@skl1g14
in case anyone looking for URDF for m500 drone, i have it here
https://github.com/UoSM-CIRG/CAD-Files/tree/master/drone_dev_kit/catkin_ws/src/display_model/description/m500_urdf/urdf
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Best posts made by skl1g14
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RE: Are there any URDF for the dev drones>?posted in VOXL Dev Drones
Latest posts made by skl1g14
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RE: USB tethering with VOXLposted in VOXL Flight
Here is the hack if anyone needs it.
The latest platform image have the RNDIS host flag set. https://gitlab.com/voxl-public/system-image-build/meta-voxl/-/blob/master/recipes-kernel/linux-quic/files/enable_RNDIS_HOST.cfg?ref_type=heads
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First step is to get a compatible OTG cable. I got an off-brand one that works. Run dmesg -wH on your jetson carrier board. If there are the usb0/rndis0/l4tbr0 means the connection is solid.
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In voxl, save the following script somewhere. /home/root/usb_tethering.sh is a good choice.
#!/bin/bash # Enable IP forwarding echo 1 > /proc/sys/net/ipv4/ip_forward # Bring up usb0 interface ifconfig usb0 up # Assign IP address to usb0 ifconfig usb0 192.168.55.2 netmask 255.255.255.0 # Add route for USB network route add -net 192.168.55.0 netmask 255.255.255.0 dev usb0 # Set up iptables rules for NAT iptables -A FORWARD -o wlan0 -i usb0 -s 192.168.55.0/24 -m conntrack --ctstate NEW -j ACCEPT iptables -A FORWARD -m conntrack --ctstate ESTABLISHED,RELATED -j ACCEPT iptables -t nat -A POSTROUTING -o wlan0 -j MASQUERADE- Make it persistent by creating a systemd service. Save it at /etc/systemd/system/tethering.service
[Unit] Description=USB Tethering Service After=network.target [Service] Type=simple ExecStart=/home/root/usb_tethering.sh [Install] WantedBy=default.target- Run the following
sudo systemctl daemon-reload sudo systemctl enable tethering.service-
Check with ifconfig on voxl (should have a static addr 192.168.55.2 for usb0 interface)
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Check with ifconfig on jetson carrier board (the l4tbr0 default addr should be 192.168.55.1)
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Try pinging each other (optional)
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In voxl, set to station mode and connect to a access point. For jetson carrier board, check if it is possible to connect to a public web.
ping google.com
- In jetson, the dns nameserver for the l4tbr0 interface may need to change to 8.8.8.8.
Check with
systemd-resolve --status- Alternatively, change globally by modifying the nameserver address to 8.8.8.8 at /etc/resolv.conf
Bandwidth ~ 265 Mbps which should be expected from a usb2.0 controller (max 480 Mbps) and the overhead from the interfaces.
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RE: Supporting power monitor to see battery statusposted in Flight Core v2
Yes, i believe that might be the case. There might be some other px4 firmware parameters that are causing it.
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RE: Supporting power monitor to see battery statusposted in Flight Core v2
Default px4 parameter list.
# Onboard parameters for Vehicle 1 # # Stack: PX4 Pro # Vehicle: Multi-Rotor # Version: 1.14.0 dev # Git Revision: b02a6b4ae902003f # # Vehicle-Id Component-Id Name Value Type 1 1 ASPD_SCALE_1 1.000000000000000000 9 1 1 BAT1_CAPACITY 3000.000000000000000000 9 1 1 BAT1_N_CELLS 4 6 1 1 BAT1_R_INTERNAL 0.008000000379979610 9 1 1 BAT1_SOURCE 0 6 1 1 BAT1_V_CHARGED 4.150000095367431641 9 1 1 BAT1_V_EMPTY 3.599999904632568359 9 1 1 BAT1_V_LOAD_DROP 0.100000001490116119 9 1 1 BAT_AVRG_CURRENT 15.000000000000000000 9 1 1 BAT_CRIT_THR 0.250000000000000000 9 1 1 BAT_EMERGEN_THR 0.100000001490116119 9 1 1 BAT_LOW_THR 0.300000011920928955 9 1 1 BAT_N_CELLS 4 6 1 1 BAT_V_CHARGED 4.150000095367431641 9 1 1 BAT_V_EMPTY 3.599999904632568359 9 1 1 BAT_V_LOAD_DROP 0.300000011920928955 9 1 1 CAL_ACC0_ID 2490378 6 1 1 CAL_ACC0_PRIO 50 6 1 1 CAL_ACC0_ROT -1 6 1 1 CAL_ACC0_XOFF 0.000000000000000000 9 1 1 CAL_ACC0_XSCALE 1.000000000000000000 9 1 1 CAL_ACC0_YOFF 0.000000000000000000 9 1 1 CAL_ACC0_YSCALE 1.000000000000000000 9 1 1 CAL_ACC0_ZOFF 0.000000000000000000 9 1 1 CAL_ACC0_ZSCALE 1.000000000000000000 9 1 1 CAL_ACC1_ID 2490386 6 1 1 CAL_ACC1_PRIO 50 6 1 1 CAL_ACC1_ROT -1 6 1 1 CAL_ACC1_XOFF 0.000000000000000000 9 1 1 CAL_ACC1_XSCALE 1.000000000000000000 9 1 1 CAL_ACC1_YOFF 0.000000000000000000 9 1 1 CAL_ACC1_YSCALE 1.000000000000000000 9 1 1 CAL_ACC1_ZOFF 0.000000000000000000 9 1 1 CAL_ACC1_ZSCALE 1.000000000000000000 9 1 1 CAL_ACC2_ID 0 6 1 1 CAL_ACC3_ID 0 6 1 1 CAL_AIR_CMODEL 0 6 1 1 CAL_AIR_TUBED_MM 1.500000000000000000 9 1 1 CAL_AIR_TUBELEN 0.200000002980232239 9 1 1 CAL_BARO0_ID 0 6 1 1 CAL_BARO1_ID 0 6 1 1 CAL_BARO2_ID 0 6 1 1 CAL_BARO3_ID 0 6 1 1 CAL_GYRO0_ID 2490378 6 1 1 CAL_GYRO0_PRIO 50 6 1 1 CAL_GYRO0_ROT -1 6 1 1 CAL_GYRO0_XOFF -0.007948651909828186 9 1 1 CAL_GYRO0_YOFF 0.006882027722895145 9 1 1 CAL_GYRO0_ZOFF 0.005271935835480690 9 1 1 CAL_GYRO1_ID 2490386 6 1 1 CAL_GYRO1_PRIO 50 6 1 1 CAL_GYRO1_ROT -1 6 1 1 CAL_GYRO1_XOFF -0.014327573589980602 9 1 1 CAL_GYRO1_YOFF 0.010455547831952572 9 1 1 CAL_GYRO1_ZOFF 0.001255361014045775 9 1 1 CAL_GYRO2_ID 0 6 1 1 CAL_GYRO3_ID 0 6 1 1 CAL_MAG0_ID 396809 6 1 1 CAL_MAG0_PRIO 75 6 1 1 CAL_MAG0_ROT 10 6 1 1 CAL_MAG0_XCOMP 0.000000000000000000 9 1 1 CAL_MAG0_XODIAG 0.000000000000000000 9 1 1 CAL_MAG0_XOFF 0.000000000000000000 9 1 1 CAL_MAG0_XSCALE 1.000000000000000000 9 1 1 CAL_MAG0_YCOMP 0.000000000000000000 9 1 1 CAL_MAG0_YODIAG 0.000000000000000000 9 1 1 CAL_MAG0_YOFF 0.000000000000000000 9 1 1 CAL_MAG0_YSCALE 1.000000000000000000 9 1 1 CAL_MAG0_ZCOMP 0.000000000000000000 9 1 1 CAL_MAG0_ZODIAG 0.000000000000000000 9 1 1 CAL_MAG0_ZOFF 0.000000000000000000 9 1 1 CAL_MAG0_ZSCALE 1.000000000000000000 9 1 1 CAL_MAG1_ID 0 6 1 1 CAL_MAG1_ROT -1 6 1 1 CAL_MAG2_ID 0 6 1 1 CAL_MAG2_ROT -1 6 1 1 CAL_MAG3_ID 0 6 1 1 CAL_MAG3_ROT -1 6 1 1 CAM_CAP_FBACK 0 6 1 1 CA_AIRFRAME 0 6 1 1 CA_FAILURE_MODE 0 6 1 1 CA_METHOD 2 6 1 1 CA_R0_SLEW 0.000000000000000000 9 1 1 CA_R10_SLEW 0.000000000000000000 9 1 1 CA_R11_SLEW 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RE: Supporting power monitor to see battery statusposted in Flight Core v2
Hi @Alex-Kushleyev,
Updated the PX4 firmware to 1.14
Adding the following two parameters to the list and load parameter from file seems to fix it for me? I could not find these 2 parameters in QGC initally. I am using the latest version of QGC (v4.30).
I tried to remove these 2 parameters but I could not reproduce my issue, i can still see the voxlpm output afterwards.
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RE: Supporting power monitor to see battery statusposted in Flight Core v2
Tagging along here. I observed similar issue with the voxlpm driver on Flight core v2.
Personally I have been working on a voxl1 + flight core v2 (I have 2 set of this). I am using the older v2 power module https://docs.modalai.com/power-module-v2-datasheet/ connected to a standard 4s LiPo battery.
The version of my flight core shown below.
.I am seeing that one of the flight-core (rarely use this, mostly as backup) has output by voxlpm as shown below,
while my other flight core (mainly working on this) is not giving any output (shown below)
Both flight core able to detect the i2c port at bus 3 address 44 and 45.
https://github.com/PX4/PX4-Autopilot/blob/main/src/drivers/power_monitor/voxlpm/voxlpm.hpp
I assume the firmware on my board (1.13.2) is using the voxlpmv3 and sensing on the address 0x44 as the default voxlpm is sensing at the RSENSE_VBATT.
Any idea what might be the case? Is there a way to observe the uORB id for battery_status or monitor the process when voxlpm start at boot?
What i have tried.
- Use same power module connector.
- Load the same px4 parameter.
- Updating to the latest sdk 1.12 and px4 1.14 firmware http://voxl-packages.modalai.com/dists/fc-v2/sdk-1.1/modalai_fc-v2_1.14.0-2.0.63.px4
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RE: USB tethering with VOXLposted in VOXL Flight
Hi Alex, thanks for the quick response.
For now we are going option A with a wifi adapter. That works well.In the meantime I am moving on to other stuff.
I tried recompiling the kernel with https://gitlab.com/voxl-public/system-image-build/meta-voxl/-/tree/master?ref_type=heads enabling the usb_gadget flag but no luck so far.
Apparently yocto does not have a simple way to just "make menuconfig"Will keep this post updated if i manage to get it.
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RE: USB tethering with VOXLposted in VOXL Flight
Dear @Moderator,
That is true but we are expecting a data rate much higher than what UART is able to provide.
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USB tethering with VOXLposted in VOXL Flight
Hi,
I have been following this thread https://forum.modalai.com/topic/851/rndis-connection?_=1704780402514.
I have a Jetson nano and a Voxl flight deck with the base Linux Yocto Jethro with 3.18 kernel System Image but my jetson nano does not have any Ethernet port and wireless adapter.
I was planning to reverse USB tether so that the network from voxl can extend to the jetson nano.By default, the jetson nano have a usb0 virtual Ethernet interface and I verify it by connecting my PC (host) and jetson nano (device).
https://jetbot.org/master/software_setup/wifi_setup.html.However, there is no interface when i try to connect my voxl (host) to jetson nano (device).
From the guide, https://docs.modalai.com/voxl-as-usb-host , i suspect it is my OTG cable being incompatible.With that, i am considering setting up rndis for the voxl flight such that i can do jetson nano (host) and voxl (device) instead.
Is there a guide on how to do so? Or will it be less pain to just get different cables and retry. -
RE: Are there any URDF for the dev drones>?posted in VOXL Dev Drones
@skl1g14
in case anyone looking for URDF for m500 drone, i have it here
https://github.com/UoSM-CIRG/CAD-Files/tree/master/drone_dev_kit/catkin_ws/src/display_model/description/m500_urdf/urdf