Dear Modal AI Engineers,

I am now working on the RB5 drone in both manual mode (RC controller) and offboard mode. Now, I can arm the drone successfully in both ways.

I installed the propellers and the drone flipped over when I 1) used the manual controller to make it fly upward and 2) used the setpoint_position for sending target point in OFFBOARD mode in mavros with MOCAP.

I wish to check the problems and for safety reason, I didn't install the propellers now. I check the QGroundControl and the mavros topic for esc_status, and I noticed that motor 1,3,4 could maintain at 7000+ rpm for flying upward but the motor 2 will first grow to 7000+ and then finally fall to 2000+ rpm. The current of motor 2 is about a quarter of the others. However, motor 2 could present similar performance when testing it separately via QGC.

I wonder if there is anything else I did not notice.

Thanks for your support!

Best wishes,
Selina

@Eric-Katzfey

Thanks for answering! I have managed to solved this problem by using proper MOCAP data instead of GPS.

I did not test in the QGC. But for mavros I succesfully armed the drone, which is what I really want for doing more control.

I wonder if there is any tutorial or documentation for doing low-level control, such as to do control specifically on motors, PWM, instead of using PX4 to do high-level control.

Thanks for your help again!

@Eric-Katzfey

QGC could go into offboard mode. I can also make the drone into offboard mode via mavros. But the problem is that it still cannot arm and then takeoff through mavros control (udp connection).

I am using qualcomm flight rb5 drone with default settings. Do I need to consider the specific version of VOXL SDK in my drone?

I have changes the COM_ARM_WO_GPS to 1 for not using GPS.

QGC complains about Not Ready still.

Dear SIr or Madam,

I wish to use the mocap data instead of the GPS for telling the drone's position to use it indoor.

I wish to arm the drone with mavros or QGC settings. I have tried setting parameter COM_RC_IN_MODE and COM_ARM_WO_GPS to 4 and 1. Also I want to use the mode OFFBOARD. The QGC fails so I turned to Mavros instead.

I calibrate the senson in QGC beforehand and now I wish to arm the drone via:

ros2 service call /mavros/cmd/arming mavros_msgs/srv/CommandBool "{value: true}"

The status of the drone is always "STANDBY" but not "ACTIVE".

Could the drone be armed with Mavros only? Or is there anything I ignored?

Best wishes,
Selina