Arming and RXLOSS

[darebear]

Hello again,

Two things:

1. On line 14 of MultiWiiNode.cpp, the baud-rate should be 115200.
2. I've been trying to figure out why my system won't arm, do you have any insight into how to prevent the RXLOSS flag from being evoked by the system? I noticed that in the ROS1 implementation, you used ros::Rate, was that to keep the flight computer from evoking the RXLOSS or similar dis-arming flags?

Thank you.

[christianrauch]

the baud-rate should be 115200.

Thanks. That must have been a typo. This is fixed now on master.

do you have any insight into how to prevent the RXLOSS flag from being evoked by the system?

The only way to prevent the system from disarming the FCU is to periodically send commands to the FCU. In the msp library, this means you have to call setRc periodically, depending on your timeout value. For the node, this means that you have to send messages to either the rc/override or the rc/override/raw topic.

If you have a joystick or gamepad, you can use https://github.com/christianrauch/rc_joystick to send these commands. Some receivers, e.g. the FrSky Taranis Q X7 can be connected via USB and appear as joysticks in the system. I tested the rc_joystick node in this mode.