sys_state
ROS / ros eco / packages / mavros
sys_state
command plugin
sys_state depend on command plugin to get ardupilot version and set_message_interval service
| mavlink | id | description |
|---|---|---|
| HEARTBEAT | 0 | The heartbeat message shows that a system or component is present and responding. |
| EVENT | 410 | |
| SYS_STATUS | 1 | mavlink common |
| STATUSTEXT | 253 | mavlink common |
| BATTERY_STATUS | 147 | mavlink common |
| ESTIMATOR_STATUS | 230 | mavlink common |
| REQUEST_DATA_STREAM | 66 | mavlink common use by set_stream_rate service |
Parameters
| name | default | description |
|---|---|---|
| conn_timeout | 10.0 | if no heartbeat for conn_timeout mavros set connection to false |
| disable_diag | false | Disabled node diagnostics (batt, system, mem , hw and sw) |
| heartbeat_mav_type | onboard_controller | set heartbeat MAV_TYPE to FCU |
| heartbeat_rate | 1.0 | control heartbeat rate to FCU |
| min_voltage | vector | Set minimal voltage to alert use in diagnostics |
| qos_overrides./parameter_events.publisher.depth | TBD: ROS2 related | |
| qos_overrides./parameter_events.publisher.durability | TBD: ROS2 related | |
| qos_overrides./parameter_events.publisher.history | TBD: ROS2 related | |
| qos_overrides./parameter_events.publisher.reliability | TBD: ROS2 related | |
| start_type_description_service | TBD: ROS2 related service |
Service
| mavlink | default | description |
|---|---|---|
| set_mode | ||
| set_stream_rate | ||
| set_message_interval | use command plugin | |
| vehicle_info_get |
Streaming
We can control mavlink message RATE by group or by message id set_stream_rate service set rate for group for example: STREAM_RAW_SENSORS (1) STREAM_EXTRA1 (10) STREAM_EXTRA2(11) for complete list Ardupilot
Mavlink messages send by plugin
Heartbeat
- Send heartbeat to FCU the rate control by
heartbeat_rateparameter (0 disabled sending) , mavros send heartbeat with MAV_TYPEONBOARD_CONTROLLERas default control byheartbeat_mav_typeparameter