Posts made by Eric Katzfey

@scosgrove Unfortunately, there isn't a whole lot of useful documentation about that. You kind of have to look through the Qualcomm source code to get an idea of what it is doing. One idea is to use the Qualcomm mini-dm debug tool. It is included with the Hexagon SDK. If you are connected to the USB port (i.e. you can use adb) then you can use mini-dm. This will output more information from the DSP as it is running and you may see some error messages coming out when you are seeing issues with data loss.

@voxl-phoenix J19 has pins for 2 UARTs. We put GNSS on one and RC on the other. So if you are able to hook up everything correctly, configure the TBS crossfire receiver correctly, and configure PX4 correctly then it should work.

@Eric-Katzfey I will need to add the support for up to 8 PWM outputs on VOXL 2 IO board. Right now it only supports 4. You should be able to do test flights without the gimbal with 4 PWM outputs.

@TomP I have updated the documentation at https://docs.modalai.com/voxl-ardupilot/. The VOXL 2 IO board with up to 4 PWM outputs is now supported and has been tested on a quadcopter with 4 PWM ESCs. You should be able to use this for arduplane now. We are putting together our own fixed wing test platform and hope to begin testing soon.

@voxl-phoenix VOXL 2 is really not a great place to start if you are new to drones. And the best way to start with a VOXL 2 is with one of our pre-built drones like the Starling 2 (https://www.modalai.com/products/starling-2), not with a bare board. The standard place to connect RC for PX4 is J19.

@voxl-phoenix What PX4 driver are you intending to use with it? And why don't you want to attach it to the "normal" RC UART on J19?

@Jeremy-Frederick Okay, well then you will need to add support for such an external Mavlink enabled peripheral into voxl-mavlink-server. We don't currently support that.

@Jeremy-Frederick Without going through the voxl-mavlink-server source code in detail I'm pretty sure that what you want to do is not currently supported. So, some new functionality will likely need to be added to voxl-mavlink-server. What third party unit are you trying to integrate with? Does it require bi-directional traffic or does it just send out packets and not expect to receive anything?

@scosgrove PX4 runs on the Sensors Hexagon DSP (AKA SLPI, AKA SDSP). Most of PX4 runs on that DSP but there is some part of PX4 that runs on the Linux applications processor (e.g. Mavlink, logging, data manager, etc.). The applications processor portion communicates with the DSP portion via the muorb (multiprocessor uorb) module in PX4. Unfortunately, all of the details of the UART HW and drivers (including the API) are Qualcomm proprietary so we are not able to share details of that. There isn't much configuration going on though, just port number and baudrate. There is no DMA. Can you move your driver to the applications processor? If you have an add-on board with an application processor mapped UART then you could run on the applications processor.

@JP-Drone Can you try this voxl-px4 package and see if msp_dp_osd works for you on the GPS UART? You will need to add the driver start command in /usr/bin/voxl-px4-start. For example: qshell msp_dp_osd start -d 6. Download the package with wget http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-px4_1.14.0-2.0.87-202412180935_arm64.deb or use the link http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-px4_1.14.0-2.0.87-202412180935_arm64.deb

@JP-Drone Okay, I will try to get it running on the DSP side to use J19. I'm guessing that you don't use GPS so it's okay to use that UART port for OSD? I should be able to complete this by the end of the year.

@giladWDS Okay, so the issue is that the service starts but px4 is not actually running? Can you include the output of the command systemctl status -l voxl-px4? And also journalctl -b -u voxl-px4?

@jefersonsilva If you let it sit for a long time does it eventually find satellites and get a fix?

@griffin yes, voxl-mavcam-manager can inform QGC about the multiple streams and allow you to choose whichever one you want.

@giladWDS To enable it just enter systemctl enable voxl-px4

@soraminds VOXL 2 is a Linux computer so you can just run Apache or any other standard web server. But be aware that voxl-portal is also a running web server so you would have to stop it or, even better, run your server on a different port.

@giladWDS I'm not sure I understand what you mean by "starts at stop status". Can you explain the issue? And what service can't you find? sscrpcd.service?

voxl2:/$ sudo find . -name sscrpcd.service
./lib/systemd/system/multi-user.target.wants/sscrpcd.service
./lib/systemd/system/sscrpcd.service
find: './sys/kernel/slab': Input/output error
./sys/fs/cgroup/pids/system.slice/sscrpcd.service
./sys/fs/cgroup/devices/system.slice/sscrpcd.service
./sys/fs/cgroup/systemd/system.slice/sscrpcd.service
./sys/fs/cgroup/unified/system.slice/sscrpcd.service

@Viktor-Gal Excellent, thanks for the feedback!

@Jeremy-Frederick Those aux channels are implemented differently when getting manual control messages from QGC. The only one that is mapped is aux1 that comes from the "buttons" field of the corresponding MANUAL CONTROL Mavlink message.

@v_v_ramarao We do not sell any external baro hardware so you would have to locate a suitable peripheral from a different source. Then you would have to connect it into VOXL 2 mini. There is no spare i2c port but you could share the magnetometer i2c port on J19 as long as the barometer has a different i2c address than the magnetometer. Then you would have to change your px4 startup script to not start the onboard barometer driver and instead start the external barometer driver.