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

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    • Tamas Pal 0T
      Tamas Pal 0
      last edited by

      @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
      • Zachary LowellZ
        Zachary Lowell ModalAI Team
        last edited by

        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
        • Tamas Pal 0T
          Tamas Pal 0
          last edited by

          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?

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

            @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.

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

              @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
              • Zachary LowellZ
                Zachary Lowell ModalAI Team
                last edited by

                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.

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

                    @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?

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

                      @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?

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

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

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

                          @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 ?

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

                            @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
                            • Eric KatzfeyE
                              Eric Katzfey ModalAI Team @Tamas Pal 0
                              last edited by

                              @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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