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    HITL with voxl 2

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    • Tamas Pal 0T
      Tamas Pal 0
      last edited by

      https://docs.modalai.com/voxl2-PX4-hitl/
      In the VOXL2 PX4 HITL for software setup on voxl 2 the file voxl-px4-hitl file is not getting generated after compilation. I have tried this with both ubuntu and debian, results are still the same. Is it like that or there is some error?

      Terminal:
      /hitl$ git submodule update --init --recursive
      Submodule 'Tools/flightgear_bridge' (https://github.com/PX4/PX4-FlightGear-Bridge.git) registered for path 'Tools/flightgear_bridge'
      Submodule 'Tools/jMAVSim' (https://github.com/PX4/jMAVSim.git) registered for path 'Tools/jMAVSim'
      Submodule 'Tools/jsbsim_bridge' (https://github.com/PX4/px4-jsbsim-bridge.git) registered for path 'Tools/jsbsim_bridge'
      Submodule 'Tools/sitl_gazebo' (https://github.com/PX4/PX4-SITL_gazebo.git) registered for path 'Tools/sitl_gazebo'
      Submodule 'boards/atlflight/cmake_hexagon' (https://github.com/PX4/cmake_hexagon.git) registered for path 'boards/atlflight/cmake_hexagon'
      Submodule 'mavlink/include/mavlink/v2.0' (https://github.com/mavlink/c_library_v2.git) registered for path 'mavlink/include/mavlink/v2.0'
      Submodule 'platforms/nuttx/NuttX/apps' (https://github.com/PX4/NuttX-apps.git) registered for path 'platforms/nuttx/NuttX/apps'
      Submodule 'platforms/nuttx/NuttX/nuttx' (https://github.com/PX4/NuttX.git) registered for path 'platforms/nuttx/NuttX/nuttx'
      Submodule 'platforms/qurt/dspal' (https://github.com/modalai/dspal.git) registered for path 'platforms/qurt/dspal'
      Submodule 'src/drivers/gps/devices' (https://github.com/modalai/PX4-GPSDrivers.git) registered for path 'src/drivers/gps/devices'
      Submodule 'src/drivers/uavcan/libuavcan' (https://github.com/PX4/libuavcan.git) registered for path 'src/drivers/uavcan/libuavcan'
      Submodule 'src/lib/ecl' (https://github.com/PX4/PX4-ECL.git) registered for path 'src/lib/ecl'
      Submodule 'src/lib/matrix' (https://github.com/PX4/PX4-Matrix.git) registered for path 'src/lib/matrix'
      Submodule 'src/modules/micrortps_bridge/micro-CDR' (https://github.com/PX4/Micro-CDR.git) registered for path 'src/modules/micrortps_bridge/micro-CDR'
      Cloning into '/home/tamas/Develop/hitl/Tools/flightgear_bridge'...
      Cloning into '/home/tamas/Develop/hitl/Tools/jMAVSim'...
      Cloning into '/home/tamas/Develop/hitl/Tools/jsbsim_bridge'...
      Cloning into '/home/tamas/Develop/hitl/Tools/sitl_gazebo'...
      Cloning into '/home/tamas/Develop/hitl/boards/atlflight/cmake_hexagon'...
      Cloning into '/home/tamas/Develop/hitl/mavlink/include/mavlink/v2.0'...
      Cloning into '/home/tamas/Develop/hitl/platforms/nuttx/NuttX/apps'...
      Cloning into '/home/tamas/Develop/hitl/platforms/nuttx/NuttX/nuttx'...
      Cloning into '/home/tamas/Develop/hitl/platforms/qurt/dspal'...
      Cloning into '/home/tamas/Develop/hitl/src/drivers/gps/devices'...
      Cloning into '/home/tamas/Develop/hitl/src/drivers/uavcan/libuavcan'...
      Cloning into '/home/tamas/Develop/hitl/src/lib/ecl'...
      Cloning into '/home/tamas/Develop/hitl/src/lib/matrix'...
      Cloning into '/home/tamas/Develop/hitl/src/modules/micrortps_bridge/micro-CDR'...
      Submodule path 'Tools/flightgear_bridge': checked out '7c2c623da9f5dcb3f01d32830af1a2ed958de363'
      Submodule 'models/FlightGear-Rascal' (https://github.com/ThunderFly-aerospace/FlightGear-Rascal.git) registered for path 'Tools/flightgear_bridge/models/Rascal'
      Submodule 'models/FlightGear-TF-G1' (https://github.com/ThunderFly-aerospace/FlightGear-TF-G1.git) registered for path 'Tools/flightgear_bridge/models/TF-G1'
      Submodule 'models/FlightGear-TF-G2' (https://github.com/ThunderFly-aerospace/FlightGear-TF-G2.git) registered for path 'Tools/flightgear_bridge/models/TF-G2'
      Submodule 'models/FlightGear-TF-R1' (https://github.com/ThunderFly-aerospace/FlightGear-TF-R1.git) registered for path 'Tools/flightgear_bridge/models/TF-R1'
      Cloning into '/home/tamas/Develop/hitl/Tools/flightgear_bridge/models/Rascal'...
      Cloning into '/home/tamas/Develop/hitl/Tools/flightgear_bridge/models/TF-G1'...
      Cloning into '/home/tamas/Develop/hitl/Tools/flightgear_bridge/models/TF-G2'...
      Cloning into '/home/tamas/Develop/hitl/Tools/flightgear_bridge/models/TF-R1'...
      Submodule path 'Tools/flightgear_bridge/models/Rascal': checked out 'cbdb2fc7dd44331da1dcd04a891ed7f8c27b1ef0'
      Submodule path 'Tools/flightgear_bridge/models/TF-G1': checked out '4540de7ae8e71b9bd6e6f67d085695be0ab36bc3'
      Submodule path 'Tools/flightgear_bridge/models/TF-G2': checked out '562ee71388c493675269210f7692d8b7a8bb800d'
      Submodule path 'Tools/flightgear_bridge/models/TF-R1': checked out '158e429a0110589b1e2adfe868e166271470e144'
      Submodule path 'Tools/jMAVSim': checked out '66b764ada522893c05224950aa6268c809f8e48a'
      Submodule 'jMAVlib' (https://github.com/PX4/jMAVlib.git) registered for path 'Tools/jMAVSim/jMAVlib'
      Cloning into '/home/tamas/Develop/hitl/Tools/jMAVSim/jMAVlib'...
      Submodule path 'Tools/jMAVSim/jMAVlib': checked out 'c08380767b21938391bec676a43b36b837af9ba4'
      Submodule path 'Tools/jsbsim_bridge': checked out 'e070c50d591541d440510b65c9da5cad1db5aa9a'
      Submodule 'models/ATI-Resolution' (https://github.com/FGMEMBERS/ATI-Resolution.git) registered for path 'Tools/jsbsim_bridge/models/ATI-Resolution'
      Submodule 'models/Rascal' (https://github.com/Auterion/FlightGear-Rascal.git) registered for path 'Tools/jsbsim_bridge/models/Rascal'
      Cloning into '/home/tamas/Develop/hitl/Tools/jsbsim_bridge/models/ATI-Resolution'...
      Cloning into '/home/tamas/Develop/hitl/Tools/jsbsim_bridge/models/Rascal'...
      Submodule path 'Tools/jsbsim_bridge/models/ATI-Resolution': checked out '40571cd808a204f4062128daeb6bb6db8c134c48'
      Submodule path 'Tools/jsbsim_bridge/models/Rascal': checked out 'd0d1db1961549e557885002cf9c3cff40cc27be2'
      Submodule path 'Tools/sitl_gazebo': checked out 'e580bbcd1eb6902c658ed3ece3b3b28dfd57eb17'
      Submodule 'external/OpticalFlow' (https://github.com/PX4/OpticalFlow.git) registered for path 'Tools/sitl_gazebo/external/OpticalFlow'
      Cloning into '/home/tamas/Develop/hitl/Tools/sitl_gazebo/external/OpticalFlow'...
      Submodule path 'Tools/sitl_gazebo/external/OpticalFlow': checked out '28ef45c1fcb532b2bfd54c16b059c6a545143b2f'
      Submodule 'external/klt_feature_tracker' (https://github.com/ethz-ait/klt_feature_tracker.git) registered for path 'Tools/sitl_gazebo/external/OpticalFlow/external/klt_feature_tracker'
      Cloning into '/home/tamas/Develop/hitl/Tools/sitl_gazebo/external/OpticalFlow/external/klt_feature_tracker'...
      Submodule path 'Tools/sitl_gazebo/external/OpticalFlow/external/klt_feature_tracker': checked out '9b5b567ae77f93d1ef4d36151529ba2506a46e7a'
      Submodule path 'boards/atlflight/cmake_hexagon': checked out '08fd0a73045346448adf6969660196228b23e1fa'
      Submodule path 'mavlink/include/mavlink/v2.0': checked out '5637057af5ab8ec5667e3f8e5f8c73d3bc60eed8'
      Submodule path 'platforms/nuttx/NuttX/apps': checked out 'af732cdf24d81cfbb51f7ef6189a83c2687df7c2'
      Submodule path 'platforms/nuttx/NuttX/nuttx': checked out 'e7701b9e792e310112d0b45419f5f30fb384bca2'
      Submodule path 'platforms/qurt/dspal': checked out '30b82752b50d8e2baa7f6415e1f96feb98c1b743'
      Submodule 'cmake_hexagon' (https://github.com/ATLFlight/cmake_hexagon) registered for path 'platforms/qurt/dspal/cmake_hexagon'
      Cloning into '/home/tamas/Develop/hitl/platforms/qurt/dspal/cmake_hexagon'...
      Submodule path 'platforms/qurt/dspal/cmake_hexagon': checked out '07168bd5715818802b78f674816ec851307998a7'
      Submodule path 'src/drivers/gps/devices': checked out '061c4008f8525d5a01a480efb0e4486577342701'
      Submodule path 'src/drivers/uavcan/libuavcan': checked out '04377cc2704eb7e2fae36fffa5e67063cc40b4c0'
      Submodule 'dsdl' (https://github.com/UAVCAN/dsdl) registered for path 'src/drivers/uavcan/libuavcan/dsdl'
      Submodule 'libuavcan/dsdl_compiler/pyuavcan' (https://github.com/UAVCAN/pyuavcan) registered for path 'src/drivers/uavcan/libuavcan/libuavcan/dsdl_compiler/pyuavcan'
      Cloning into '/home/tamas/Develop/hitl/src/drivers/uavcan/libuavcan/dsdl'...
      Cloning into '/home/tamas/Develop/hitl/src/drivers/uavcan/libuavcan/libuavcan/dsdl_compiler/pyuavcan'...
      remote: Enumerating objects: 951, done.
      remote: Counting objects: 100% (951/951), done.
      remote: Compressing objects: 100% (379/379), done.
      remote: Total 951 (delta 567), reused 951 (delta 567), pack-reused 0
      Receiving objects: 100% (951/951), 122.30 KiB | 6.44 MiB/s, done.
      Resolving deltas: 100% (567/567), done.
      From https://github.com/UAVCAN/dsdl

      • branch 192295c4f9b67f4a20b0eabf74757b6597415f2b -> FETCH_HEAD
        Submodule path 'src/drivers/uavcan/libuavcan/dsdl': checked out '192295c4f9b67f4a20b0eabf74757b6597415f2b'
        Submodule path 'src/drivers/uavcan/libuavcan/libuavcan/dsdl_compiler/pyuavcan': checked out 'c58477a644d20ccf95a20c151f3a0402f271c3b8'
        Submodule 'dsdl' (https://github.com/UAVCAN/dsdl) registered for path 'src/drivers/uavcan/libuavcan/libuavcan/dsdl_compiler/pyuavcan/dsdl'
        Cloning into '/home/tamas/Develop/hitl/src/drivers/uavcan/libuavcan/libuavcan/dsdl_compiler/pyuavcan/dsdl'...
        remote: Enumerating objects: 457, done.
        remote: Counting objects: 100% (457/457), done.
        remote: Compressing objects: 100% (205/205), done.
        remote: Total 457 (delta 247), reused 454 (delta 247), pack-reused 0
        Receiving objects: 100% (457/457), 60.34 KiB | 10.06 MiB/s, done.
        Resolving deltas: 100% (247/247), done.
        From https://github.com/UAVCAN/dsdl
      • branch fd12483ddd4e58242d61d74a163e7aeaa1e0f466 -> FETCH_HEAD
        Submodule path 'src/drivers/uavcan/libuavcan/libuavcan/dsdl_compiler/pyuavcan/dsdl': checked out 'fd12483ddd4e58242d61d74a163e7aeaa1e0f466'
        Submodule path 'src/lib/ecl': checked out 'b919f3ddf41ab422d09af91eaea2b2f9729fab13'
        Submodule path 'src/lib/matrix': checked out '977cf52322ab3ca93125423a0f9e9b3eca0516d7'
        Submodule path 'src/modules/micrortps_bridge/micro-CDR': checked out '56b2696e4a9bb43d2aef9690fc5c6a2d6b1af8ee'
      Tamas Pal 0T 1 Reply Last reply Reply Quote 0
      • Tamas Pal 0T
        Tamas Pal 0 @Tamas Pal 0
        last edited by

        @Matthew-Booker
        In the VOXL2 PX4 HITL for software setup on voxl 2 the file voxl-px4-hitl file is missing in the voxl-master branch of github "https://github.com/modalai/px4-firmware/tree/voxl-master". We followed the instructions from "https://docs.modalai.com/voxl2-PX4-hitl/" I have tried this with both ubuntu and debian, results are still the same. Is it like that or there is some error? How to run hitl with voxl 2 as the files are missing.

        1 Reply Last reply Reply Quote 0
        • Zachary LowellZ
          Zachary Lowell ModalAI Team
          last edited by

          Hi @Tamas-Pal-0 - looks like you are correct in that the voxl-px4-hitl has not been pulled into voxl-master. I would recommend for now switching over to the voxl-dev branch and running with the steps through there. Once it has been pulled into voxl-master, then you can recompile, reflash, and run through it on that branch. Other options as well is you can copy the file voxl-px4-hitl from the voxl-dev branch into your current working voxl-master, recompile, and reflash the voxl2 with the newer firmware containing the correct executable.

          1 Reply Last reply Reply Quote 1
          • Tamas Pal 0T
            Tamas Pal 0
            last edited by

            Unable to run this command
            echo 1 | sudo tee /sys/bus/usb-serial/devices/ttyUSB0/latency_timer
            In the terminal it is showing permission denied after running the command
            tamas@tamas:~$ echo 1 | sudo tee /sys/bus/usb-serial/devices/ttyUSB0/latency_timer
            tee: /sys/bus/usb-serial/devices/ttyUSB0/latency_timer: Permission denied
            1
            How to fix the problem?

            1 Reply Last reply Reply Quote 0
            • Zachary LowellZ
              Zachary Lowell ModalAI Team
              last edited by

              @Tamas-Pal-0 said in HITL with voxl 2:

              0

              This seems like a permissions issue on your end and that your user doesnt have super user permissions.

              Tamas Pal 0T 1 Reply Last reply Reply Quote 0
              • Tamas Pal 0T
                Tamas Pal 0 @Zachary Lowell
                last edited by Tamas Pal 0

                @Zachary-Lowell

                tamas@tamas:~$ echo 1 | sudo tee /sys/bus/usb-serial/devices/ttyUSB0/latency_timer
tee: /sys/bus/usb-serial/devices/ttyUSB0/latency_timer: Permission denied
1
tamas@tamas:~$ ls /sys/bus/usb-serial/devices/ttyUSB0/latency_timer
ls: cannot access '/sys/bus/usb-serial/devices/ttyUSB0/latency_timer': No such file or directory

                How to fix it ?

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

                  @Tamas-Pal-0 What do you get with ls /dev/ttyUSB*?

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

                    @Eric-Katzfey
                    I got this

                    tamas@tamas:~$ ls /dev/ttyUSB*
/dev/ttyUSB0

                    I am unable to modify anything inside /sys/bus/usb-serial/devices/ttyUSB0 with root user also. How to fix it?

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

                      @Tamas-Pal-0 I'm not sure. This works in our development environment so something must be different in your environment. What version of Linux are you using? What cable are you using?

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

                        @Eric-Katzfey
                        The issue is fixed. It was a hardware issue. I changed the ftdi cable and the issue was solved. The previous FTDI cable was not allowing me to change anything in /sys/bus/usb-serial/devices/ttyUSB0 directory. The file latency_timer was also not there. However with the other cable, there is no such issue. Thank you for your valuable input.

                        1 Reply Last reply Reply Quote 0
                        • Tamas Pal 0T
                          Tamas Pal 0
                          last edited by

                          For 3.3v J18 jst port which port of ftdi cable should be used, CTS# or RTS# ?

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

                            @Tamas-Pal-0 For UART it is just GND, TX, and RX

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

                              @Eric-Katzfey you mean we only have to connect 3 pins in j18 port ?

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

                                @Tamas-Pal-0 Yes, the fourth pin is power and we don't want that one.

                                1 Reply Last reply Reply Quote 0
                                • Tamas Pal 0T
                                  Tamas Pal 0
                                  last edited by

                                  Is there any way to verify that FTDI cable is connected properly with J18 port ?

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

                                    @Tamas-Pal-0 The easiest way would be to recompile the modalai_dsp PX4 driver to add more debug messages. But if you aren't comfortable with that then we'll need to come up with something else.

                                    1 Reply Last reply Reply Quote 0
                                    • Tamas Pal 0T
                                      Tamas Pal 0
                                      last edited by Tamas Pal 0

                                      How to do that? Is there any other way to this ?

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

                                        @Tamas-Pal-0 The simulator will be sending heartbeat messages out over the serial cable. You can use the screen program to see if anything is coming from voxl 2 in the serial cable.

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

                                          @Eric-Katzfey How to use screen program in this case ?

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

                                            @Tamas-Pal-0 screen is just a standard Linux program. There are many ways to check the output of the serial port. To start, you could always just do cat /dev/ttyUSB0 and see if anything is coming out. This post shows how to get a hex dump: https://superuser.com/questions/1402386/view-serial-device-output-in-console-in-hex

                                            1 Reply Last reply Reply Quote 0
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