Where to write Extended Kalman filter code in modalai's platform

[suvasis]

hi,

I am working on NXP's RDDRONE-BMS772, battery management system, I would like to integrate EKF to estimate SOC of the battery system. Does modalai support CAN/CAN-FD or serial, i2c, communication to gather bms data related to battery? Also, can Extended kalman filter code be in python or strictly C to be integrated in modalai?

Thanks.
suvasis

[Eric Katzfey]

@suvasis Which ModalAI product are you referring to?

[suvasis]

I use only voxl2. bms to communicate through CAN bus with ESC (so a CAN transreceiver on esc, i don't think this is there currently) or the flight controller or telemetry or the qualcomm processor ab it's power consumption. Just like car uses CAN bus and can transreceiver on various sensors or components.

At the minimum, how can i just gather the SOC info over serial port and apply EKF. Where should this code reside?

Thanks.
suvasis

[Eric Katzfey]

@suvasis Are you referring to a ModalAI ESC? Or are you using a third party ESC? We do not have a CAN bus on VOXL2.

[Eric Katzfey]

@suvasis There are UARTs available to the applications processor via some of our add-on boards. Then you can use this UART for your new BMS application. It can be Python or C, whatever you like. But there is no UART available to applications processor on the bare VOXL2 board. Or are you intending to integrate this with PX4?

[suvasis]

hi,
I am using all modalai hw. so the ESC is also from modalai's. Is there any documentation on how to add custom application, say bms, to px4 directly?

[Eric Katzfey]

@suvasis You cannot modify the code on our ESC. But you can certainly add a new driver to PX4. I would start with the PX4 documentation: https://docs.px4.io/main/en/development/development.html