offboard mode in voxl m500

[mr TOKI]

Hello.
I am just wondering, in offboard mode there are any mode that difference than figure_eight ?? If not how I can write and add my own offboard mode to voxl m500.
Thank you!!!

[Chad Sweet]

Yes, we have both mavsdk and mavros for programming the VOXL in offboard mode

[mr TOKI]

Thanks for the fast reply.
I want to use my own offboard mode so I change figure_eight in file config to OFF but when I tested QGC can't turn to offboard mode ??

[Chad Sweet]

The configuration depends on how you plan to program in offboard mode. The two modes we have documented are mavsdk and mavros.

To configure offboard mode for mavsdk, see documentation here

To configure offboard mode for mavros, see documentation here

[mr TOKI]

Hi,
I still get some problem, first I change offboard_mode in config to OFF then I use my mavros file but it seem didn't work right. The UAV can only arm then disarm. when I check in Qgroundcontrol, I couldn't change to Offboard mode.I had tried again but it still didn't change. How to solve this problem??
Thank you

[modaltb]

Hi @mr-TOKI ,

Can you describe what your offboard setup is? Are you using one of the examples above (e.g. MAVROS or MAVSDK?).

If you're running the program remotely through SSH like our examples, you can see what the output is like this for CPP --> https://gitlab.com/voxl-public/voxl-docker-images/voxl-docker-mavsdk-cpp#run-example

Here's a video showing using python MAVSDK: https://www.youtube.com/watch?v=V3vVs8fEOZs

[mr TOKI]

@modaltb I had been used MAVROS example but before that I change offboard_mode to OFF as this picture

[modaltb]

Hi @mr-TOKI ,

Yes agreed, in voxl-vision-px4 you have setup to off. So this means that the voxl-vision-px4 program will not try to programmatically fly your m500.

So, I believe you are now trying to run the MAVROS example, there's a step through guide here: https://docs.modalai.com/mavros/

Have you got to this step? https://docs.modalai.com/mavros/#test-mavros

What I'm getting at is, you won't use QGC to tell the m500 to go into "offboard mode". Your program will be responsible to do that. QGC will give you status updates throughout though.

[mr TOKI]

@modaltb said in offboard mode in voxl m500:

l-vision-px4 program

Oh I see, I had tried it worked with marvos, in offboard mode. But the altitude of voxl m500 was incorrect
In my code, I set altitude is 0.3m and QGC show exactly (in POSITION_TARGET_LOCAL_NED) but m500 flew up to 0.5m, and sometime it sliped from home_position. Do you have any solution ??

[modaltb]

@mr-TOKI ,

Are you taking off and trying to fly first to 0.3m?

Takeoff is a somewhat of a “jerky” maneuver. You can imagine that the flight controller will begin respond quickly, but there are still some factors that could make a takeoff “vary” and thus not have an immediate perfect response.

Takeoff and then a halt at 30cm is pretty aggressive.