Communication problem between VOXL2 and flight core while using MAVROS.

[Anubhav]

Hello ModalAi Team,

I am using flightcore as the external fcu with voxl2, where it's connected from J1 port of fcu to J3 of M0125 expansion board connected to voxl2.
With this setup we are able to get the QGC connection with udp, which means voxl-mavlink-server is sending and receiving the data, and also it flies manually, but we are getting following error while using MAVROS with any manual control.

[ WARN] [1662434325.755393630]: VER: broadcast request timeout, retries left 4
[ WARN] [1662434326.770163473]: VER: broadcast request timeout, retries left 3
[ WARN] [1662434332.762806700]: CMD: Command 520 -- wait ack timeout
[ WARN] [1662434332.763577742]: VER: unicast request timeout, retries left 2
[ INFO] [1662434333.752030710]: HP: requesting home position
[ WARN] [1662434337.781705396]: CMD: Command 520 -- wait ack timeout
[ WARN] [1662434337.782858573]: VER: unicast request timeout, retries left 1
[ WARN] [1662434337.783908729]: PR: request param #0 timeout, retries left 2, and 575 params still missing
[ WARN] [1662434338.757107062]: CMD: Command 410 -- wait ack timeout
[ERROR] [1662434338.757693833]: PR: receiving not complete
[ INFO] [1662434338.759876541]: WP: mission received
[ WARN] [1662434338.786837791]: PR: request param #0 timeout, retries left 1, and 575 params still missing
[ERROR] [1662434338.789770969]: PR: receiving not complete
[ERROR] [1662434338.808116854]: PR: receiving not complete
[ERROR] [1662434338.822837635]: PR: receiving not complete
[ERROR] [1662434338.845605291]: PR: receiving not complete
[ERROR] [1662434338.857837427]: PR: receiving not complete
[ WARN] [1662434339.758370708]: GF: timeout, retries left 2
[ WARN] [1662434339.758651385]: RP: timeout, retries left 2
[ WARN] [1662434339.787232739]: PR: request param #0 timeout, retries left 0, and 575 params still missing
[ WARN] [1662434340.758813676]: GF: timeout, retries left 1
[ WARN] [1662434340.759162999]: RP: timeout, retries left 1
[ERROR] [1662434340.787672270]: PR: request param #0 completely missing.

Below is our mavlink server config file

{
	"px4_uart_bus":	1,
	"px4_uart_baudrate":	921600,
	"udp_port_to_px4":	14556,
	"udp_port_from_px4":	14557,
	"external_fc":	true
}

In QGC SER_TEL2_BAUD is 921600.

Output of voxl-mavlink-server -r

voxl2:/$ voxl-mavlink-server -r
Enabling UDP recv debugging
loading our own config file
=================================================================
Parameters as loaded from config file:
px4_uart_bus:               1
px4_uart_baudrate:          921600
udp_port_to_px4:            14556
udp_port_from_px4:          14557
external_fc:                1
=================================================================
Successfully opened /dev/ttyHS1
starting receive thread
RECV  msg ID:  30 sysid:  1 from port: /dev/ttyHS1
RECV  msg ID:  65 sysid:  1 from port: /dev/ttyHS1
RECV  msg ID:  30 sysid:  1 from port: /dev/ttyHS1
RECV  msg ID: 331 sysid:  1 from port: /dev/ttyHS1
RECV  msg ID:  31 sysid:  1 from port: /dev/ttyHS1
RECV  msg ID:  30 sysid:  1 from port: /dev/ttyHS1
Init complete, entering main loop
WARNING: UDP local listener dropped 1 packets
RECV  msg ID: 105 sysid:  1 from port: /dev/ttyHS1
RECV  msg ID:  31 sysid:  1 from port: /dev/ttyHS1
RECV  msg ID:  65 sysid:  1 from port: /dev/ttyHS1
RECV  msg ID:  30 sysid:  1 from port: /dev/ttyHS1
RECV  msg ID:  32 sysid:  1 from port: /dev/ttyHS1

It will be helpful if you can provide us with information that may resolve the above issue.

Thanks.

[Tamas Pal 0]

This post is deleted!

[Tamas Pal 0]

@modaltb I also have this question

[modaltb]

Hi @Anubhav and @Tamas-Pal-0 ,

Do you have voxl-vision-px4 in use? That acts as a bit of a middle-man to get plumbing happy. Please see here for a video that I did on RB5 Flight that should apply. https://docs.modalai.com/setup-ros-on-voxl-2/

Please let me know if you've gone through this and it is still problematic on the communications.

[Anubhav]

Hi @modaltb,

Yes, we have a voxl-vision-px4 in use. and we have followed the video / documentation given here. Still we are facing this issue.

Thanks.

[Anubhav]

Hi @modaltb,

We were making a mistake of connecting the mavros with the UART which is being used by mavlink server, hence creating the traffic in communication. Now we are connecting mavros with VVPX4 and it's working fine.

Thanks.