Unable to access px4 with qgc in voxl 2 using usb-jst cable
-
@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 -
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.
-
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? -
@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.
-
@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 -
Hi Tamas - please run a
chmod +x /usr/bin/voxl-px4-hitl
and that will enable permissions. After running that, you can runvoxl-px4-hitl
from any directory and it will work. -
@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$
-
@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
? -
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? -
@Tamas-Pal-0
sudo chmod +x /usr/bin/voxl-px4-hitl
-
@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 ?
-
@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. -
@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 thensync
. Reboot voxl 2 and then tryvoxl-px4-hitl
again.