# Voxl2 PID building and deployment on RB5 Source: https://forum.modalai.com/topic/3498/voxl2-pid-building-and-deployment-on-rb5 Category: VOXL SDK and Software (https://forum.modalai.com/category/47/voxl-sdk-and-software) Tags: px4-firmware, pid, voxl2, rb5 Posted: 2024-05-29 14:47:52 UTC by tahawaru Replies: 21 · Views: 7257 ## tahawaru · 2024-05-29 14:47:52 UTC Hi, We have 7 RB5s from modalai running Voxl2. From the following source code https://discuss.px4.io/t/modal-ai-rb5-drone-and-mavros/28303, we have modified the code for the PID at px4-firmware/src/lib/pid. How to build the new code, deploy and test it on the RB5? cc":@Amin Bassiri Best wishes, ## Reply by Eric Katzfey (ModalAI staff) · 2024-05-29 15:23:09 UTC @tahawaru This docker: https://gitlab.com/voxl-public/rb5-flight/rb5-flight-px4-build-docker#rb5-flight-px4-build-docker is the build environment. This is the repo that has PX4: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-px4/-/blob/master/README.md?ref_type=heads ## Reply by tahawaru · 2024-06-07 08:07:00 UTC (in reply to Eric Katzfey) @Eric-Katzfey My laptop has Ubuntu 22.04 I have the following details for the rb5: rb5:~$ lsb_release -a No LSB modules are available. Distributor ID: Ubuntu Description: Ubuntu 18.04.5 LTS Release: 18.04 Codename: bionic XXXX@ZZZZ:~$ adb shell px4-versions modalai-slpi 1.1-10 px4-support/now 1.0-6 arm64 [installed,local] voxl-px4/unknown,now 1.14.0-2.0.63 arm64 [installed,automatic] voxl-px4-imu-server/unknown,now 0.1.2 arm64 [installed,automatic] voxl-px4-params/unknown,now 0.3.3 arm64 [installed,automatic] libfc-sensor/now 1.0-4 arm64 [installed,local] 1.7.1-M0052-14.1a-perf-nightly-20231025 adb shell px4-ver all * daemon not running; starting now at tcp:5037 * daemon started successfully HW arch: MODALAI_VOXL2 PX4 git-hash: b02a6b4ae93d12fa399673bf442c45087cee0759 PX4 version: 1.14.0 0 (17694720) Vendor version: 2.0.63 0 (33570560) OS: Linux OS version: Release 4.19.125 (68386303) Build datetime: Dec 11 2023 20:06:45 Build uri: localhost Build variant: default Toolchain: GNU GCC, 7.5.0 PX4GUID: 100a41444f4d5649414c324c584f30303030 UNKNOWN MCU May I proceed with the build though it's stated at https://gitlab.com/voxl-public/rb5-flight/rb5-flight-px4-build-docker#rb5-flight-px4-build-docker "Getting started The build environment for PX4 on RB5 Flight is only supported on Ubuntu 20.04 LTS (Focal Fossa)." Best wishes, ## Reply by tahawaru · 2024-06-07 09:06:03 UTC (in reply to Eric Katzfey) @Eric-Katzfey Here are the steps I followed to o download QualcommPackageManager.2.0.21.1.Linux-x86.deb: 1)https://developer.qualcomm.com/download/software 2) click on Hexagon SDK (https://developer.qualcomm.com/software/hexagon-dsp-sdk/tools) 3)Download Qualcomm Package Manager - Linux v2.0 ## Reply by tahawaru · 2024-06-07 13:07:32 UTC (in reply to Eric Katzfey) @Eric-Katzfey ![ef7a9fd9-6cda-4ff0-8193-3364a8269370-image.png](https://forum.modalai.com/assets/uploads/files/1717765637828-ef7a9fd9-6cda-4ff0-8193-3364a8269370-image.png) ## Reply by Eric Katzfey (ModalAI staff) · 2024-06-07 16:12:56 UTC (in reply to tahawaru) @tahawaru We have only tested with Ubuntu 20.04. Should work on Ubuntu 22.04 but we don't know for sure. ## Reply by Eric Katzfey (ModalAI staff) · 2024-06-07 16:14:03 UTC (in reply to tahawaru) @tahawaru The instructions say Hexagon SDK 4.x. Your picture shows Hexagon SDK 6.x highlighted. That is not correct. Please follow the instructions exactly. ## Reply by tahawaru · 2024-06-10 14:31:48 UTC (in reply to Eric Katzfey) @Eric-Katzfey I cannot find Hexagon SDK 4.x.. Where's it? Best wishes, ## Reply by Eric Katzfey (ModalAI staff) · 2024-06-10 15:45:40 UTC (in reply to tahawaru) @tahawaru Scroll down on the menu ## Reply by tahawaru · 2024-06-11 16:14:59 UTC (in reply to Eric Katzfey) @Eric-Katzfey Thank you. Now I'm here ![37a64fb5-703f-4415-9f20-e7767a2643bb-image.png](https://forum.modalai.com/assets/uploads/files/1718122455498-37a64fb5-703f-4415-9f20-e7767a2643bb-image.png) ## Reply by tahawaru · 2024-06-11 16:24:46 UTC (in reply to Eric Katzfey) @Eric-Katzfey After installing libssl1.1 ![53a48c9a-c0c8-48d6-afe7-957eacca0dce-image.png](https://forum.modalai.com/assets/uploads/files/1718123062982-53a48c9a-c0c8-48d6-afe7-957eacca0dce-image.png) ## Reply by Eric Katzfey (ModalAI staff) · 2024-06-11 18:55:25 UTC (in reply to tahawaru) @tahawaru I'm afraid I cannot help much with the Qualcomm Package Manager. It is really difficult to deal with. Sometimes it appears to be dead and I have to just let it sit for a long time before it finally responds. It is very frustrating to use it but there really isn't much that we can do about it. The good news is that once you finally get it to download the SDK you don't have to deal with it anymore. Sometimes is appears like it didn't do anything but did actually download what you need. ## Reply by Eric Katzfey (ModalAI staff) · 2024-06-11 18:57:23 UTC (in reply to tahawaru) @tahawaru Take a look in /local/mnt/workspace. It may have placed the SDK there. ## Reply by tahawaru · 2024-06-12 15:24:01 UTC (in reply to Eric Katzfey) @Eric-Katzfey Thank you. I got a few errors during the build(-- Detecting C compiler ABI info - failed ) But it got to *** End of qurt slpi build *** /usr/local/workspace User ID is 1000 Group ID is 1000 *** End of build *** and root@27a3c2a4a155:/usr/local/workspace# ./make_package.sh Package Name: voxl-px4 version Number: 1.14.0-2.0.77 starting building Debian Package dpkg-deb: building package 'voxl-px4' in 'voxl-px4_1.14.0-2.0.77_arm64.deb'. DONE root@27a3c2a4a155:/usr/local/workspace# I haven't tested the new build yet. Hopefully will be fine. ## Reply by tahawaru · 2024-06-27 12:21:56 UTC (in reply to Eric Katzfey) @Eric-Katzfey We have deployed the newly build px4 into a Rb5 with the following configuration: system-image: 1.7.1-M0052-14.1a-perf-nightly-20231025 kernel: #1 SMP PREEMPT Thu Oct 26 05:24:02 UTC 2023 4.19.125 -------------------------------------------------------------------------------- hw version: M0052 -------------------------------------------------------------------------------- voxl-suite: 1.1.2 Problem: we have started the service voxl-px4 with the systemctl command but it stops running after a while. Questions: Why? Do we need some additional things to do for the new build to work? Best wishes, ## Reply by Eric Katzfey (ModalAI staff) · 2024-06-27 14:14:43 UTC (in reply to tahawaru) @tahawaru You need to start with a version of voxl-px4 that is compatible with the version of SDK you are using. So, if you are using SDK 1.1.2 then you will need to start with voxl-px4 1.14.0-2.0.63 and add your changes on top of that. ## Reply by tahawaru · 2024-06-28 07:51:26 UTC (in reply to Eric Katzfey) @Eric-Katzfey Where can we find such old version? Our current voxl-px4 build output is voxl-px4_1.14.0-2.0.77_arm64.deb Best wishes, ## Reply by Eric Katzfey (ModalAI staff) · 2024-06-28 15:08:03 UTC (in reply to tahawaru) @tahawaru https://gitlab.com/voxl-public/voxl-sdk/services/voxl-px4/-/tags/v1.14.0-2.0.63 ## Reply by tahawaru · 2024-07-01 15:00:01 UTC (in reply to Eric Katzfey) @Eric-Katzfey We have built the voxl-px4 using the link for voxl-px4 1.14.0-2.0.63 and the instructions. At the end, we still have voxl-px4_1.14.0-2.0.77_arm64.deb, not voxl-px4_1.14.0-2.0.63_arm64.deb. What should we do differently? Best wishes, ## Reply by Eric Katzfey (ModalAI staff) · 2024-07-02 18:37:55 UTC (in reply to tahawaru) @tahawaru Somewhere along the line you didn't get the correct source code from git. What does `git log` say for the voxl-px4 repo? If you go into the `px4-firmware` subdirectory (submodule), what does it show you for `git log`? These basic git commands will help you determine what you have fetched and are actually building. ## Reply by tahawaru · 2024-07-30 09:49:19 UTC (in reply to Eric Katzfey) @Eric-Katzfey this is the git log output: commit 96b951b7cf91cda315536037677ca0f7a7ef93b5 (HEAD -> dev, origin/dev) Author: Eric Katzfey Date: Wed Jul 10 17:40:54 2024 -0700 Updated to 1.14.0-2.0.78 firmware commit a99bf3ac158e5dff767cdbfe40ee62f1937cf49c (tag: v1.14.0-2.0.77, tag: sdk-1.3.1, origin/master, origin/gpio-ctl, origin/HEAD, master) Author: Eric Katzfey Date: Wed Jun 5 16:52:13 2024 -0700 Updated to 1.14.0-2.0.77 firmware commit 41432f2cbf334c7cd8dcb096e6b0d53649aa229d Author: Eric Katzfey Date: Thu May 30 11:04:03 2024 -0700 Updated to 1.14.0-2.0.76 firmware commit bf8fd8c2a8187ba96572b6c5e87b2ca437ae7c90 Author: Eric Katzfey Date: Tue May 28 19:55:03 2024 -0700 Updated to 1.14.0-2.0.75 firmware commit 05633367a60e27be224228979687b82e4d70ee6d Author: Eric Katzfey Date: Thu May 23 10:38:06 2024 -0700 - Updated to 1.14.0-2.0.74 firmware - Added new ARTIFACT_MODE configuration item commit a8a74cf7524f84997353c1740701d1ebd198ff4c (tag: v1.14.0-2.0.73, tag: sdk-1.3.0) Author: Eric Katzfey Date: Mon May 6 17:24:05 2024 -0700 Updated to 1.14.0-2.0.73 firmware commit 18390fc1809199050d7f1075f753676718807ea8 Author: Eric Katzfey Date: Fri May 3 10:09:15 2024 -0700 Removed package command related to voxl-px4-set-default-parameters.config commit 2a76d2027f981405e736bfef1a26a82589638f44 Author: Eric Katzfey Date: Fri May 3 09:58:02 2024 -0700 Updated package dependency list and release documentation commit e35422dd8ee04da5adf710dd37aab4d24fe9125e Author: Eric Katzfey Date: Fri May 3 09:50:32 2024 -0700 Updated to 1.14.0-2.0.72 firmware commit ed9451173b2a4de183ab1e1c8308780e05c056dc Author: Eric Katzfey Date: Tue Apr 16 12:52:21 2024 -0700 Updated to 1.14.0-2.0.70 firmware commit 478a3c0a2726abb57187c3039d4576294edd42f4 Author: Eric Katzfey Date: Tue Feb 6 12:55:10 2024 -0800 Updated to 1.14.0-2.0.69 firmware commit 486f57c0cc6fd3026eb3cabe7fbfeb4214caefaa (tag: v1.14.0-2.0.68, tag: sdk-1.2.0) Author: Eric Katzfey Date: Thu Jan 18 16:13:44 2024 -0800 Updated to 1.14.0-2.0.68 firmware commit f690d9c7389fb3d002efd68443707988171d8ac7 Author: Eric Katzfey Date: Thu Jan 18 14:52:53 2024 -0800 Updated to 1.14.0-2.0.67 firmware commit 6df44c7fc276ff1f03e21dcace4f3f634ff1f1e3 Author: Eric Katzfey Date: Mon Jan 15 09:54:48 2024 -0800 Updated to 1.14.0-2.0.66 firmware commit 4233c76f61db535aefe264f418558cecc0e0f24c Author: Eric Katzfey Date: Mon Jan 8 10:36:48 2024 -0800 Updated to 1.14.0-2.0.65 firmware commit 7c7b648018c33647476308d406ef2e5acaa858f3 Author: Eric Katzfey Date: Tue Dec 19 11:17:57 2023 -0800 Fixes to 1.14.0-2.0.64 firmware commit a6d8319122470c89c942fbc0c6ffba492d3441f9 Author: Eric Katzfey Date: Tue Dec 19 09:44:33 2023 -0800 Updated to 1.14.0-2.0.64 firmware : ## Reply by Eric Katzfey (ModalAI staff) · 2024-07-30 15:05:06 UTC (in reply to tahawaru) @tahawaru Okay, that shows you have 1.14.0-2.0.78. If you want to build 1.14.0-2.0.63 then you need to check that version out instead.