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    VOXL 2 J18 port for External FC

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    • Jetson NanoJ
      Jetson Nano
      last edited by

      Hey @Vinny @Eric-Katzfey ,
      guys I am trying to use the J18 port on voxl 2 for connecting the external FC ( flight core v2).
      While I try to run it , the voxl-mavlink-server is throwing error.

      I assigned the autopilto_uart_bus to 12 as mentioned in the documentation.

      voxl2:/$ voxl-mavlink-server 
loading our own config file
=================================================================
Parameters as loaded from config file:
primary_static_gcs_ip:        192.168.168.2
secondary_static_gcs_ip:      192.168.8.11
onboard_port_to_autopilot:    14556
onboard_port_from_autopilot:  14557
gcs_port_to_autopilot:        14558
gcs_port_from_autopilot:      14559
en_external_uart_ap:          1
autopilot_uart_bus:           12
autopilot_uart_baudrate:      921600
autopilot_mission_delay_start:      -1
autopilot_mission_delay_sound:      0
autopilot_mission_notif_dur:      0.10
udp_mtu:                      500
gcs_timeout_s                 4.50
en_external_ap_timesync:      1
en_external_ap_heartbeat:     1
=================================================================
Sending library name request: libslpi_qrb5165_io.so
Sending initialization request
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Couldn't configure flight_controller sensor
ERROR:   fc_sensor_initialize failed
ERROR:   Failed to initialize slpi
ERROR:   Encountered error while initializing bus 12
ERROR: Unable to configure bus 12 (baudrate 921600) with voxl_io
Stopping autopilot io module
Stopping gcs io module
Stopping pipe io module
closing remaining client pipes
closing remaining server pipes
Removing PID file
exiting
      1 Reply Last reply Reply Quote 0
      • Jetson NanoJ
        Jetson Nano
        last edited by

        the error mentioned above was caused by the voxl-px4 server, once I disabled it was solved.
        Still I was not able to see the data from the external FC

        voxl2:/$ voxl-mavlink-server 
loading our own config file
=================================================================
Parameters as loaded from config file:
primary_static_gcs_ip:        192.168.168.2
secondary_static_gcs_ip:      192.168.8.11
onboard_port_to_autopilot:    14556
onboard_port_from_autopilot:  14557
gcs_port_to_autopilot:        14558
gcs_port_from_autopilot:      14559
en_external_uart_ap:          1
autopilot_uart_bus:           12
autopilot_uart_baudrate:      921600
autopilot_mission_delay_start:      -1
autopilot_mission_delay_sound:      0
autopilot_mission_notif_dur:      0.10
udp_mtu:                      500
gcs_timeout_s                 4.50
en_external_ap_timesync:      1
en_external_ap_heartbeat:     1
=================================================================
Sending library name request: libslpi_qrb5165_io.so
Sending initialization request
Successfully opened bus 12 at baudrate 921600
starting qrb5165 external AP receive thread
Adding primary GCS IP address from conf file to list: 192.168.168.2
Added new UDP connection to 192.168.168.2
Adding secondary manual gcs IP address to udp connection list: 192.168.8.11
Added new UDP connection to 192.168.8.11
Init complete, entering main loop
        Jetson NanoJ 1 Reply Last reply Reply Quote 0
        • Jetson NanoJ
          Jetson Nano @Jetson Nano
          last edited by Jetson Nano

          @Jetson-Nano
          now it is getting data from fc , it was a issue with baudrate, the J18 port can not handle 3000000 baudrate.
          still i am facing an issue, where the QGC is not getting connected, the qgc is loading,then getting disconnected, again regaining connection this is going in a loop.
          I tried increasing the udp_mtu still no change, same behaviour.

          The error is mentioned below.

          Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message

          MAVLINK-server

           "primary_static_gcs_ip":        "192.168.168.100",
        "secondary_static_gcs_ip":      "192.169.168.2",
        "onboard_port_to_autopilot":    14556,
        "onboard_port_from_autopilot":  14557,
        "gcs_port_to_autopilot":        14558,
        "gcs_port_from_autopilot":      14559,
        "en_external_uart_ap":  true,
        "autopilot_uart_bus":   12,
        "autopilot_uart_baudrate":      921600,
        "autopilot_mission_delay_start":        -1,
        "autopilot_mission_delay_sound":        false,
        "autopilot_mission_notif_dur":  0.1,
        "en_external_ap_timesync":      1,
        "en_external_ap_heartbeat":     10,
        "udp_mtu":      800,
        "gcs_timeout_s":        1
}

          after this issue, the mavlink server is shuting down and showing the below error

          Couldn't locate SUID for flight_controller
Failed to detect flight controller sensor
ERROR:   fc_sensor_initialize failed
ERROR:   Failed to initialize slpi
ERROR:   Encountered error while initializing bus 12
ERROR: Unable to configure bus 12 (baudrate 921600) with voxl_io
Stopping autopilot io module
Stopping gcs io module
Stopping pipe io module
closing remaining client pipes
closing remaining server pipes
Removing PID file
exiting

          rebooting and running again gives

          voxl2:~$ voxl-mavlink-server 
loading our own config file
=================================================================
Parameters as loaded from config file:
primary_static_gcs_ip:        192.168.168.200
secondary_static_gcs_ip:      192.169.168.1
onboard_port_to_autopilot:    14556
onboard_port_from_autopilot:  14557
gcs_port_to_autopilot:        14558
gcs_port_from_autopilot:      14559
en_external_uart_ap:          1
autopilot_uart_bus:           12
autopilot_uart_baudrate:      921600
autopilot_mission_delay_start:      -1
autopilot_mission_delay_sound:      0
autopilot_mission_notif_dur:      0.10
udp_mtu:                      800
gcs_timeout_s                 1.00
en_external_ap_timesync:      1
en_external_ap_heartbeat:     1
=================================================================
existing instance of voxl-mavlink-server found, attempting to stop it
Sending library name request: libslpi_qrb5165_io.so
Sending initialization request
Successfully opened bus 12 at baudrate 921600
starting qrb5165 external AP receive thread
Adding primary GCS IP address from conf file to list: 192.168.168.200
Added new UDP connection to 192.168.168.200
Adding secondary manual gcs IP address to udp connection list: 192.169.168.1
Added new UDP connection to 192.169.168.1
Init complete, entering main loop
CONNECTED to GCS at 192.168.168.200
Detected Autopilot Mavlink SYSID 188
WARNING: UART parser dropped 1 packets from external AP at i=346
WARNING: UART parser dropped 1 packets from external AP at i=359
WARNING: UART parser dropped 1 packets from external AP at i=437
Detected Autopilot Mavlink SYSID 1
WARNING: UART parser dropped 1 packets from external AP at i=527
WARNING: UART parser dropped 1 packets from external AP at i=543
WARNING: UART parser dropped 1 packets from external AP at i=738
WARNING: UART parser dropped 1 packets from external AP at i=6
WARNING: UART parser dropped 1 packets from external AP at i=132
WARNING: UART parser dropped 1 packets from external AP at i=353
WARNING: UART parser dropped 1 packets from external AP at i=833
WARNING: UART parser dropped 1 packets from external AP at i=57
WARNING: UART parser dropped 1 packets from external AP at i=20
WARNING: UART parser dropped 1 packets from external AP at i=5
Detected Autopilot Mavlink SYSID 57
Detected Autopilot Mavlink SYSID 55
WARNING: UART parser dropped 1 packets from external AP at i=0
Detected Autopilot Mavlink SYSID 57

          The mavlink sysid is changing

          voxl2:~$ voxl-mavlink-server 
loading our own config file
=================================================================
Parameters as loaded from config file:
primary_static_gcs_ip:        192.168.168.200
secondary_static_gcs_ip:      192.169.168.1
onboard_port_to_autopilot:    14556
onboard_port_from_autopilot:  14557
gcs_port_to_autopilot:        14558
gcs_port_from_autopilot:      14559
en_external_uart_ap:          1
autopilot_uart_bus:           12
autopilot_uart_baudrate:      921600
autopilot_mission_delay_start:      -1
autopilot_mission_delay_sound:      0
autopilot_mission_notif_dur:      0.10
udp_mtu:                      500
gcs_timeout_s                 1.00
en_external_ap_timesync:      1
en_external_ap_heartbeat:     1
=================================================================
Sending library name request: libslpi_qrb5165_io.so
Sending initialization request
Successfully opened bus 12 at baudrate 921600
starting qrb5165 external AP receive thread
Adding primary GCS IP address from conf file to list: 192.168.168.200
Added new UDP connection to 192.168.168.200
Adding secondary manual gcs IP address to udp connection list: 192.169.168.1
Added new UDP connection to 192.169.168.1
Init complete, entering main loop
CONNECTED to GCS at 192.168.168.200
Detected Autopilot Mavlink SYSID 1
WARNING: UART parser dropped 1 packets from external AP at i=128
WARNING: UART parser dropped 1 packets from external AP at i=302
Detected Autopilot Mavlink SYSID 65
WARNING: UART parser dropped 1 packets from external AP at i=84
Detected Autopilot Mavlink SYSID 1
WARNING: UART parser dropped 1 packets from external AP at i=68
WARNING: UART parser dropped 1 packets from external AP at i=92
WARNING: UART parser dropped 1 packets from external AP at i=34
WARNING: UART parser dropped 1 packets from external AP at i=141
DISCONNECTED FROM GCS 192.168.168.200
CONNECTED to GCS at 192.168.168.200
DISCONNECTED FROM GCS 192.168.168.200
CONNECTED to GCS at 192.168.168.200
DISCONNECTED FROM GCS 192.168.168.200
CONNECTED to GCS at 192.168.168.200
Detected Autopilot Mavlink SYSID 28
DISCONNECTED FROM GCS 192.168.168.200
CONNECTED to GCS at 192.168.168.200
DISCONNECTED FROM GCS 192.168.168.200
CONNECTED to GCS at 192.168.168.200
DISCONNECTED FROM GCS 192.168.168.200
CONNECTED to GCS at 192.168.168.200
DISCONNECTED FROM GCS 192.168.168.200
CONNECTED to GCS at 192.168.168.200
          Eric KatzfeyE 1 Reply Last reply Reply Quote 0
          • Eric KatzfeyE
            Eric Katzfey ModalAI Team @Jetson Nano
            last edited by

            @Jetson-Nano Can you try a lower baudrate, like 57600, and see if that works better?

            Jetson NanoJ 1 Reply Last reply Reply Quote 0
            • Jetson NanoJ
              Jetson Nano @Eric Katzfey
              last edited by

              @Eric-Katzfey I tried lower baudrate also, the behaviour is similar.

              Eric KatzfeyE 2 Replies Last reply Reply Quote 0
              • Eric KatzfeyE
                Eric Katzfey ModalAI Team @Jetson Nano
                last edited by

                @Jetson-Nano Do you still get those messages from voxl-mavlink-server about dropped packets from external AP?

                1 Reply Last reply Reply Quote 0
                • Eric KatzfeyE
                  Eric Katzfey ModalAI Team @Jetson Nano
                  last edited by

                  @Jetson-Nano Are you using WiFi to connect with QGC?

                  1 Reply Last reply Reply Quote 0
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