[Mavros] The way to connect 'kakute h7 v2' with onboard computer using MAVROS

* object

 

Connect Kakute h7 v2 with onboard computer using MAVROS

 

 

1. Hardware Solder

 

- Make a cable, one part is consisted of usb-to-UART cable, and another will be connected to VTX _lug

 

 

2. Install MAVROS

https://dev.px4.io/en/ros/mavros_installation.html

MAVROS (MAVLink on ROS) · PX4 Developer Guide

3. Change QroundControl Settings

 

Change baudrate to 921600 8N1

 

 

Three steps.

 

3.1. set MAV_1_CONFIG to TELEM2 

and Reboot

 

3.2 Change MAV_1 params same with below picture

 

MAV_1_FORWARD : Enabled

MAV_1_RATE : 1200 B/s

 

3.3 set SER_TEL2_BAUD to 921600 8N1

 

 

4. Run mavros

Make sure mavros is running well by checking wheter state output is published.

rostopic echo -c /mavros/state

 

- You can use telem1 only for mavros if you use onboard computer

- So far, I can't find any of the telem2 port

 

 

5. set  EKF2 to get vision pose

 

Enable EKF2 by

setting SYS_MC_EST_GROUP to EKF2

 

we will use EKF2_EV_CTRL instead of EKF2_AID_MASK

https://docs.px4.io/main/en/advanced_config/parameter_reference.html

Parameter Reference | PX4 User Guide

 

Error message when tried to change EKF2_AID_MASK param

 

 

 

* TODO

 

- Buy (at least) one more kakute h7, and test with another flash file, using gps port.

 

reference

https://github.com/PX4/PX4-Autopilot/issues/19986

If kakute H7 can use EKF2? · Issue #19986 · PX4/PX4-Autopilot