB.
Or, when you have a radio and connect GCS and FCU via the radio, use mavros_gcs.launch on GCS machine.
Configure Connection
You need to change the following parameters to configure connection.
<arg name="fcu_url" default="/dev/ttyACM0:57600" />
<arg name="gcs_url" default="udp://:[email protected]:5510" />
Available schemas for fcu_url and gcs_url can be found here.
fcu_url
fcu_url specifies URL for FCU.
In case of a radio and USB connection, Serial is used.
Normally, the path is /dev/ttyACM0 or /dev/ttyUSB0 and baudrate for SiK radio and USB connection is 57600 and 115200, respectively.
If the node cannot connect to the radio device, the error with a message like the following will be thrown.
FCU: DeviceError:serial:open: No such file or directory
When the above error is thrown, the path of your radio device may be different from /dev/ttyACM0 or /dev/ttyUSB0.
In case of that, you can check the path by running the command with plugging and unplugging radio's USB cable.
ls /dev/tty*
gcs_url
gcs_url specifies information for connecting FCU between GCS.
The structure is the following.
udp://[bind_host][:port]@[remote_host][:port][/?ids=sysid,compid]
Actual setting of gcs_url for USB connection is
udp://:[email protected]:5510
When the host is localhost(127.0.0.1), the address can be omitted.
TODO
Setup QGC
After configuring your launch file, you need to setup QGC.
Firstly, you have to disable Pixhawk and SiK Radio options in QGC settings so that QGC doesn't connect to FCU automatically.
If QGC automatically connects to FCU, you may see the following error message when you launch mavros.
FCU: DeviceError:serial:open: Device or resource busy
Then, go "Comm Links" page of QGC setting and add a connection.
TODO