UAVCAN error in FC v2 px4 firmware

Jetson Nano

I have the ark flow MR attached to the FC. While I want to check the standard builds, the standard build do not have UAVCAN modules enabled. i have to enable them manually.

If anyone could share the built px4 file for the ModalAi FC v2 along with UAVCAN enabled and collision prevention working, It would mean alot.

Eric Katzfey

@Jetson-Nano Which build, specifically, are you looking for? Something from the ModalAI fork of PX4 or from mainline? Are you not able to build firmware yourself?

Jetson Nano

@Eric-Katzfey
I am able to build, my build is not able to have both collision prevention and uavcan working. if i go to the latest version the hearding error is showing up, prearm check is not passing.

I checked with px4 mainline as well as modalai fork,

branches including - voxl-fpv-dev, version 1.17-dev
main branches - release/1.17, 1.16, 1.15

None of the above have the UAVCAN enabled, I do it manually, and the UAVCAN error is solved.

If you could guide me to a version of PX4 where both of this works with Flight core v2, or share the px4 build, if you have it working, i could test it out .

Eric Katzfey

@Jetson-Nano So you can get UAVCAN working? And we are working through the collision prevention in the other post. But you say that there is a "hearding error"? I'm guessing you mean a heading error? Do you have GPS / Mag enabled? Can you try the tip of mainline? There have been some recent updates to get rid of the heading error when using only a vision based position estimate.

Jetson Nano

@Eric-Katzfey UAVCAN is working in the latest versions, when enabled. And yes I meant heading error, thats my mistake.
The collision prevention is the major issue I am having.
The heading error is in the latest version, and I also came across it in the issues section and it was shown solved, but I did not test it out still with VIO, I was testing with only Optical flow and it was not working.