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    VOXL 2 J18 port for External FC

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    • Jetson NanoJ
      Jetson Nano @Jetson Nano
      last edited by Jetson Nano

      @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 message

      MAVLINK-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
exiting

      rebooting 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 57

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

        @Jetson-Nano Can you try a lower baudrate, like 57600, and see if that works better?

        Jetson NanoJ 1 Reply Last reply Reply Quote 0
        • Jetson NanoJ
          Jetson Nano @Eric Katzfey
          last edited by

          @Eric-Katzfey I tried lower baudrate also, the behaviour is similar.

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

            @Jetson-Nano Do you still get those messages from voxl-mavlink-server about dropped packets from external AP?

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

              @Jetson-Nano Are you using WiFi to connect with QGC?

              Jetson NanoJ 1 Reply Last reply Reply Quote 0
              • Jetson NanoJ
                Jetson Nano @Eric Katzfey
                last edited by

                @Eric-Katzfey yes I still had that messages popping up

                1 Reply Last reply Reply Quote 0
                • Jetson NanoJ
                  Jetson Nano @Eric Katzfey
                  last edited by

                  @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?

                  1 Reply Last reply Reply Quote 0
                  • Jetson NanoJ
                    Jetson Nano @Eric Katzfey
                    last edited by Jetson Nano

                    @Eric-Katzfey

                    I changed the Mavlink version to what you had mentioned here, I felt the errors were similar
                    Link
                    this is when baudrate is 57600

                    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:      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
exiting

                    this 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:~$
                    Jetson NanoJ 1 Reply Last reply Reply Quote 0
                    • Jetson NanoJ
                      Jetson Nano @Jetson Nano
                      last edited by

                      @Eric-Katzfey
                      voxl-mavlink-server -z

                      voxl2:~$ 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
                      Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                      • Eric KatzfeyE
                        Eric Katzfey ModalAI Team @Jetson Nano
                        last edited by

                        @Jetson-Nano Looks like you are never receiving anything FROM the AP. Only sending stuff TO it. Can you put an oscilloscope on the RX / TX UART lines to see what the traffic looks like. For some reason it doesn't seem like the UART is setup properly on either the FC or the DSP so with an oscilloscope you can better see what is going on.

                        1 Reply Last reply Reply Quote 0
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