VOXL2 not connecting with QGC
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Hello,
We are flashing with the firmware version 0.9.5.
Full voxl-version output here:-------------------------------------------------------------------------------- system-image: 1.5.5-M0054-14.1a-perf kernel: #1 SMP PREEMPT Fri Mar 24 00:48:55 UTC 2023 4.19.125 -------------------------------------------------------------------------------- hw version: M0054 -------------------------------------------------------------------------------- voxl-suite: 0.9.5 -------------------------------------------------------------------------------- Packages: Repo: http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-0.9/binary-arm64/ Last Updated: 2023-03-02 12:58:25 WARNING: repo file has changed since last update, packages may have originated from a different repo List: libmodal-cv 0.2.3 libmodal-exposure 0.0.7 libmodal-journal 0.2.1 libmodal-json 0.4.3 libmodal-pipe 2.8.2 libqrb5165-io 0.1.0 libvoxl-cci-direct 0.1.5 libvoxl-cutils 0.1.1 mv-voxl 0.1-r0 qrb5165-bind 0.1-r0 qrb5165-dfs-server 0.1.0 qrb5165-imu-server 0.5.0 qrb5165-slpi-test-sig 01-r0 qrb5165-system-tweaks 0.1.5 qrb5165-tflite 2.8.0-2 voxl-bind 0.0.1 voxl-camera-calibration 0.2.3 voxl-camera-server 1.3.5 voxl-cpu-monitor 0.3.0 voxl-docker-support 1.2.4 voxl-gphoto2-server 0.0.10 voxl-jpeg-turbo 2.1.3-4 voxl-libgphoto2 0.0.4 voxl-libuvc 1.0.7 voxl-logger 0.3.4 voxl-mavlink 0.1.0 voxl-mavlink-server 0.3.0 voxl-modem 0.16.1 voxl-mongoose 7.7.0-1 voxl-mpa-to-ros 0.3.6 voxl-mpa-tools 0.7.6 voxl-opencv 4.5.5-1 voxl-portal 0.5.0 voxl-px4 1.12.31 voxl-px4-imu-server 0.1.2 voxl-qvio-server 0.8.2 voxl-remote-id 0.0.5 voxl-streamer 0.4.1 voxl-suite 0.9.5 voxl-tag-detector 0.0.4 voxl-tflite-server 0.3.1 voxl-utils 1.2.2 voxl-uvc-server 0.1.3 voxl-vision-px4 1.4.0 voxl2-system-image 1.5.5-r0 voxl2-wlan 1.0-r0 --------------------------------------------------------------------------------We then follow the exact process laid out in the video on this page https://docs.modalai.com/voxl2-px4-quickstart/ aside from using softap and connecting to the voxl from the computer with QGC running.
The remote computer is assigned an IP of 192.168.8.35 while the voxl is 192.168.8.1.
The issue after that is when QGC is started. Given the setup in the video I cannot get QGC to connect even setting up a manual com link directed to the voxl's ip.
If I change the
voxl-configure-mavlink-serversetup to answer "no" to communication with an external PX4 flight controller (which makes more sense as far as I know we are not running an external flight controller unless running on the DSP counts as external) then QGC connects automatically, and the Mavlink inspector gets data from voxl2, but nothing else works. The Mavlink console is unresponsive and every page pops up an error message saying thatSYS_AUTOSTARTparameter is not configured.Parameters are missing from firmware. You may be running a version of firmware which is not fully supported or your firmware has a bug in it. Missing params: 1:SYS_AUTOSTARTThe voxl-vision-px4.conf is as follows:
{ "config_file_version": 1, "qgc_ip": "192.168.8.35", "en_secondary_qgc": false, "secondary_qgc_ip": "192.168.1.214", "qgc_udp_port_number": 14550, "udp_mtu": 512, "en_localhost_mavlink_udp": true, "localhost_udp_port_number": 14551, "vio_pipe": "qvio", "en_vio": true, "en_send_vio_to_qgc": false, "en_reset_vio_if_initialized_inverted": true, "vio_warmup_s": 3, "send_odom_while_failed": false, "horizon_cal_tolerance": 0.5, "offboard_mode": "off", "follow_tag_id": 0, "figure_eight_move_home": true, "robot_radius": 0.300000011920929, "collision_sampling_dt": 0.1, "max_lookahead_distance": 1, "en_tag_fixed_frame": false, "fixed_frame_filter_len": 5, "en_transform_mavlink_pos_setpoints_from_fixed_frame": false, "en_voa": true, "en_send_voa_to_qgc": false, "voa_upper_bound_m": -0.15000000596046448, "voa_lower_bound_m": 0.15000000596046448, "voa_memory_s": 1, "voa_inputs": [{ "enabled": true, "type": "point_cloud", "input_pipe": "dfs_point_cloud", "frame": "stereo_l" }, { "enabled": true, "type": "point_cloud", "input_pipe": "stereo_front_pc", "frame": "stereo_front_l" }, { "enabled": true, "type": "point_cloud", "input_pipe": "stereo_rear_pc", "frame": "stereo_rear_l" }, { "enabled": true, "type": "tof", "input_pipe": "tof", "frame": "tof" }, { "enabled": true, "type": "rangefinder", "input_pipe": "rangefinders", "frame": "body" }] }and the voxl-mavlink-server.conf (doing exactly as is done in the video) is
{ "px4_uart_bus": 1, "px4_uart_baudrate": 921600, "udp_port_to_px4": 14556, "udp_port_from_px4": 14557, "external_fc": true }changing
external_fcto false makes QGC immediatly connect, but with this screen and error
Again, the only thing that works in QGC in this state is the MAVLink inspector which is getting correct data.
Is this a known issue? Has the configuration process changed since that setup video?
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@Aidan-Dempster I was able to fix this particular issue by performing a factory reset.
I do have a couple questions though. The Mavlink Console still does not work with PX4 saying it is unable to start a shell. I believe this to be normal behavior since PX4 is not running on a nuttx OS in this case, but I want to make sure it's not another issue.
Also, I want to clarify on the documentation. The setup video shows configuring voxl mavlink server with the wizard answers:
Do you want to reset the config file to factory defaults? - Yes
Do you want to enable the voxl-mavlink-server service to allow communication with an external PX4 flight controller? - YesHowever, if I use this configuration QGC never connects (and I never see px4 advertising ping as a remote topic). I need to answer no to the second questions for it to connect. Is this expected behavior and the documentation is out of date? Or does this speak to a deeper issue?
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@Aidan-Dempster You are correct on the mavlink console. This is not currently supported on VOXL2. You would have to log into the VOXL2 directly using adb (on the benchtop) or ssh (while flying) in order to interact directly with px4 shell.
