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| # as2_platform_mavlink | ||
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| [Aerostack2](https://aerostack2.github.io/) Aerial platform for autopilots that uses MAVLINK as communication standard | ||
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| [Aerostack2](https://aerostack2.github.io/) Aerial platform for the PX4 autopilot | ||
| ## Setup guides | ||
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| For a complete installation guide follow [PX4 instructions](https://aerostack2.github.io/_03_aerial_platforms/_mavlink/index.html#installation) | ||
| From [MAVROS ROS INDEX](https://index.ros.org/p/mavros/). | ||
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| Setup with ```rosdep``` or | ||
| ``` | ||
| sudo apt install ros-<distro>-mavros ros-<distro>-mavros-extras -y | ||
| ``` | ||
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| After this is required to install geographic_lib_datasets | ||
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| ``` | ||
| wget https://raw.githubusercontent.com/mavlink/mavros/ros2/mavros/scripts/install_geographiclib_datasets.sh | ||
| chmod +x install_geographiclib_datasets.sh | ||
| ./install_geographiclib_datasets.sh | ||
| ``` | ||
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| ## Multiple PX4 Operation modes: | ||
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|  | ||
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| ## PX4 Msgs: | ||
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| ### Availables: | ||
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| * /fmu/in/obstacle_distance | ||
| * /fmu/in/offboard_control_mode | ||
| * /fmu/in/onboard_computer_status | ||
| * /fmu/in/sensor_optical_flow | ||
| * /fmu/in/telemetry_status | ||
| * /fmu/in/trajectory_setpoint | ||
| * /fmu/in/vehicle_attitude_setpoint | ||
| * /fmu/in/vehicle_command | ||
| * /fmu/in/vehicle_mocap_odometry | ||
| * /fmu/in/vehicle_rates_setpoint | ||
| * /fmu/in/vehicle_trajectory_bezier | ||
| * /fmu/in/vehicle_trajectory_waypoint | ||
| * /fmu/in/vehicle_visual_odometry | ||
| * /fmu/out/failsafe_flags | ||
| * /fmu/out/sensor_combined | ||
| * /fmu/out/timesync_status | ||
| * /fmu/out/vehicle_attitude | ||
| * /fmu/out/vehicle_control_mode | ||
| * /fmu/out/vehicle_global_position | ||
| * /fmu/out/vehicle_gps_position | ||
| * /fmu/out/vehicle_local_position | ||
| * /fmu/out/vehicle_odometry | ||
| * /fmu/out/vehicle_status | ||
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| ### Used: | ||
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| * IMU: | ||
| /fmu/out/sensor_combined | ||
| * Set Control Mode: | ||
| /fmu/out/vehicle_control_mode | ||
| * Get GPS: | ||
| /fmu/out/vehicle_gps_position | ||
| * Get position: | ||
| /fmu/out/vehicle_odometry | ||
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| * Set control Mode: | ||
| /fmu/in/offboard_control_mode | ||
| * Set trajectory reference: | ||
| /fmu/in/trajectory_setpoint | ||
| * Set attitude reference: | ||
| /fmu/in/vehicle_attitude_setpoint | ||
| * Set rate reference: | ||
| /fmu/in/vehicle_rates_setpoint | ||
| * Send vehicle command for arm: | ||
| /fmu/in/vehicle_command | ||
| * Send vehicle visual odometry: | ||
| /fmu/in/vehicle_visual_odometry | ||
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| ### Not Availables: | ||
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| * Get battery status: | ||
| "/fmu/out/battery_status" | ||
| * Kill switch: | ||
| fmu/in/manual_control_switches | ||
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| ### Not Used: | ||
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| * /fmu/in/obstacle_distance | ||
| * /fmu/in/onboard_computer_status | ||
| * /fmu/in/sensor_optical_flow | ||
| * /fmu/in/telemetry_status | ||
| * /fmu/in/vehicle_mocap_odometry | ||
| * /fmu/in/vehicle_trajectory_bezier | ||
| * /fmu/in/vehicle_trajectory_waypoint | ||
| * /fmu/out/failsafe_flags | ||
| * /fmu/out/timesync_status | ||
| * /fmu/out/vehicle_attitude | ||
| * /fmu/out/vehicle_control_mode | ||
| * /fmu/out/vehicle_global_position | ||
| * /fmu/out/vehicle_local_position | ||
| * /fmu/out/vehicle_status |