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    Voxl2 PID building and deployment on RB5

    Software Development
    px4-firmware pid voxl2 rb5
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    • Eric KatzfeyE
      Eric Katzfey ModalAI Team @tahawaru
      last edited by

      @tahawaru This docker: https://gitlab.com/voxl-public/rb5-flight/rb5-flight-px4-build-docker#rb5-flight-px4-build-docker is the build environment. This is the repo that has PX4: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-px4/-/blob/master/README.md?ref_type=heads

      T 3 Replies Last reply Reply Quote 0
      • T
        tahawaru @Eric Katzfey
        last edited by

        @Eric-Katzfey

        My laptop has Ubuntu 22.04

        I have the following details for the rb5:
        rb5:~$ lsb_release -a
        No LSB modules are available.
        Distributor ID: Ubuntu
        Description: Ubuntu 18.04.5 LTS
        Release: 18.04
        Codename: bionic

        XXXX@ZZZZ:~$ adb shell px4-versions

        modalai-slpi 1.1-10

        px4-support/now 1.0-6 arm64 [installed,local]

        voxl-px4/unknown,now 1.14.0-2.0.63 arm64 [installed,automatic]

        voxl-px4-imu-server/unknown,now 0.1.2 arm64 [installed,automatic]

        voxl-px4-params/unknown,now 0.3.3 arm64 [installed,automatic]

        libfc-sensor/now 1.0-4 arm64 [installed,local]

        1.7.1-M0052-14.1a-perf-nightly-20231025

        adb shell px4-ver all

        • daemon not running; starting now at tcp:5037
        • daemon started successfully
          HW arch: MODALAI_VOXL2
          PX4 git-hash: b02a6b4ae93d12fa399673bf442c45087cee0759
          PX4 version: 1.14.0 0 (17694720)
          Vendor version: 2.0.63 0 (33570560)
          OS: Linux
          OS version: Release 4.19.125 (68386303)
          Build datetime: Dec 11 2023 20:06:45
          Build uri: localhost
          Build variant: default
          Toolchain: GNU GCC, 7.5.0
          PX4GUID: 100a41444f4d5649414c324c584f30303030
          UNKNOWN MCU

        May I proceed with the build though it's stated at https://gitlab.com/voxl-public/rb5-flight/rb5-flight-px4-build-docker#rb5-flight-px4-build-docker

        "Getting started
        The build environment for PX4 on RB5 Flight is only supported on Ubuntu 20.04 LTS (Focal Fossa)."

        Best wishes,

        Eric KatzfeyE 1 Reply Last reply Reply Quote 0
        • T
          tahawaru @Eric Katzfey
          last edited by

          @Eric-Katzfey

          Here are the steps I followed to o download QualcommPackageManager.2.0.21.1.Linux-x86.deb:
          1)https://developer.qualcomm.com/download/software

          1. click on Hexagon SDK (https://developer.qualcomm.com/software/hexagon-dsp-sdk/tools)

          3)Download Qualcomm Package Manager - Linux v2.0

          1 Reply Last reply Reply Quote 0
          • T
            tahawaru @Eric Katzfey
            last edited by

            @Eric-Katzfey
            ef7a9fd9-6cda-4ff0-8193-3364a8269370-image.png

            Eric KatzfeyE 1 Reply Last reply Reply Quote 0
            • Eric KatzfeyE
              Eric Katzfey ModalAI Team @tahawaru
              last edited by

              @tahawaru We have only tested with Ubuntu 20.04. Should work on Ubuntu 22.04 but we don't know for sure.

              1 Reply Last reply Reply Quote 0
              • Eric KatzfeyE
                Eric Katzfey ModalAI Team @tahawaru
                last edited by

                @tahawaru The instructions say Hexagon SDK 4.x. Your picture shows Hexagon SDK 6.x highlighted. That is not correct. Please follow the instructions exactly.

                T 1 Reply Last reply Reply Quote 0
                • T
                  tahawaru @Eric Katzfey
                  last edited by

                  @Eric-Katzfey

                  I cannot find Hexagon SDK 4.x..
                  Where's it?

                  Best wishes,

                  Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                  • Eric KatzfeyE
                    Eric Katzfey ModalAI Team @tahawaru
                    last edited by

                    @tahawaru Scroll down on the menu

                    T 2 Replies Last reply Reply Quote 0
                    • T
                      tahawaru @Eric Katzfey
                      last edited by

                      @Eric-Katzfey
                      Thank you.
                      Now I'm here
                      37a64fb5-703f-4415-9f20-e7767a2643bb-image.png

                      1 Reply Last reply Reply Quote 0
                      • T
                        tahawaru @Eric Katzfey
                        last edited by

                        @Eric-Katzfey

                        After installing libssl1.1
                        53a48c9a-c0c8-48d6-afe7-957eacca0dce-image.png

                        Eric KatzfeyE 2 Replies Last reply Reply Quote 0
                        • Eric KatzfeyE
                          Eric Katzfey ModalAI Team @tahawaru
                          last edited by

                          @tahawaru I'm afraid I cannot help much with the Qualcomm Package Manager. It is really difficult to deal with. Sometimes it appears to be dead and I have to just let it sit for a long time before it finally responds. It is very frustrating to use it but there really isn't much that we can do about it. The good news is that once you finally get it to download the SDK you don't have to deal with it anymore. Sometimes is appears like it didn't do anything but did actually download what you need.

                          1 Reply Last reply Reply Quote 1
                          • Eric KatzfeyE
                            Eric Katzfey ModalAI Team @tahawaru
                            last edited by

                            @tahawaru Take a look in /local/mnt/workspace. It may have placed the SDK there.

                            T 2 Replies Last reply Reply Quote 1
                            • T
                              tahawaru @Eric Katzfey
                              last edited by

                              @Eric-Katzfey

                              Thank you.

                              I got a few errors during the build(-- Detecting C compiler ABI info - failed
                              )
                              But it got to
                              *** End of qurt slpi build ***
                              /usr/local/workspace
                              User ID is 1000
                              Group ID is 1000
                              *** End of build ***

                              and
                              root@27a3c2a4a155:/usr/local/workspace# ./make_package.sh
                              Package Name: voxl-px4
                              version Number: 1.14.0-2.0.77
                              starting building Debian Package
                              dpkg-deb: building package 'voxl-px4' in 'voxl-px4_1.14.0-2.0.77_arm64.deb'.
                              DONE
                              root@27a3c2a4a155:/usr/local/workspace#

                              I haven't tested the new build yet.
                              Hopefully will be fine.

                              1 Reply Last reply Reply Quote 0
                              • T
                                tahawaru @Eric Katzfey
                                last edited by

                                @Eric-Katzfey

                                We have deployed the newly build px4 into a Rb5 with the following configuration:

                                system-image: 1.7.1-M0052-14.1a-perf-nightly-20231025
                                kernel: #1 SMP PREEMPT Thu Oct 26 05:24:02 UTC 2023 4.19.125

                                hw version: M0052

                                voxl-suite: 1.1.2

                                Problem:
                                we have started the service voxl-px4 with the systemctl command but it stops running after a while.

                                Questions: Why? Do we need some additional things to do for the new build to work?

                                Best wishes,

                                Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                                • Eric KatzfeyE
                                  Eric Katzfey ModalAI Team @tahawaru
                                  last edited by

                                  @tahawaru You need to start with a version of voxl-px4 that is compatible with the version of SDK you are using. So, if you are using SDK 1.1.2 then you will need to start with voxl-px4 1.14.0-2.0.63 and add your changes on top of that.

                                  T 1 Reply Last reply Reply Quote 1
                                  • T
                                    tahawaru @Eric Katzfey
                                    last edited by

                                    @Eric-Katzfey

                                    Where can we find such old version?

                                    Our current voxl-px4 build output is voxl-px4_1.14.0-2.0.77_arm64.deb

                                    Best wishes,

                                    Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                                    • Eric KatzfeyE
                                      Eric Katzfey ModalAI Team @tahawaru
                                      last edited by

                                      @tahawaru https://gitlab.com/voxl-public/voxl-sdk/services/voxl-px4/-/tags/v1.14.0-2.0.63

                                      T 1 Reply Last reply Reply Quote 1
                                      • T
                                        tahawaru @Eric Katzfey
                                        last edited by

                                        @Eric-Katzfey

                                        We have built the voxl-px4 using the link for voxl-px4 1.14.0-2.0.63 and the instructions.
                                        At the end, we still have voxl-px4_1.14.0-2.0.77_arm64.deb, not voxl-px4_1.14.0-2.0.63_arm64.deb.

                                        What should we do differently?

                                        Best wishes,

                                        Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                                        • Eric KatzfeyE
                                          Eric Katzfey ModalAI Team @tahawaru
                                          last edited by

                                          @tahawaru Somewhere along the line you didn't get the correct source code from git. What does git log say for the voxl-px4 repo? If you go into the px4-firmware subdirectory (submodule), what does it show you for git log? These basic git commands will help you determine what you have fetched and are actually building.

                                          T 1 Reply Last reply Reply Quote 0
                                          • T
                                            tahawaru @Eric Katzfey
                                            last edited by

                                            @Eric-Katzfey

                                            this is the git log output:

                                            commit 96b951b7cf91cda315536037677ca0f7a7ef93b5 (HEAD -> dev, origin/dev)
                                            Author: Eric Katzfey eric.katzfey@modalai.com
                                            Date: Wed Jul 10 17:40:54 2024 -0700

                                            Updated to 1.14.0-2.0.78 firmware
                                            

                                            commit a99bf3ac158e5dff767cdbfe40ee62f1937cf49c (tag: v1.14.0-2.0.77, tag: sdk-1.3.1, origin/master, origin/gpio-ctl, origin/HEAD, master)
                                            Author: Eric Katzfey eric.katzfey@modalai.com
                                            Date: Wed Jun 5 16:52:13 2024 -0700

                                            Updated to 1.14.0-2.0.77 firmware
                                            

                                            commit 41432f2cbf334c7cd8dcb096e6b0d53649aa229d
                                            Author: Eric Katzfey eric.katzfey@modalai.com
                                            Date: Thu May 30 11:04:03 2024 -0700

                                            Updated to 1.14.0-2.0.76 firmware
                                            

                                            commit bf8fd8c2a8187ba96572b6c5e87b2ca437ae7c90
                                            Author: Eric Katzfey eric.katzfey@modalai.com
                                            Date: Tue May 28 19:55:03 2024 -0700

                                            Updated to 1.14.0-2.0.75 firmware
                                            

                                            commit 05633367a60e27be224228979687b82e4d70ee6d
                                            Author: Eric Katzfey eric.katzfey@modalai.com
                                            Date: Thu May 23 10:38:06 2024 -0700

                                            - Updated to 1.14.0-2.0.74 firmware
                                            - Added new ARTIFACT_MODE configuration item
                                            

                                            commit a8a74cf7524f84997353c1740701d1ebd198ff4c (tag: v1.14.0-2.0.73, tag: sdk-1.3.0)
                                            Author: Eric Katzfey eric.katzfey@modalai.com
                                            Date: Mon May 6 17:24:05 2024 -0700

                                            Updated to 1.14.0-2.0.73 firmware
                                            

                                            commit 18390fc1809199050d7f1075f753676718807ea8
                                            Author: Eric Katzfey eric.katzfey@modalai.com
                                            Date: Fri May 3 10:09:15 2024 -0700

                                            Removed package command related to voxl-px4-set-default-parameters.config
                                            

                                            commit 2a76d2027f981405e736bfef1a26a82589638f44
                                            Author: Eric Katzfey eric.katzfey@modalai.com
                                            Date: Fri May 3 09:58:02 2024 -0700

                                            Updated package dependency list and release documentation
                                            

                                            commit e35422dd8ee04da5adf710dd37aab4d24fe9125e
                                            Author: Eric Katzfey eric.katzfey@modalai.com
                                            Date: Fri May 3 09:50:32 2024 -0700

                                            Updated to 1.14.0-2.0.72 firmware
                                            

                                            commit ed9451173b2a4de183ab1e1c8308780e05c056dc
                                            Author: Eric Katzfey eric.katzfey@modalai.com
                                            Date: Tue Apr 16 12:52:21 2024 -0700

                                            Updated to 1.14.0-2.0.70 firmware
                                            

                                            commit 478a3c0a2726abb57187c3039d4576294edd42f4
                                            Author: Eric Katzfey eric.katzfey@modalai.com
                                            Date: Tue Feb 6 12:55:10 2024 -0800

                                            Updated to 1.14.0-2.0.69 firmware
                                            

                                            commit 486f57c0cc6fd3026eb3cabe7fbfeb4214caefaa (tag: v1.14.0-2.0.68, tag: sdk-1.2.0)
                                            Author: Eric Katzfey eric.katzfey@modalai.com
                                            Date: Thu Jan 18 16:13:44 2024 -0800

                                            Updated to 1.14.0-2.0.68 firmware
                                            

                                            commit f690d9c7389fb3d002efd68443707988171d8ac7
                                            Author: Eric Katzfey eric.katzfey@modalai.com
                                            Date: Thu Jan 18 14:52:53 2024 -0800

                                            Updated to 1.14.0-2.0.67 firmware
                                            

                                            commit 6df44c7fc276ff1f03e21dcace4f3f634ff1f1e3
                                            Author: Eric Katzfey eric.katzfey@modalai.com
                                            Date: Mon Jan 15 09:54:48 2024 -0800

                                            Updated to 1.14.0-2.0.66 firmware
                                            

                                            commit 4233c76f61db535aefe264f418558cecc0e0f24c
                                            Author: Eric Katzfey eric.katzfey@modalai.com
                                            Date: Mon Jan 8 10:36:48 2024 -0800

                                            Updated to 1.14.0-2.0.65 firmware
                                            

                                            commit 7c7b648018c33647476308d406ef2e5acaa858f3
                                            Author: Eric Katzfey eric.katzfey@modalai.com
                                            Date: Tue Dec 19 11:17:57 2023 -0800

                                            Fixes to 1.14.0-2.0.64 firmware
                                            

                                            commit a6d8319122470c89c942fbc0c6ffba492d3441f9
                                            Author: Eric Katzfey eric.katzfey@modalai.com
                                            Date: Tue Dec 19 09:44:33 2023 -0800

                                            Updated to 1.14.0-2.0.64 firmware
                                            

                                            :

                                            Eric KatzfeyE 1 Reply Last reply Reply Quote 0
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