# VOXL-CAM is not connecting to QGC through UDP Source: https://forum.modalai.com/topic/1235/voxl-cam-is-not-connecting-to-qgc-through-udp Category: Flight Core and Legacy VOXL (https://forum.modalai.com/category/9/flight-core-and-legacy-voxl) Tags: voxl-cam Posted: 2022-08-24 09:48:33 UTC by Anubhav Replies: 9 · Views: 1782 ## Anubhav · 2022-08-24 09:48:33 UTC Hi, I am trying to connect my voxl-cam to QGC through UDP but it's not getting connected, but getting connected through usb-jst connector after enabling pixhwak device in QGC. I have also ensured to restart voxl-vision-px4 and mavlink-server in voxl after starting QGC, and also made sure IP of host computer is same in voxl-vision-px4.conf. 1.voxl-cam IP: ``` voxl:~$ ifconfig lo Link encap:Local Loopback inet addr:127.0.0.1 Mask:255.0.0.0 inet6 addr: ::1/128 Scope:Host UP LOOPBACK RUNNING MTU:65536 Metric:1 RX packets:56 errors:0 dropped:0 overruns:0 frame:0 TX packets:56 errors:0 dropped:0 overruns:0 carrier:0 collisions:0 txqueuelen:0 RX bytes:4568 (4.4 KiB) TX bytes:4568 (4.4 KiB) wlan0 Link encap:Ethernet HWaddr 18:47:3D:B1:C3:97 inet addr:192.168.1.25 Bcast:192.168.1.255 Mask:255.255.255.0 inet6 addr: fe80::1a47:3dff:feb1:c397/64 Scope:Link UP BROADCAST RUNNING MULTICAST MTU:1500 Metric:1 RX packets:5658 errors:0 dropped:0 overruns:0 frame:0 TX packets:1903 errors:0 dropped:0 overruns:0 carrier:0 collisions:0 txqueuelen:3000 RX bytes:417901 (408.1 KiB) TX bytes:305791 (298.6 KiB) ``` 2. Host Computer IP: ``` anubhav@anubhav-GF63-Thin-9SC:~$ ifconfig docker0: flags=4099 mtu 1500 inet 172.17.0.1 netmask 255.255.0.0 broadcast 172.17.255.255 ether 02:42:96:95:a4:c4 txqueuelen 0 (Ethernet) RX packets 0 bytes 0 (0.0 B) RX errors 0 dropped 0 overruns 0 frame 0 TX packets 0 bytes 0 (0.0 B) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0 enp3s0: flags=4099 mtu 1500 ether 00:d8:61:e2:a7:ea txqueuelen 1000 (Ethernet) RX packets 0 bytes 0 (0.0 B) RX errors 0 dropped 0 overruns 0 frame 0 TX packets 0 bytes 0 (0.0 B) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0 lo: flags=73 mtu 65536 inet 127.0.0.1 netmask 255.0.0.0 inet6 ::1 prefixlen 128 scopeid 0x10 loop txqueuelen 1000 (Local Loopback) RX packets 25312 bytes 2340106 (2.3 MB) RX errors 0 dropped 0 overruns 0 frame 0 TX packets 25312 bytes 2340106 (2.3 MB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0 wlo1: flags=4163 mtu 1500 inet 192.168.1.27 netmask 255.255.255.0 broadcast 192.168.1.255 inet6 fe80::2402:5fde:9588:ae6c prefixlen 64 scopeid 0x20 ether 0c:7a:15:e2:60:44 txqueuelen 1000 (Ethernet) RX packets 245416 bytes 129734829 (129.7 MB) RX errors 0 dropped 5 overruns 0 frame 0 TX packets 181430 bytes 36023858 (36.0 MB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0 ``` 3. IP of QGC mentioned in voxl-vision-px4.conf ``` voxl:~$ cat /etc/modalai/voxl-vision-px4.conf /** * VOXL Vision PX4 Configuration File * */ { "qgc_ip": "192.168.1.27", "en_localhost_mavlink_udp": true, "en_secondary_qgc": false, "secondary_qgc_ip": "192.168.1.214", "qgc_udp_port_number": 14550, "localhost_udp_port_number": 14551, "udp_mtu": 512, "en_vio": true, "en_voa": true, "en_send_vio_to_qgc": false, "en_send_voa_to_qgc": false, "en_set_clock_from_gps": true, "en_force_onboard_mav1_mode": true, "en_reset_px4_on_error": true, "qvio_auto_reset_quality": 0.00050000002374872565, "horizon_cal_tolerance": 0.300000011920929, "voa_upper_bound_m": -0.15000000596046448, "voa_lower_bound_m": 0.15000000596046448, "offboard_mode": "figure_eight", "follow_tag_id": 0, "figure_eight_move_home": true, "en_tag_fixed_frame": false, "fixed_frame_filter_len": 5, "en_transform_mavlink_pos_setpoints_from_fixed_frame": false } ``` Can tell me how can I solve this problem? ## Reply by Anubhav · 2022-08-25 06:09:33 UTC @Matthew-Booker Hi, we have followed the tutorial 'https://docs.modalai.com/voxl-vision-px4-telemetry/' and in the you tube link attached 'https://youtu.be/gaV4ubIYFzs' we noticed the message 'Added new UDP connection to IP'. when we executed the command 'voxl-vision-px4 --debug_udp_recv' we didn't get the above message. ``` voxl:~$ voxl-vision-px4 --debug_udp_recv Enabling UDP recv debugging loading our own config file ================================================================= Parameters as loaded from config file: qgc_ip: 192.168.1.27 en_localhost_mavlink_udp 1 en_secondary_qgc: 0 secondary_qgc_ip: 192.168.1.214 qgc_udp_port_number: 14550 localhost_udp_port_number: 14551 udp_mtu: 512 en_vio: 1 en_voa: 1 en_send_vio_to_qgc: 1 en_send_voa_to_qgc: 0 en_set_clock_from_gps: 1 en_force_onboard_mav1_mode: 1 en_reset_px4_on_error: 1 qvio_auto_reset_quality: 0.000500 horizon_cal_tolerance: 0.300000 voa_upper_bound_m: -0.150000 voa_lower_bound_m: 0.150000 offboard_mode: figure_eight follow_tag_id: 0 figure_eight_move_home: 1 en_tag_fixed_frame: 0 fixed_frame_filter_len: 5 en_transform_mavlink_pos_setpoints_from_fixed_frame:0 ================================================================= loading extrinsics config file exising instance of voxl-vision-px4 found, attempting to stop it starting geometry module starting px4 monitor starting px4 mavlink starting udp mavlink Adding manual QGC IP address to udp connection list: 192.168.1.27 Added new UDP connection to 192.168.1.27 starting px4 shell starting fixed pose input starting vio manager starting tag manager starting voa manager starting offboard figure eight starting control input pipe Init complete, entering main loop Connected to voxl-mavlink-server Connected to voxl-dfs-server Connected to voxl-qvio-server updating to use imu: imu1 done updating transforms to use imu: imu1 Connected to TOF UDP recv msg ID: 0 sysid:255 from port: 14550 IP: 192.168.1.27 UDP recv msg ID: 0 sysid:255 from port: 14550 IP: 192.168.1.27 UDP recv msg ID: 0 sysid:255 from port: 14550 IP: 192.168.1.27 UDP recv msg ID: 0 sysid:255 from port: 14550 IP: 192.168.1.27 UDP recv msg ID: 0 sysid:255 from port: 14550 IP: 192.168.1.27 ``` But we were able to ping the Ip's of both voxl-cam and host pc. How do we rectify it? ## Reply by Anubhav · 2022-08-25 09:52:33 UTC @tom I have already followed the thread given [here](https://forum.modalai.com/topic/186/voxl-not-connecting-to-qgc/3?_=1661439207245) Here is my output of the command ```systemctl status -l voxl-vision-px4``` ``` voxl:~$ systemctl status -l voxl-vision-px4 ● voxl-vision-px4.service - voxl-vision-px4 Loaded: loaded (/usr/bin/voxl-vision-px4; enabled; vendor preset: enabled) Active: active (running) since Thu 1970-01-01 00:00:07 UTC; 1min 29s ago Main PID: 2029 (voxl-vision-px4) CGroup: /system.slice/voxl-vision-px4.service └─2029 /usr/bin/voxl-vision-px4 Jan 01 00:00:09 apq8096 voxl-vision-px4[2029]: Connected to voxl-qvio-server Jan 01 00:00:09 apq8096 voxl-vision-px4[2029]: updating to use imu: imu1 Jan 01 00:00:09 apq8096 voxl-vision-px4[2029]: done updating transforms to use imu: imu1 Jan 01 00:00:09 apq8096 voxl-vision-px4[2029]: Connected to voxl-dfs-server Jan 01 00:00:09 apq8096 voxl-vision-px4[2029]: Connected to voxl-mavlink-server Jan 01 00:00:10 apq8096 voxl-vision-px4[2029]: VIO reported failure Jan 01 00:01:10 apq8096 voxl-vision-px4[2029]: Disconnected from voxl-qvio-server Jan 01 00:01:11 apq8096 voxl-vision-px4[2029]: Connected to voxl-qvio-server Jan 01 00:01:11 apq8096 voxl-vision-px4[2029]: updating to use imu: imu1 Jan 01 00:01:11 apq8096 voxl-vision-px4[2029]: done updating transforms to use imu: imu1 ``` And I have already disabled my system firewall. ``` anubhav@anubhav-GF63-Thin-9SC:~$ sudo ufw status [sudo] password for anubhav: Status: inactive ``` and also tried flashing firmware again. Still it's not getting connected to QGC. QGC output in terminal ``` anubhav@anubhav-GF63-Thin-9SC:~/Downloads$ ./QGroundControl.AppImage Settings location "/home/anubhav/.config/QGroundControl.org/QGroundControl.ini" Is writable?: true Filter rules "*Log.debug=false\nGStreamerAPILog.debug=true\nqt.qml.connections=false" System reported locale: QLocale(English, Latin, India) ; Name "en_IN" ; Preffered (used in maps): "en-IN" LocalizationLog: Qt lib localization for "en_IN" is not present LocalizationLog: Error loading source localization for "en_IN" LocalizationLog: Error loading json localization for "en_IN" serialnmea: No known GPS device found. Specify the COM port via QT_NMEA_SERIAL_PORT. VideoReceiverLog: Stop called on empty URI VideoReceiverLog: Stop called on empty URI MAVLinkLogManagerLog: MAVLink logs directory: "/home/anubhav/Documents/QGroundControl/Logs" Map Cache in: "/home/anubhav/.cache/QGCMapCache300" / "qgcMapCache.db" qml: QGCCorePlugin(0x5644b7af97a0) [] setCurrentPlanViewSeqNum setCurrentPlanViewSeqNum _recalcFlightPathSegments homePositionValid false _recalcFlightPathSegments homePositionValid false Adding target QHostAddress("192.168.1.26") 14550 "v4.2.0" ``` ## Reply by Anubhav · 2022-08-29 03:26:20 UTC Anyone knows how to rectify above problem, please help. Thank you. ## Reply by modaltb (ModalAI staff) · 2022-08-30 15:52:36 UTC @Anubhav , What about checking `voxl-inspect-services` and check for the `voxl-mavlink-server` ? https://gitlab.com/voxl-public/voxl-sdk/services/voxl-mavlink-server There's a `voxl-configure-mavlink-server` that can be used if not running. ## Reply by Anubhav · 2022-08-30 18:25:27 UTC Hi @modaltb, I had checked for voxl-mavlink-server in voxl-inspect-services, it was enabled and running. also configured both voxl-mavlink-server and voxl-vision-px4 but it didn't got connected to QGC through UDP. ## Reply by Anubhav · 2022-08-31 13:49:43 UTC Hi @modaltb, As mentioned [here](https://gitlab.com/voxl-public/voxl-sdk/services/voxl-mavlink-server) I have deployed the voxl-mavlink-server in voxl-cam, I used following command in voxl-cross ```./install_build_deps.sh apq8096 staging``` ```./build.sh apq8096``` ```./make_package.sh ipk``` and at last successfully deployed it to voxl-cam . I have run "voxl-mavlink-server" command and it's showing **"PX4 is disconnected from UART"** . output is attached below. ``` voxl:~$ voxl-mavlink-server loading our own config file ================================================================= Parameters as loaded from config file: px4_uart_bus: 5 px4_uart_baudrate: 921600 udp_port_to_px4: 14556 udp_port_from_px4: 14557 ================================================================= exising instance of voxl-mavlink-server found, attempting to stop it Successfully opened mavparser Init complete, entering main loop PX4 DISCONNECTED FROM UART ``` **Is because of this issue voxl-cam is not connecting to QGC over UDP?** This is the first time I run ```voxl-mavlink-server``` command previous to this I was using ``` systemctl start voxl-mavlink-server``` and in ```voxl-inspect-services``` it used to show voxl-mavlink-server is runnig. and I didn't get message PX4 DISCONNECTED FROM UART when I run ``` voxl-vision-px4 --debug_udp_recv```. Below I have attached output of ```voxl-vision-px4 --debug_udp_recv``` ``` voxl:~$ voxl-vision-px4 --debug_udp_recv Enabling UDP recv debugging detected platform APQ8096 loading our own config file ================================================================= Parameters as loaded from config file: config file version: 1 qgc_ip: 192.168.1.27 en_secondary_qgc: 0 secondary_qgc_ip: 192.168.1.214 qgc_udp_port_number: 14550 udp_mtu: 512 en_localhost_mavlink_udp 1 localhost_udp_port_number: 14551 en_vio: 1 en_voa: 1 en_send_vio_to_qgc: 0 en_send_voa_to_qgc: 0 voa_upper_bound_m: -0.150000 voa_lower_bound_m: 0.150000 en_set_clock_from_gps: 1 en_force_onboard_mav1_mode: 1 en_reset_px4_on_error: 1 qvio_auto_reset_quality: 0.000500 horizon_cal_tolerance: 0.300000 offboard_mode: figure_eight follow_tag_id: 0 figure_eight_move_home: 1 en_tag_fixed_frame: 0 fixed_frame_filter_len: 5 en_transform_mavlink_pos_setpoints_from_fixed_frame:0 ================================================================= loading extrinsics config file starting geometry module starting px4 monitor starting px4 mavlink Connected to voxl-mavlink-server starting udp mavlink Adding manual QGC IP address to udp connection list: 192.168.1.27 Added new UDP connection to 192.168.1.27 starting px4 shell starting fixed pose input starting vio manager Connected to voxl-qvio-server updating to use imu: imu1 done updating transforms to use imu: imu1 starting tag manager starting voa manager ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 starting offboard figure eight starting control input pipe Init complete, entering main loop Connected to TOF ``` Thanks! ## Reply by modaltb (ModalAI staff) · 2022-08-31 15:16:47 UTC @Anubhav , When you connect the JST to USB cable, and get a connection from QGC to the Flight Core (eg "getting connected through usb-jst connector after enabling pixhwak device in QGC"). Can you go to Analyze Tools > MAVLink Console and run `mavlink status`. For example, I have a VOXL2 here in this screen shot, and it's connected to a Flight Core, but it's not working yet, as in this case the Flight Core is transmitting data but not receiving data. I also see that "MAVLink version: 1" is there which to me normally indicates no bi-directional comms has occurred yet. ``` instance #1: mavlink chan: #1 type: GENERIC LINK OR RADIO flow control: ON rates: tx: 221.9 B/s txerr: 0.0 B/s tx rate mult: 0.682 tx rate max: 1200 B/s rx: 0.0 B/s rx loss: 0.0% FTP enabled: YES, TX enabled: YES mode: Normal MAVLink version: 1 transport protocol: serial (/dev/ttyS6 @57600) ``` You can also see the serial port used in "transport protocol" `serial (/dev/ttyS6 @57600)` this shows that this MAVLink instance is setup for /dev/ttyS6 --> UART7 --> Flight Core J5 [here](https://docs.modalai.com/flight-core-datasheets-connectors/#j5---telemetry-connector) on my setup. For me, I enable voxl-mavlink-server on the VOXL side, then I get action, as seen here: ``` instance #1: mavlink chan: #1 type: GENERIC LINK OR RADIO flow control: ON rates: tx: 20.9 B/s txerr: 0.0 B/s tx rate mult: 0.682 tx rate max: 1200 B/s rx: 20.9 B/s rx loss: 0.0% received from sysid: 0 compid: 197: 14, lost: 0, last 292 ms ago FTP enabled: YES, TX enabled: YES mode: Normal MAVLink version: 2 transport protocol: serial (/dev/ttyS6 @57600) ``` OK, back to VOXL-CAM and your issue (above was shown to you as to how I troubleshoot these connection issues). **For VOXL-CAM**, the Flight Core connects to the VOXL using [Flight Core J1](https://docs.modalai.com/flight-core-datasheets-connectors/#j1---voxl-communications-interface-connector) which is UART5 / `/dev/ttyS4` This is TELEM2 by default, and should have the following: - MAV_1_CONFIG 102 - MAV_1_MODE 2 - SER_TEL2_BAUD 921600 So you should be able to find a mavlink instance after running `mavlink status` and hopefully you see a node with: ``` transport protocol: serial (/dev/ttyS4 @921600) ``` ## Reply by Anubhav · 2022-09-01 07:17:06 UTC Hi @modaltb, I have connected voxl-cam to QGC by enabling pixhawk device in QGC. And run mavlink status command in mavlink console. I have attached the output below, it's after enabling and starting ```voxl-mavlink-server```. ``` nsh> mavlink status instance #0: GCS heartbeat: 137312 us ago mavlink chan: #0 type: USB CDC flow control: OFF rates: tx: 21.913 kB/s txerr: 0.000 kB/s tx rate mult: 1.000 tx rate max: 800000 B/s rx: 0.046 kB/s FTP enabled: YES, TX enabled: YES mode: Config MAVLink version: 2 transport protocol: serial (/dev/ttyACM0 @2000000) ping statistics: last: 0.39 ms mean: 0.34 ms max: 840.70 ms min: 0.17 ms dropped packets: 0 instance #1: mavlink chan: #1 type: GENERIC LINK OR RADIO flow control: OFF rates: tx: 0.911 kB/s txerr: 0.000 kB/s tx rate mult: 1.000 tx rate max: 1200 B/s rx: 0.000 kB/s FTP enabled: YES, TX enabled: YES mode: Normal MAVLink version: 1 transport protocol: serial (/dev/ttyS6 @57600) instance #2: mavlink chan: #2 type: GENERIC LINK OR RADIO flow control: ON rates: tx: 12.740 kB/s txerr: 0.000 kB/s tx rate mult: 1.000 tx rate max: 46080 B/s rx: 0.000 kB/s FTP enabled: YES, TX enabled: YES mode: Onboard MAVLink version: 1 transport protocol: serial (/dev/ttyS4 @921600) ``` * For instance #2 I am able to see node with ```transport protocol: serial (/dev/ttyS4 @921600)```. * In instance #2 it's showing MAVLink version: 1. Why in this case there is uni-directional communication? Note: above output is after enabling and starting both ``` voxl-mavlink-server ```and ```voxl-vision-px4```. * But in instance #0 it's showing MAVLink version: 2. So there is a bi-directional communication when connected to USB-JST connector. Is it right? I have also tried mavlink status command after enabling both pixhawk and udp devices but the output was same as above. Thanks! ## Reply by modaltb (ModalAI staff) · 2022-09-01 15:46:31 UTC This `rx: 0.000 kB/s` instance 2 tells me it's not getting any data from VOXL.... This is the connection that provides that link: ![c24bf1be-8000-458a-9380-a633cdb51ab3-image.png](https://forum.modalai.com/assets/uploads/files/1662047065492-c24bf1be-8000-458a-9380-a633cdb51ab3-image.png) Can you confirm that this connection is in place? You have ``` px4_uart_bus: 5 px4_uart_baudrate: 921600 ``` For voxl-mavlink-server which is correct. 5 = BLSP5 = J12 on VOXL1. It's configured for 921600. Your Flight Core is configured correctly too. So the last thing I would think to do is to probe with an oscilliscope if possible on that connector I pointed out and see if you have bi-directional data.