How can I connect voxl and Cubepilot?



  • I'd like to connect voxl and CubePilot. But I can't get the uart messages.

    The environment is as follows.

    94329173-fb55-4d9a-953e-89f44455389c-image.png

    If I run voxl-vision-px4 -f , a warning message is displayed.
    (WARNING PX4 DISCONNECTED FROM UART)

    / # voxl-vision-px4 -f
    Enabling UDP recv debugging
    loading our own config file
    Created new json file: /etc/modalai/voxl-vision-px4.conf
    =================================================================
    Parameters as loaded from config file:
    qgc_ip:                     192.168.8.60
    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:                     0
    en_send_vio_to_qgc:         0
    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
    en_adsb:                    0
    adsb_uart_bus:              7
    adsb_uart_baudrate:         57600
    px4_uart_bus:               5
    px4_uart_baudrate:          921600
    offboard_mode:              figure_eight
    follow_tag_id:              0
    en_tag_fixed_frame:         0
    fixed_frame_filter_len:     5
    en_transform_mavlink_pos_setpoints_from_fixed_frame:0
    =================================================================
    loading extrinsics config file
    Created new empty json file: /etc/modalai/extrinsics.conf
    adding default extrinsics for imu1 to imu0
    adding default extrinsics for imu0 to tracking
    adding default extrinsics for imu1 to tracking
    adding default extrinsics for body to imu0
    adding default extrinsics for body to imu1
    adding default extrinsics for body to stereo_l
    adding default extrinsics for body to tof
    adding default extrinsics for body to ground
    The JSON apriltag data was modified during parsing, saving the changes to disk
    starting geometry module
    starting px4 monitor
    starting uart mavlink
    Successfully opened mavparser
    starting udp mavlink
    Adding manual QGC IP address to udp connection list: 192.168.8.60
    Added new UDP connection to 192.168.8.60
    starting px4 shell
    starting fixed pose input
    starting vio manager
    starting tag manager
    starting offboard figure eight
    Init complete, entering main loop
    WARNING PX4 DISCONNECTED FROM UART
    

    And If I run voxl-test-mavparser ,

    / # voxl-test-mavparser
    allocating RPC shared memory
    no messages available
    no messages available
    no messages available
    no messages available
    no messages available
    no messages available
    no messages available
    no messages available
    no messages available
    no messages available
    no messages available
    no messages available
    no messages available
    no messages available
    no messages available
    no messages available
    no messages available
    no messages available
    no messages available
    no messages available
    no messages available
    ^Creceived signal 2
    joining read thread
    no messages available
    exiting cleanly
    / #
    

    Please let me know what I did wrong.

    The UART message was confirmed in the telemetry port of Cubepilot.

    Version

    --------------------------------------------------------------------------------
    system-image:    ModalAI 3.3.0 BUILDER: ekatzfey BUILD_TIME: 2021-06-06_19:28
    kernel:          #1 SMP PREEMPT Sun Jun 6 19:41:01 UTC 2021 3.18.71-perf
    factory-bundle:  1.0.1 (Yocto installation)
    --------------------------------------------------------------------------------
    architecture:    aarch64
    processor:       apq8096
    os:              GNU/Linux
    --------------------------------------------------------------------------------
    voxl-suite:
    Package: voxl-suite
    Version: 0.4.6
    
    libvoxl_cutils - 0.0.2
    libvoxl_io - 0.5.4
    voxl-camera-server - 0.7.1
    voxl-cpu-monitor - 0.1.7
    voxl-dfs-server - 0.2.0
    voxl-docker-support - 1.1.3
    voxl-gphoto2 - 0.0.5
    voxl-imu-server - 0.8.1
    voxl-mavlink - 0.0.2
    voxl-modem - 0.12.0
    voxl-mpa-tools - 0.2.6
    voxl-nodes - 0.1.6
    voxl-qvio-server - 0.3.1
    voxl-streamer - 0.2.3
    voxl-suite - 0.4.6
    voxl-tag-detector - 0.0.2
    voxl-tflite - 0.0.1
    voxl-tflite-server - 0.1.0
    voxl-utils - 0.7.1
    voxl-vision-px4 - 0.9.2
    voxl-vpn - 0.0.3
    

  • Dev Team

    @Kglee ,

    What baud rate have you setup the TELEM port via PX4? By default, voxl-vision-px4 wants 921600 and MAVLINK "onboard mode" (102):

    https://gitlab.com/voxl-public/flight-core-px4/px4-parameters/-/blob/master/helpers/mavlink_serial_ports.params#L22

    Otherwise, voxl-vision-px4 might timeout as it's not getting data at the expected rate.

    Do you have an oscilloscope or no?



  • @modaltb Thanks for your answer. I solved this problem.
    But the baudrate 921600 seems hard for CubePilot. So I set both to 115200. And Uart message is ok.
    In this case, is there a problem with voxl flight? ex) VIO


  • Dev Team

    VIO requires the tracking camera to function. I see a VOXL in your picture without any cameras, are you using a different setup than the picture?



  • @modaltb No, I have not a different setup. I'm just wondering if that speed(115200) is too slow for voxl to control. Because the default setting of the voxl(core) is 921600.

    Thanks.


  • Dev Team

    Although a majority of our testing is at the higher baud, we've used lower without problems, so it should be fine.


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