Posts made by Eric Katzfey

@psafi So which driver do you use in PX4 then? Do you have a custom driver since you modified it to use UART instead of UAVCAN?

@psafi J10 is a UART mapped to the applications processor (Linux). Most of PX4 runs on the DSP and uses UARTs mapped to the DSP. To use J10 you would have to include the driver module into the applications processor build and then start it in the start script.

@psafi Which sensor is it?

@andrevs01 But, the configuration of what Mavlink broadcasts can be different than what it actually broadcasts. It will only broadcast something that it is configured to broadcast if it is receiving data from the required topic(s) internally.

@andrevs01 No, what Mavlink broadcasts is configured separately from anything related to ROS2

@Alex-May And can you post the entire output from voxl-px4 -d?

@Alex-May It really looks like there is no communication going on between the GPS and the VOXL 2. Can you attach an oscilloscope to the rx and tx lines to look for activity? Usually the M10 units come up and start sending NMEA strings at 9600 so you would be able to detect that on the scope.

@Alex-May The driver for that magnetometer has not been built into the image so it won't work without adding that driver. As for GPS it seems like it isn't communicating with the receiver. Can you run this experiment: Stop PX4 with systemctl stop voxl-px4, wait a couple of seconds, then start px4 from the command line with voxl-px4 -d and post the output from that?

@Jetson-Nano I was using v1.14.0-8.106.1

@Alex-May Do you know what type of magnetometer is included with that module? As for GPS, the first thing to do is verify that PX4 is communicating with it. On the VOXL2 command line issue this: px4-listener sensor_gps and let's see what you get from that.

@Ege-Yüceel Wow, this is a very ambitious plan! Keep in mind that VIO needs not only camera images but also IMU input. Camera images are normally supplied by the voxl-camera-server on MPA pipes. So, you would need to stop voxl-camera-server and start your own application that takes the images from Gazebo and places them into correctly named MPA pipes. The images would have to be formatted properly, etc. Likewise for IMU samples that normally come from voxl-imu-server. I think this will be quite difficult to get working properly but theoretically possible.

@Jetson-Nano Here are the steps I am using for testing. Here are my VOXL_ESC parameters:

My VOXL_ESC_BAUD is set non-standard because I am using an ESC simulator. I have flight mode set to altitude mode. If I check the ESC commands I see no output:

Then I arm and check ESC commands and see values:

Then I disarm, press button 9, arm, move both sticks around and see these ESC commands:

Notice that most motors are 0 except for 1 or 2 and are of opposite sign than normal. In this case pitch was centered and roll was full right. Hope this helps.

@Jetson-Nano If all that seems to be working then press the turtle button and arm (with drone right side up, not upside down) and verify that with turtle mode enabled the propellers are spinning in the opposite direction and the drone won't lift off. Of course, you must be extremely careful when running this test!!! Make sure that the drone is in a location where it cannot cause damage or injure someone if it goes out of control. It would be best to completely remove the propellers and just verify that the motors are spinning in the opposite direction of normal flight.

@Jetson-Nano Let's try to walk through this and see where it is going wrong. Please provide answers to all of the following questions. Go to the joystick tab in QGC and press the button on the joystick that you want to use for turtle mode. Which number lights up when you press the button? Next, go to the MAVLink console and provide the output of these commands: ver all, listener manual_control_setpoint, param show VOXL_ESC_MODE, param show VOXL_ESC_T_ON, and param show COM_RC_IN_MODE. If VOXL_ESC_T_ON is not set to the number of the button you just discovered on the joystick tab then change it to the value you want. For example, by default VOXL_ESC_T_ON is set to 9. If you want to use button 10 instead then do param set VOXL_ESC_T_ON 10. If you had to change that parameter then reboot and verify that it is now set correctly. You should see the aux1 value in manual_control_setpoint change from 0.0 to 1.0 when you press the button that you have chosen. Can you verify that you are seeing that?

@ashwin Can you differentiate each drone based on the drone's IP address? Those will be unique.

@Ansel-Misfeldt Please take a look at this post: https://forum.modalai.com/topic/4653/uavcan-error-while-building-px4-firmware/2?_=1755096615166

@necurran It just reads both the apps processor side timestamp and the DSP side timestamp and calculates the difference. It does this 4 time a second in a thread. The thread starts when fc_sensor_initialize is called.

@Jetson-Nano Those are topic messages used to communicate between the applications processor and the DSP in the VOXL2 split architecture. They are unused on non-VOXL2 platforms.

@Jetson-Nano The issue is that those messages were commented out in msg/CMakeLists.txt. The reason for that is that there is a limit in PX4 of 256 different types and there are too many. CAN isn't supported on VOXL 2 so those messages were commented out. If you want to use our fork on FCv2 you can uncomment those messages and comment out some of the VOXL 2 specific messages that aren't used on FCv2. For example:

	ParameterClientResetResponse.msg
	ParameterClientSetValueRequest.msg
	ParameterClientSetValueResponse.msg
	ParameterServerSetUsedResponse.msg
	ParameterServerSetUsedRequest.msg
	ParameterServerSetValueRequest.msg
	ParameterServerSetValueResponse.msg

@andrevs01 You can see the PX4 start up script in /usr/bin/voxl-px4-start. You can see the streams being configured there.