I am attempting to setup microRTPS communications between a VOXL2 and external autopilot via UART communications based on the external flight controller documentation, but the RTPS communication keeps crashing. We have confirmed that we are wired correctly between the RX and TX UART ports between the external autopilot and J9 on the Modem board, and both the autopilot TELEM port and the VOXL2 /dev/ttyHS2 port are configured to the same baud rate of 921600. When running the micrortps_agent on the VOXL2, we get frequent “Bad CRC” errors and eventually it crashes.
• Hardware: VOXL2 (M0054) + 5G Modem Board (M0090); CubePilot Cube Blue Flight Controller on Airbot Systems Mini Carrier Board
• Software: system-image 1.5.5-M0054-14.1a-perf; Autpilot running custom PX4 based on v1.13.3
• Configuration: attempting custom ROS2-based software developed by 3rd party
• Setup: Matching the wiring from https://docs.modalai.com/voxl2-external-flight-controller/#using-m2-5g-modem-addon-board-m0090 between VOXL2 + 5G Modem Board and External Autopilot
Any suggestions on how to configure and debug the RTPS communications would be appreciated. Thanks!
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VOXL2 RTPS Communications with External Autopilotposted in Ask your questions right here!