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    HITL with voxl 2

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    • 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
                                          • Tamas Pal 0T
                                            Tamas Pal 0
                                            last edited by Tamas Pal 0

                                            The problem is solved. The problem was with ftdi cable. Thank you for your valuable inputs

                                            Eric KatzfeyE 1 Reply Last reply Reply Quote 0
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