VOXL 2 J18 port for External FC
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Hey @Vinny @Eric-Katzfey ,
guys I am trying to use the J18 port on voxl 2 for connecting the external FC ( flight core v2).
While I try to run it , the voxl-mavlink-server is throwing error.I assigned the autopilto_uart_bus to 12 as mentioned in the documentation.
voxl2:/$ voxl-mavlink-server loading our own config file ================================================================= Parameters as loaded from config file: primary_static_gcs_ip: 192.168.168.2 secondary_static_gcs_ip: 192.168.8.11 onboard_port_to_autopilot: 14556 onboard_port_from_autopilot: 14557 gcs_port_to_autopilot: 14558 gcs_port_from_autopilot: 14559 en_external_uart_ap: 1 autopilot_uart_bus: 12 autopilot_uart_baudrate: 921600 autopilot_mission_delay_start: -1 autopilot_mission_delay_sound: 0 autopilot_mission_notif_dur: 0.10 udp_mtu: 500 gcs_timeout_s 4.50 en_external_ap_timesync: 1 en_external_ap_heartbeat: 1 ================================================================= Sending library name request: libslpi_qrb5165_io.so Sending initialization request Received standard error event SNS_STD_ERROR_NOT_SUPPORTED Couldn't configure flight_controller sensor ERROR: fc_sensor_initialize failed ERROR: Failed to initialize slpi ERROR: Encountered error while initializing bus 12 ERROR: Unable to configure bus 12 (baudrate 921600) with voxl_io Stopping autopilot io module Stopping gcs io module Stopping pipe io module closing remaining client pipes closing remaining server pipes Removing PID file exiting -
the error mentioned above was caused by the voxl-px4 server, once I disabled it was solved.
Still I was not able to see the data from the external FCvoxl2:/$ voxl-mavlink-server loading our own config file ================================================================= Parameters as loaded from config file: primary_static_gcs_ip: 192.168.168.2 secondary_static_gcs_ip: 192.168.8.11 onboard_port_to_autopilot: 14556 onboard_port_from_autopilot: 14557 gcs_port_to_autopilot: 14558 gcs_port_from_autopilot: 14559 en_external_uart_ap: 1 autopilot_uart_bus: 12 autopilot_uart_baudrate: 921600 autopilot_mission_delay_start: -1 autopilot_mission_delay_sound: 0 autopilot_mission_notif_dur: 0.10 udp_mtu: 500 gcs_timeout_s 4.50 en_external_ap_timesync: 1 en_external_ap_heartbeat: 1 ================================================================= Sending library name request: libslpi_qrb5165_io.so Sending initialization request Successfully opened bus 12 at baudrate 921600 starting qrb5165 external AP receive thread Adding primary GCS IP address from conf file to list: 192.168.168.2 Added new UDP connection to 192.168.168.2 Adding secondary manual gcs IP address to udp connection list: 192.168.8.11 Added new UDP connection to 192.168.8.11 Init complete, entering main loop -
@Jetson-Nano
now it is getting data from fc , it was a issue with baudrate, the J18 port can not handle 3000000 baudrate.
still i am facing an issue, where the QGC is not getting connected, the qgc is loading,then getting disconnected, again regaining connection this is going in a loop.
I tried increasing the udp_mtu still no change, same behaviour.The error is mentioned below.
Sending topic message --- msg_id: 1033 --- topic name: uart_data Sending topic message --- msg_id: 1033 --- topic name: uart_data Sending topic message --- msg_id: 1033 --- topic name: uart_data Sending topic message --- msg_id: 1033 --- topic name: uart_data Sending topic message --- msg_id: 1033 --- topic name: uart_data Sending topic message --- msg_id: 1033 --- topic name: uart_data Sending topic message --- msg_id: 1033 --- topic name: uart_data Sending topic message --- msg_id: 1033 --- topic name: uart_data Sending topic message --- msg_id: 1033 --- topic name: uart_data Sending topic message --- msg_id: 1033 --- topic name: uart_data Sending topic message --- msg_id: 1033 --- topic name: uart_data Sending topic message --- msg_id: 1033 --- topic name: uart_data Sending topic message --- msg_id: 1033 --- topic name: uart_data Sending topic message --- msg_id: 1033 --- topic name: uart_data Sending topic message --- msg_id: 1033 --- topic name: uart_data Sending topic message --- msg_id: 1033 --- topic name: uart_data Sending topic messageMAVLINK-server
"primary_static_gcs_ip": "192.168.168.100", "secondary_static_gcs_ip": "192.169.168.2", "onboard_port_to_autopilot": 14556, "onboard_port_from_autopilot": 14557, "gcs_port_to_autopilot": 14558, "gcs_port_from_autopilot": 14559, "en_external_uart_ap": true, "autopilot_uart_bus": 12, "autopilot_uart_baudrate": 921600, "autopilot_mission_delay_start": -1, "autopilot_mission_delay_sound": false, "autopilot_mission_notif_dur": 0.1, "en_external_ap_timesync": 1, "en_external_ap_heartbeat": 10, "udp_mtu": 800, "gcs_timeout_s": 1 }after this issue, the mavlink server is shuting down and showing the below error
Couldn't locate SUID for flight_controller Failed to detect flight controller sensor ERROR: fc_sensor_initialize failed ERROR: Failed to initialize slpi ERROR: Encountered error while initializing bus 12 ERROR: Unable to configure bus 12 (baudrate 921600) with voxl_io Stopping autopilot io module Stopping gcs io module Stopping pipe io module closing remaining client pipes closing remaining server pipes Removing PID file exitingrebooting and running again gives
voxl2:~$ voxl-mavlink-server loading our own config file ================================================================= Parameters as loaded from config file: primary_static_gcs_ip: 192.168.168.200 secondary_static_gcs_ip: 192.169.168.1 onboard_port_to_autopilot: 14556 onboard_port_from_autopilot: 14557 gcs_port_to_autopilot: 14558 gcs_port_from_autopilot: 14559 en_external_uart_ap: 1 autopilot_uart_bus: 12 autopilot_uart_baudrate: 921600 autopilot_mission_delay_start: -1 autopilot_mission_delay_sound: 0 autopilot_mission_notif_dur: 0.10 udp_mtu: 800 gcs_timeout_s 1.00 en_external_ap_timesync: 1 en_external_ap_heartbeat: 1 ================================================================= existing instance of voxl-mavlink-server found, attempting to stop it Sending library name request: libslpi_qrb5165_io.so Sending initialization request Successfully opened bus 12 at baudrate 921600 starting qrb5165 external AP receive thread Adding primary GCS IP address from conf file to list: 192.168.168.200 Added new UDP connection to 192.168.168.200 Adding secondary manual gcs IP address to udp connection list: 192.169.168.1 Added new UDP connection to 192.169.168.1 Init complete, entering main loop CONNECTED to GCS at 192.168.168.200 Detected Autopilot Mavlink SYSID 188 WARNING: UART parser dropped 1 packets from external AP at i=346 WARNING: UART parser dropped 1 packets from external AP at i=359 WARNING: UART parser dropped 1 packets from external AP at i=437 Detected Autopilot Mavlink SYSID 1 WARNING: UART parser dropped 1 packets from external AP at i=527 WARNING: UART parser dropped 1 packets from external AP at i=543 WARNING: UART parser dropped 1 packets from external AP at i=738 WARNING: UART parser dropped 1 packets from external AP at i=6 WARNING: UART parser dropped 1 packets from external AP at i=132 WARNING: UART parser dropped 1 packets from external AP at i=353 WARNING: UART parser dropped 1 packets from external AP at i=833 WARNING: UART parser dropped 1 packets from external AP at i=57 WARNING: UART parser dropped 1 packets from external AP at i=20 WARNING: UART parser dropped 1 packets from external AP at i=5 Detected Autopilot Mavlink SYSID 57 Detected Autopilot Mavlink SYSID 55 WARNING: UART parser dropped 1 packets from external AP at i=0 Detected Autopilot Mavlink SYSID 57The mavlink sysid is changing
voxl2:~$ voxl-mavlink-server loading our own config file ================================================================= Parameters as loaded from config file: primary_static_gcs_ip: 192.168.168.200 secondary_static_gcs_ip: 192.169.168.1 onboard_port_to_autopilot: 14556 onboard_port_from_autopilot: 14557 gcs_port_to_autopilot: 14558 gcs_port_from_autopilot: 14559 en_external_uart_ap: 1 autopilot_uart_bus: 12 autopilot_uart_baudrate: 921600 autopilot_mission_delay_start: -1 autopilot_mission_delay_sound: 0 autopilot_mission_notif_dur: 0.10 udp_mtu: 500 gcs_timeout_s 1.00 en_external_ap_timesync: 1 en_external_ap_heartbeat: 1 ================================================================= Sending library name request: libslpi_qrb5165_io.so Sending initialization request Successfully opened bus 12 at baudrate 921600 starting qrb5165 external AP receive thread Adding primary GCS IP address from conf file to list: 192.168.168.200 Added new UDP connection to 192.168.168.200 Adding secondary manual gcs IP address to udp connection list: 192.169.168.1 Added new UDP connection to 192.169.168.1 Init complete, entering main loop CONNECTED to GCS at 192.168.168.200 Detected Autopilot Mavlink SYSID 1 WARNING: UART parser dropped 1 packets from external AP at i=128 WARNING: UART parser dropped 1 packets from external AP at i=302 Detected Autopilot Mavlink SYSID 65 WARNING: UART parser dropped 1 packets from external AP at i=84 Detected Autopilot Mavlink SYSID 1 WARNING: UART parser dropped 1 packets from external AP at i=68 WARNING: UART parser dropped 1 packets from external AP at i=92 WARNING: UART parser dropped 1 packets from external AP at i=34 WARNING: UART parser dropped 1 packets from external AP at i=141 DISCONNECTED FROM GCS 192.168.168.200 CONNECTED to GCS at 192.168.168.200 DISCONNECTED FROM GCS 192.168.168.200 CONNECTED to GCS at 192.168.168.200 DISCONNECTED FROM GCS 192.168.168.200 CONNECTED to GCS at 192.168.168.200 Detected Autopilot Mavlink SYSID 28 DISCONNECTED FROM GCS 192.168.168.200 CONNECTED to GCS at 192.168.168.200 DISCONNECTED FROM GCS 192.168.168.200 CONNECTED to GCS at 192.168.168.200 DISCONNECTED FROM GCS 192.168.168.200 CONNECTED to GCS at 192.168.168.200 DISCONNECTED FROM GCS 192.168.168.200 CONNECTED to GCS at 192.168.168.200 -
@Jetson-Nano Can you try a lower baudrate, like 57600, and see if that works better?
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@Eric-Katzfey I tried lower baudrate also, the behaviour is similar.
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@Jetson-Nano Do you still get those messages from voxl-mavlink-server about dropped packets from external AP?
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@Jetson-Nano Are you using WiFi to connect with QGC?
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@Eric-Katzfey yes I still had that messages popping up
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@Eric-Katzfey No I was using the Microhard module. Irrespective of the communication module, these many time should the sysid change and the packet lose should not occure, right?
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I changed the Mavlink version to what you had mentioned here, I felt the errors were similar
Link
this is when baudrate is 57600voxl2:~$ voxl-mavlink-server loading our own config file ================================================================= Parameters as loaded from config file: primary_static_gcs_ip: 192.168.168.200 primary_static_gcs_ip_port: 14550 secondary_static_gcs_ip: 192.169.168.2 secondary_static_gcs_ip_port: 14550 onboard_port_to_autopilot: 14556 onboard_port_from_autopilot: 14557 gcs_port_to_autopilot: 14558 gcs_port_from_autopilot: 14559 en_external_uart_ap: 1 autopilot_uart_bus: 12 autopilot_uart_baudrate: 57600 autopilot_mission_delay_start: -1 autopilot_mission_delay_sound: 0 autopilot_mission_force_restart: 0 autopilot_mission_notif_dur: 0.10 udp_mtu: 0 gcs_timeout_s 1.00 en_external_ap_timesync: 1 en_external_ap_heartbeat: 1 ================================================================= Sending library name request: libslpi_qrb5165_io.so Sending initialization request Successfully opened bus 12 at baudrate 57600 starting qrb5165 external AP receive thread Adding primary GCS IP address from conf file to list: 192.168.168.200:14550 Added new UDP connection to 192.168.168.200:14550 Adding secondary manual gcs IP address to udp connection list: 192.169.168.2:14550 Added new UDP connection to 192.169.168.2:14550 Init complete, entering main loop CONNECTED to GCS at 192.168.168.200:14550 Waiting to detect autopilot sys id... Waiting to detect autopilot sys id... Waiting to detect autopilot sys id... Waiting to detect autopilot sys id... Waiting to detect autopilot sys id... Waiting to detect autopilot sys id... ^C received SIGINT Ctrl-C Waiting to detect autopilot sys id... Starting shutdown sequence Stopping autopilot io module exiting read thread qrb5165 external ap interface stopped Stopping gcs io module WARNING: Received 12 bytes of data from SLPI while SLPI uart not in use (topic uart_data) WARNING: Received 41 bytes of data from SLPI while SLPI uart not in use (topic uart_data) WARNING: Received 32 bytes of data from SLPI while SLPI uart not in use (topic uart_data) WARNING: Received 36 bytes of data from SLPI while SLPI uart not in use (topic uart_data) WARNING: Received 18 bytes of data from SLPI while SLPI uart not in use (topic uart_data) exiting gcs udp listener thread udp gcs io stopped Stopping pipe io module closing remaining client pipes closing remaining server pipes Removing PID file exitingthis is when baudrate is 921600
voxl2:~$ voxl-mavlink-server loading our own config file ================================================================= Parameters as loaded from config file: primary_static_gcs_ip: 192.168.168.200 primary_static_gcs_ip_port: 14550 secondary_static_gcs_ip: 192.169.168.2 secondary_static_gcs_ip_port: 14550 onboard_port_to_autopilot: 14556 onboard_port_from_autopilot: 14557 gcs_port_to_autopilot: 14558 gcs_port_from_autopilot: 14559 en_external_uart_ap: 1 autopilot_uart_bus: 12 autopilot_uart_baudrate: 921600 autopilot_mission_delay_start: -1 autopilot_mission_delay_sound: 0 autopilot_mission_force_restart: 0 autopilot_mission_notif_dur: 0.10 udp_mtu: 0 gcs_timeout_s 1.00 en_external_ap_timesync: 1 en_external_ap_heartbeat: 1 ================================================================= Sending library name request: libslpi_qrb5165_io.so Sending initialization request Successfully opened bus 12 at baudrate 921600 starting qrb5165 external AP receive thread Adding primary GCS IP address from conf file to list: 192.168.168.200:14550 Added new UDP connection to 192.168.168.200:14550 Adding secondary manual gcs IP address to udp connection list: 192.169.168.2:14550 Added new UDP connection to 192.169.168.2:14550 Init complete, entering main loop CONNECTED to GCS at 192.168.168.200:14550 Detected Autopilot Mavlink SYSID 130 WARNING: UART parser dropped 1 packets from external AP at i=8 WARNING: UART parser dropped 1 packets from external AP at i=1 WARNING: UART parser dropped 1 packets from external AP at i=1 WARNING: UART parser dropped 1 packets from external AP at i=7 WARNING: UART parser dropped 1 packets from external AP at i=6 WARNING: UART parser dropped 1 packets from external AP at i=0 WARNING: UART parser dropped 1 packets from external AP at i=1 WARNING: UART parser dropped 1 packets from external AP at i=8 WARNING: UART parser dropped 1 packets from external AP at i=1 WARNING: UART parser dropped 1 packets from external AP at i=10 WARNING: UART parser dropped 1 packets from external AP at i=1 WARNING: UART parser dropped 1 packets from external AP at i=1 WARNING: UART parser dropped 1 packets from external AP at i=1 WARNING: UART parser dropped 1 packets from external AP at i=0 ^C received SIGINT Ctrl-C Starting shutdown sequence Stopping autopilot io module exiting read thread qrb5165 external ap interface stopped Stopping gcs io module WARNING: Received 11 bytes of data from SLPI while SLPI uart not in use (topic uart_data) WARNING: Received 54 bytes of data from SLPI while SLPI uart not in use (topic uart_data) WARNING: Received 11 bytes of data from SLPI while SLPI uart not in use (topic uart_data) WARNING: Received 10 bytes of data from SLPI while SLPI uart not in use (topic uart_data) WARNING: Received 7 bytes of data from SLPI while SLPI uart not in use (topic uart_data) WARNING: Received 9 bytes of data from SLPI while SLPI uart not in use (topic uart_data) WARNING: Received 12 bytes of data from SLPI while SLPI uart not in use (topic uart_data) WARNING: Received 10 bytes of data from SLPI while SLPI uart not in use (topic uart_data) WARNING: Received 10 bytes of data from SLPI while SLPI uart not in use (topic uart_data) WARNING: Received 11 bytes of data from SLPI while SLPI uart not in use (topic uart_data) exiting gcs udp listener thread udp gcs io stopped Stopping pipe io module closing remaining client pipes closing remaining server pipes Removing PID file exiting voxl2:~$ -
@Eric-Katzfey
voxl-mavlink-server -zvoxl2:~$ voxl-mavlink-server -z Enabling UDP to slpi recv debugging Enabling qrb5165 external AP recv debugging Enabling UDP to slpi send debugging Enabling qrb5165 external AP send debugging Enabling UDP GCS recv debugging Enabling UDP GCS send debugging loading our own config file ================================================================= Parameters as loaded from config file: primary_static_gcs_ip: 192.168.168.200 primary_static_gcs_ip_port: 14550 secondary_static_gcs_ip: 192.169.168.2 secondary_static_gcs_ip_port: 14550 onboard_port_to_autopilot: 14556 onboard_port_from_autopilot: 14557 gcs_port_to_autopilot: 14558 gcs_port_from_autopilot: 14559 en_external_uart_ap: 1 autopilot_uart_bus: 12 autopilot_uart_baudrate: 57600 autopilot_mission_delay_start: -1 autopilot_mission_delay_sound: 0 autopilot_mission_force_restart: 0 autopilot_mission_notif_dur: 0.10 udp_mtu: 0 gcs_timeout_s 1.00 en_external_ap_timesync: 1 en_external_ap_heartbeat: 1 ================================================================= Sending library name request: libslpi_qrb5165_io.so Sending initialization request Successfully opened bus 12 at baudrate 57600 starting qrb5165 external AP receive thread Adding primary GCS IP address from conf file to list: 192.168.168.200:14550 Added new UDP connection to 192.168.168.200:14550 Adding secondary manual gcs IP address to udp connection list: 192.169.168.2:14550 Added new UDP connection to 192.169.168.2:14550 Init complete, entering main loop onboard pipe ID: 84 compid: 197 to AP msg ID: 84 sysid:130 to bus: 12 onboard pipe ID: 330 compid: 197 to AP msg ID: 330 sysid:130 to bus: 12 onboard pipe ID: 84 compid: 197 to AP msg ID: 84 sysid:130 to bus: 12 onboard pipe ID: 330 compid: 197 to AP msg ID: 330 sysid:130 to bus: 12 onboard pipe ID: 84 compid: 197 to AP msg ID: 84 sysid:130 to bus: 12 onboard pipe ID: 84 compid: 197 to AP msg ID: 84 sysid:130 to bus: 12 onboard pipe ID: 330 compid: 197 to AP msg ID: 330 sysid:130 to bus: 12 onboard pipe ID: 84 compid: 197 to AP msg ID: 84 sysid:130 to bus: 12 onboard pipe ID: 330 compid: 197 to AP msg ID: 330 sysid:130 to bus: 12 onboard pipe ID: 84 compid: 197 to AP msg ID: 84 sysid:130 to bus: 12 onboard pipe ID: 84 compid: 197 to AP msg ID: 84 sysid:130 to bus: 12 onboard pipe ID: 330 compid: 197 to AP msg ID: 330 sysid:130 to bus: 12 onboard pipe ID: 84 compid: 197 to AP msg ID: 84 sysid:130 to bus: 12 onboard pipe ID: 330 compid: 197 to AP msg ID: 330 sysid:130 to bus: 12 onboard pipe ID: 84 compid: 197 to AP msg ID: 84 sysid:130 to bus: 12 onboard pipe ID: 84 compid: 197 to AP msg ID: 84 sysid:130 to bus: 12 onboard pipe ID: 330 compid: 197 to AP msg ID: 330 sysid:130 to bus: 12 onboard pipe ID: 0 compid: 196 to AP msg ID: 0 sysid:130 to bus: 12 onboard pipe ID: 84 compid: 197 to AP msg ID: 84 sysid:130 to bus: 12 onboard pipe ID: 330 compid: 197 to AP msg ID: 330 sysid:130 to bus: 12 onboard pipe ID: 84 compid: 197 to AP msg ID: 84 sysid:130 to bus: 12 onboard pipe ID: 84 compid: 197 to AP msg ID: 84 sysid:130 to bus: 12 onboard pipe ID: 330 compid: 197 to AP msg ID: 330 sysid:130 to bus: 12 from GCS ID: 0 port: 14550 IP: 192.168.168.200 CONNECTED to GCS at 192.168.168.200:14550 to AP msg ID: 0 sysid:255 to bus: 12 from gcs pipe ID: 0 compid: 190 onboard pipe ID: 84 compid: 197 to AP msg ID: 84 sysid:130 to bus: 12 onboard pipe ID: 330 compid: 197 to AP msg ID: 330 sysid:130 to bus: 12 onboard pipe ID: 84 compid: 197 to AP msg ID: 84 sysid:130 to bus: 12 onboard pipe ID: 84 compid: 197 to AP msg ID: 84 sysid:130 to bus: 12 onboard pipe ID: 330 compid: 197 to AP msg ID: 330 sysid:130 to bus: 12 onboard pipe ID: 84 compid: 197 to AP msg ID: 84 sysid:130 to bus: 12 onboard pipe ID: 330 compid: 197 to AP msg ID: 330 sysid:130 to bus: 12 onboard pipe ID: 84 compid: 197 to AP msg ID: 84 sysid:130 to bus: 12 onboard pipe ID: 84 compid: 197 to AP msg ID: 84 sysid:130 to bus: 12 onboard pipe ID: 330 compid: 197 to AP msg ID: 330 sysid:130 to bus: 12 onboard pipe ID: 84 compid: 197 to AP msg ID: 84 sysid:130 to bus: 12 onboard pipe ID: 330 compid: 197 to AP msg ID: 330 sysid:130 to bus: 12 onboard pipe ID: 84 compid: 197 to AP msg ID: 84 sysid:130 to bus: 12 onboard pipe ID: 84 compid: 197 to AP msg ID: 84 sysid:130 to bus: 12 onboard pipe ID: 330 compid: 197 to AP msg ID: 330 sysid:130 to bus: 12 from gcs pipe ID: 0 compid: 100 to GCS msgid: 0 compid 100 onboard pipe ID: 84 compid: 197 to AP msg ID: 84 sysid:130 to bus: 12 onboard pipe ID: 330 compid: 197 to AP msg ID: 330 sysid:130 to bus: 12 onboard pipe ID: 84 compid: 197 to AP msg ID: 84 sysid:130 to bus: 12 Waiting to detect autopilot sys id... onboard pipe ID: 84 compid: 197 to AP msg ID: 84 sysid:130 to bus: 12 onboard pipe ID: 330 compid: 197 to AP msg ID: 330 sysid:130 to bus: 12 onboard pipe ID: 84 compid: 197 to AP msg ID: 84 sysid:130 to bus: 12 onboard pipe ID: 330 compid: 197 to AP msg ID: 330 sysid:130 to bus: 12
