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    Unable to access px4 with qgc in voxl 2 using usb-jst cable

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    • M
      modaltb ModalAI Team
      last edited by 17 Aug 2022, 13:08

      Hi @Tamas-Pal-0 ,

      On VOXL2 J18 is a UART that connects to the DSP that is used for ESCs --> https://docs.modalai.com/voxl2-connectors/#j18-uart-esc

      At this time, you need to use an IP connection to get to QGC.... Here's some options that I use on my bench:

      https://docs.modalai.com/voxl2-hardware-setup/#wi-fi-connectivity
      https://docs.modalai.com/voxl2-hardware-setup/#ethernet-connectivity

      That cable above works with the STM32 based flight controller (Flight Core and VOXL Flight) but not on J18 of VOXL2.

      1 Reply Last reply Reply Quote 0
      • T
        Tamas Pal 0
        last edited by 18 Aug 2022, 04:34

        @MODALTB could you please share a dedicated manual for running hitl with voxl 2 only ?
        https://docs.modalai.com/voxl2-PX4-hitl/
        The docs webpage is a bit confusing

        1 Reply Last reply Reply Quote 0
        • Z
          Zachary Lowell ModalAI Team
          last edited by 18 Aug 2022, 17:36

          Hi Tamas, this video is how to get the voxl2 running with HITL: https://www.youtube.com/watch?v=ysvpJdXFWaM&ab_channel=AscendEngineering

          Also - unless you are running the voxl-dev branch, then you will not be able to do a SERIAL connection from the voxl2 to QGC, you can only leverage a UDP connection. If you are running the voxl-dev branch and flashed the board, then you can leverage the voxl-px4-hitl executable and connect to QGC. However, you cannot have gazebo open simultaneously because the serial connection will then be interrupted.

          If you wish to run HITL while running QGC, then run this using an FTDI cable and then turn on the required services (voxl-vision-px4, voxl-mavlink-server) and then connect to gazebo serially, and QGC via UDP signal.

          Let me know if this makes sense.

          1 Reply Last reply Reply Quote 3
          • T
            Tamas Pal 0
            last edited by 19 Aug 2022, 11:21

            I have flashed the voxl-dev branch files to the voxl 2's /etc/modalai/ folder. It seems like voxl-dev branch's voxl-px4-hitl is not an executable file. I am facing this issue.
            voxl2:~$ voxl-px4-hitl
            bash: voxl-px4-hitl: command not found

            How to fix the problem?

            E 1 Reply Last reply 19 Aug 2022, 16:07 Reply Quote 0
            • E
              Eric Katzfey ModalAI Team @Tamas Pal 0
              last edited by 19 Aug 2022, 16:07

              @Tamas-Pal-0 You can get a voxl-dev branch package from here: http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-px4_1.4.19-202208111710_arm64.deb. Install that package instead of trying to copy files over manually.

              T 1 Reply Last reply 22 Aug 2022, 06:20 Reply Quote 0
              • T
                Tamas Pal 0 @Eric Katzfey
                last edited by 22 Aug 2022, 06:20

                @Eric-Katzfey
                The voxl-px4-hitl is still missing in the package. I have installed it and tried to run voxl-px4-hitl command. It is not working. I have shared the terminal syntax below. How to fix it?

                voxl2:/$ sudo dpkg -i voxl-px4_1.4.19-202208111710_arm64.deb
                (Reading database ... 81777 files and directories currently installed.)
                Preparing to unpack voxl-px4_1.4.19-202208111710_arm64.deb ...
                Unpacking voxl-px4 (1.4.19-202208111710) over (1.4.19-202208111710) ...
                Setting up voxl-px4 (1.4.19-202208111710) ...
                Found DSP signature file
                /
                voxl2:/$ sudo apt-get install -f
                Reading package lists... Done
                Building dependency tree
                Reading state information... Done
                0 upgraded, 0 newly installed, 0 to remove and 1 not upgraded.
                voxl2:/$ voxl-px4-hitl
                bash: /usr/bin/voxl-px4-hitl: Permission denied
                voxl2:/$ sudo voxl-px4-hitl
                sudo: voxl-px4-hitl: command not found

                1 Reply Last reply Reply Quote 0
                • Z
                  Zachary Lowell ModalAI Team
                  last edited by 22 Aug 2022, 16:47

                  Hi Tamas - please run a chmod +x /usr/bin/voxl-px4-hitl and that will enable permissions. After running that, you can run voxl-px4-hitl from any directory and it will work.

                  T 1 Reply Last reply 23 Aug 2022, 06:44 Reply Quote 0
                  • T
                    Tamas Pal 0 @Zachary Lowell
                    last edited by Tamas Pal 0 23 Aug 2022, 06:49 23 Aug 2022, 06:44

                    @Zachary-Lowell
                    Aftert running the voxl-px4-hitl command I am still gettting an output like this. Is it fine? If not how to solve the problem?

                    voxl2:/usr/bin$ chmod +x /usr/bin/voxl-px4-hitl
                    voxl2:/usr/bin$ voxl-px4-hitl 
                    Found DSP signature file
                    Setting GPS Parameters for HITL
                    INFO  [px4] mlockall() enabled. PX4's virtual address space is locked into RAM.
                    INFO  [px4] PX4 daemon already running for instance 0 (Success)
                    INFO  [px4] mlockall() enabled. PX4's virtual address space is locked into RAM.
                    INFO  [px4] PX4 daemon already running for instance 0 (Success)
                    voxl2:/usr/bin$
                    
                    
                    E 1 Reply Last reply 23 Aug 2022, 15:09 Reply Quote 0
                    • E
                      Eric Katzfey ModalAI Team @Tamas Pal 0
                      last edited by 23 Aug 2022, 15:09

                      @Tamas-Pal-0 Looks like px4 was already running. It was probably automatically started on system bootup using the systemd service. What is the output from voxl-inspect-services?

                      T 1 Reply Last reply 24 Aug 2022, 11:05 Reply Quote 0
                      • T
                        Tamas Pal 0 @Eric Katzfey
                        last edited by Tamas Pal 0 24 Aug 2022, 11:06 24 Aug 2022, 11:05

                        @Eric-Katzfey

                        voxl2:/$ voxl-inspect-services 
                         Service Name         |  Enabled  |   Running   |  CPU Usage
                        ---------------------------------------------------------------
                         docker-autorun       | Disabled  | Not Running |  
                         docker-daemon        | Disabled  | Not Running |  
                         modallink-relink     |  Enabled  | Not Running |  
                         voxl-camera-server   |  Enabled  | Not Running |  
                         voxl-cpu-monitor     |  Enabled  |   Running   |     0.0
                         voxl-dfs-server      |  Enabled  | Not Running |  
                         voxl-imu-server      |  Enabled  |   Running   |     0.0
                         voxl-mavlink-server  |  Enabled  |   Running   |     0.0
                         voxl-modem           | Disabled  | Not Running |  
                         voxl-portal          |  Enabled  |   Running   |     0.0
                         voxl-px4-imu-server  |  Enabled  |   Running   |     0.0
                         voxl-px4             |  Enabled  |   Running   |     0.0
                         voxl-qvio-server     |  Enabled  | Not Running |  
                         voxl-softap          | Disabled  | Not Running |  
                         voxl-static-ip       |  Enabled  | Not Running |  
                         voxl-streamer        |  Enabled  |   Running   |     0.0
                         voxl-tag-detector    |  Enabled  | Not Running |  
                         voxl-tflite-server   |  Enabled  |   Running   |     0.0
                         voxl-time-sync       | Disabled  | Not Running |  
                         voxl-vision-px4      |  Enabled  |   Running   |     0.0
                         voxl-wait-for-fs     |  Enabled  |  Completed  |  
                        voxl2:/$ 
                        

                        As mentioned by @Zachary-Lowell the voxl-px4-hitl file is not executable as shown in the youtube video https://www.youtube.com/watch?v=ysvpJdXFWaM&ab_channel=AscendEngineering
                        how to get the voxl-px4-hitl executable file?

                        E 1 Reply Last reply 24 Aug 2022, 15:21 Reply Quote 0
                        • E
                          Eric Katzfey ModalAI Team @Tamas Pal 0
                          last edited by 24 Aug 2022, 15:21

                          @Tamas-Pal-0 sudo chmod +x /usr/bin/voxl-px4-hitl

                          T 1 Reply Last reply 25 Aug 2022, 10:17 Reply Quote 0
                          • T
                            Tamas Pal 0 @Eric Katzfey
                            last edited by 25 Aug 2022, 10:17

                            @Eric-Katzfey The voxl-px4-hitl is still missing. I followed all the steps but the executable file voxl-px4-hitl is still not there

                            voxl2:/$ wget  http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-px4_1.4.19-202208111710_arm64.deb
                            --2022-08-25 10:05:37--  http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-px4_1.4.19-202208111710_arm64.deb
                            Resolving voxl-packages.modalai.com (voxl-packages.modalai.com)... 35.215.116.197
                            Connecting to voxl-packages.modalai.com (voxl-packages.modalai.com)|35.215.116.197|:80... connected.
                            HTTP request sent, awaiting response... 200 OK
                            Length: 5093080 (4.9M) [application/octet-stream]
                            Saving to: 'voxl-px4_1.4.19-202208111710_arm64.deb'
                            
                            voxl-px4_1.4.19-202 100%[===================>]   4.86M  1.86MB/s    in 2.6s    
                            
                            2022-08-25 10:05:41 (1.86 MB/s) - 'voxl-px4_1.4.19-202208111710_arm64.deb' saved [5093080/5093080]
                            
                            voxl2:/$ dpkg -i voxl-px4_1.4.19-202208111710_arm64.deb 
                            (Reading database ... 81777 files and directories currently installed.)
                            Preparing to unpack voxl-px4_1.4.19-202208111710_arm64.deb ...
                            Unpacking voxl-px4 (1.4.19-202208111710) over (1.4.19-202208111710) ...
                            Setting up voxl-px4 (1.4.19-202208111710) ...
                            Found DSP signature file
                            /
                            voxl2:/$ apt-get install -f
                            Reading package lists... Done
                            Building dependency tree       
                            Reading state information... Done
                            0 upgraded, 0 newly installed, 0 to remove and 1 not upgraded.
                            voxl2:/$ sudo chmod +x /usr/bin/voxl-px4-hitl
                            voxl2:/$ voxl-px4-hitl 
                            Found DSP signature file
                            Setting GPS Parameters for HITL
                            INFO  [px4] mlockall() enabled. PX4's virtual address space is locked into RAM.
                            INFO  [px4] PX4 daemon already running for instance 0 (Success)
                            INFO  [px4] mlockall() enabled. PX4's virtual address space is locked into RAM.
                            INFO  [px4] PX4 daemon already running for instance 0 (Success)
                            voxl2:/$ 
                            

                            how to fix this ?

                            E 2 Replies Last reply 25 Aug 2022, 15:40 Reply Quote 0
                            • E
                              Eric Katzfey ModalAI Team @Tamas Pal 0
                              last edited by 25 Aug 2022, 15:40

                              @Tamas-Pal-0 voxl-px4-hitl isn't missing. Your screen shot shows you executing it. But as I said in the earlier response you already have px4 running and when you execute the command it won't allow you to run a second instance of px4.

                              1 Reply Last reply Reply Quote 0
                              • E
                                Eric Katzfey ModalAI Team @Tamas Pal 0
                                last edited by 25 Aug 2022, 16:30

                                @Tamas-Pal-0 In order to prevent px4 from running automatically in the background as a daemon on system startup use systemctl disable voxl-px4 and then sync. Reboot voxl 2 and then try voxl-px4-hitl again.

                                1 Reply Last reply Reply Quote 0
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