@Eric-Katzfey Thanks! I am able to do a basic HITL now. However I get this error message on QGC

I see that the flight mode on QGC is always "unknown", is this expected?

@Eric-Katzfey will this work with SDK 1.0.0 too? would like to stick with that version for now since we have been testing with this version for our project

@Eric-Katzfey I'm also unable to connect to QGC now (without HITL). On VOXL portal I can still see the camera and pointclouds, but not the status of the drone.

@Eric-Katzfey Yes I still get the same error after power cycle

@Zachary-Lowell-0 I was trying the MAVSDK example which didn't work but after trying the example, I can't run HITL anymore (which worked previously)... not sure what's the issue here?

For SITL, I can connect to PX4 with MAVSDK using port 14540. However, for HITL, port 14540 or 14551 does not work. VOXL2 wifi is configured in AP mode, and I have connected my laptop to it. I have also checked that voxl-vision-hub and voxl-mavlink-server are running, and my config files are as such:
voxl-vision-hub

voxl-mavlink-server

How can I get HITL to work with MAVSDK running on my linux computer? Or does it only work when MAVSDK is running on VOXL2 like the example here https://docs.modalai.com/mavsdk/?

@Moderator @Zachary-Lowell-0 @Eric-Katzfey Thanks for your replies! I am looking to do multi-vehicle simulation so SITL would be ideal, but I would definitely try out HITL too (although that would be limited to only 1 vehicle in the simulation right?)

Is it possible to run SITL using ModalAI's version of the PX4 software? I am using this repo https://github.com/modalai/px4-firmware/ and followed the same steps as I would with PX4's Autopilot repo:

1. roslaunch my gazebo world
2. in px4-firmware, make px4_sitl_default none
3. start my own ros app

However, I recently discovered that there's the option to make modalai_voxl2 (instead of make px4_sitl_default), so I am not sure if I am actually using the ModalAI version. What is the correct way to do so?

I am unable to make modalai_voxl2 successfully:

$ make modalai_voxl2
-- PX4 version: v1.14.0-2.0.43-dev (1.14.0)
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3")
-- PX4 config file: /home/xx/px4-firmware/boards/modalai/voxl2/default.px4board
-- PLATFORM posix
-- LINUX_TARGET y
-- TOOLCHAIN aarch64-linux-gnu
-- ROMFSROOT px4fmu_common
-- ROOTFSDIR /data/px4
-- PX4 config: modalai_voxl2_default
-- PX4 platform: posix
-- PX4 lockstep: disabled
-- The CXX compiler identification is unknown
-- The C compiler identification is unknown
-- The ASM compiler identification is unknown
-- Found assembler: /bin/aarch64-linux-gnu-gcc
CMake Error at CMakeLists.txt:219 (project):
The CMAKE_CXX_COMPILER:

/bin/aarch64-linux-gnu-g++

is not a full path to an existing compiler tool.

Tell CMake where to find the compiler by setting either the environment
variable "CXX" or the CMake cache entry CMAKE_CXX_COMPILER to the full path
to the compiler, or to the compiler name if it is in the PATH.

CMake Error at CMakeLists.txt:219 (project):
The CMAKE_C_COMPILER:

/bin/aarch64-linux-gnu-gcc

is not a full path to an existing compiler tool.

Tell CMake where to find the compiler by setting either the environment
variable "CC" or the CMake cache entry CMAKE_C_COMPILER to the full path to
the compiler, or to the compiler name if it is in the PATH.

CMake Error at CMakeLists.txt:219 (project):
The CMAKE_ASM_COMPILER:

/bin/aarch64-linux-gnu-gcc

is not a full path to an existing compiler tool.

Tell CMake where to find the compiler by setting either the environment
variable "ASM" or the CMake cache entry CMAKE_ASM_COMPILER to the full path
to the compiler, or to the compiler name if it is in the PATH.

-- Warning: Did not find file Compiler/-ASM
-- Configuring incomplete, errors occurred!
See also "/home/xx/px4-firmware/build/modalai_voxl2_default/CMakeFiles/CMakeOutput.log".
See also "/home/xx/px4-firmware/build/modalai_voxl2_default/CMakeFiles/CMakeError.log".
Error: /home/xx/px4-firmware/build/modalai_voxl2_default is not a directory
make: *** [Makefile:232: modalai_voxl2] Error 1

I'm trying to arm Starling without GPS and have calibrated the VIO camera, but QGC just shows "MAV_CMD_COMPONENT_ARM_DISARM component temporarily rejected" without any other messages when I try to arm it in position mode. I didn't see any useful logs when I ran "voxl-px4 -d" too.

I tested that I can arm it in manual mode, although I have never successfully armed it in position mode before. Even when I tried with GPS, it kept giving me preflight failures (GPS speed accuracy, drift,etc.).

For this case without GPS, I'm running the following services

I can see that qvio is running

The mavlink messages are also being sent (mavlink_to_gcs)

So I'm not sure why it doesn't arm?

voxl-version: (I just realised the voxl-suite doesn't show 1.0.0? I had re-flashed VOXL SDK 1.0 on this previously)

@Zachary-Lowell-0 @Eric-Katzfey Yup, all's good now after stopping voxl-qvio-server. Thanks for the help!

@Eric-Katzfey Ah okay, I had voxl-mavlink-server disabled but turns out I didn't need to disable it in order to start voxl-px4-hitl. I saw the flight mode switching too but it stops after commenting out forward_mavlink_message

Should voxl-vision-hub be disabled for HITL? When I enable it, the drone (iris_hitl) drops and lands by itself after taking off

If it is meant to be disabled, how are we supposed to test MAVROS/ MAVSDK in HITL?