Lumenier RID & M10Q GPS Module compatibility

Alex May

@Eric-Katzfey I don't believe we have a scope available for at least a few more days. But I do have other M10 GPS units I could try.

psafi

@Eric-Katzfey I am Alex's co-worker and helping with the building the magnetometer's driver into PX4.

I am following instructions outlined here: https://gitlab.com/voxl-public/rb5-flight/rb5-flight-px4-build-docker#install-qualcomm-package-manager

I am having hard time downloading the hexagon SDK from qualcomm. I see v3.1 is available on your website. Am I going to need 4.X or I can use 3.1

Eric Katzfey

@psafi Yes, unfortunately it is a real pain to get the SDK from Qualcomm and you need that version.

psafi

This post is deleted!

psafi

@Eric-Katzfey I am able to build voxl-px4 now.

I am following instructions outlined here to add this magnetometer:
https://forum.modalai.com/post/16770

I am adding following line:

CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y

to this file:
https://github.com/modalai/px4-firmware/blob/voxl-dev/boards/modalai/voxl2-slpi/default.px4board

when I attempt to build px4 I get the following error from the driver module:

Eric Katzfey

@psafi Looks like it will compile if you comment out the #include <debug.h> lines in both lis3mdl_i2c.cpp and lis3mdl_spi.cpp

Eric Katzfey

@psafi Those should only be there on the Nuttx platform.

psafi

@Eric-Katzfey I did that and was able to build and install new px4. Thank you!

Sill not detecting lis3mdl module on the px4 side.

I tried adding the following to /usr/bin/voxl-px4-start

qshell lis3mdl start -R 10 -X -b 1

but I think that causes px4 service fail to start. Not sure if that means the module has not been successfully added to voxl-px4 or some other issue.

Are there any steps I need to take besides adding sensor name to default.px4board file?

Eric Katzfey

@psafi If you disable the px4 service (systemctl stop voxl-px4) and then start it from the command line (voxl-px4 -d) what output do you get? And if you disconnect the magnetometer from the system how does that change things? Remove the start command from voxl-px4-start and enter it after px4 starts from the command prompt to see what happens.

Eric Katzfey

@psafi And how did you load your updated build to the VOXL 2?

Eric Katzfey

@psafi I just built voxl-px4 with the lis3mdl driver and when I run it the command fails because it fails the probe (I don't have that magnetometer) but otherwise runs normally.

psafi

@Eric-Katzfey by installing debian package and I got output similar to this after installation:
https://gitlab.com/voxl-public/voxl-sdk/services/voxl-px4#deployment

psafi

@Eric-Katzfey I did the systemctl stop and started service again. I guess rebooting the board earlier did not have the same effect. The compass calibration in Q is working now (no more "no mag found" error) which I guess it means the mag is working now and our gps is working too.

here is the output of voxl-p4 -d by the way:

INFO  [qshell] Send cmd: 'lis3mdl start -R 10 -X -b 1'
INFO  [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] [qshell] qshell gotten: lis3mdl start -R 10 -X -b 1
INFO  [muorb] [qshell]   arg0 = 'lis3mdl'
INFO  [muorb] [qshell]   arg1 = 'start'
INFO  [muorb] [qshell]   arg2 = '-R'
INFO  [muorb] [qshell]   arg3 = '10'
INFO  [muorb] [qshell]   arg4 = '-X'
INFO  [muorb] [qshell]   arg5 = '-b'
INFO  [muorb] [qshell]   arg6 = '1'
INFO  [muorb] [drivers__device] *** I2C Device ID 0x51e09 335369
INFO  [muorb] [drivers__device] Set up I2C bus mutex for bus 1
INFO  [muorb] lis3mdl #0 on I2C bus 1
INFO  [muorb]  (external)
INFO  [muorb]  address 0x1E
INFO  [muorb]  rotation 10
INFO  [muorb] 

INFO  [muorb] [qshell] Ok executing command: lis3mdl start -R 10 -X -b 1