Posts made by Eric Katzfey

@psafi Unfortunately, the Mavlink module is not available on the DSP side. We tried it in the past and there were a lot of issues so we only have it on the apps side. You are welcome to try to add it into the DSP side and see how it goes.

@roy-crosthwaite Can you swap GPS units with the working one and verify that it fixes the issue?

@psafi I just built voxl-px4 with the lis3mdl driver and when I run it the command fails because it fails the probe (I don't have that magnetometer) but otherwise runs normally.

@psafi And how did you load your updated build to the VOXL 2?

@psafi If you disable the px4 service (systemctl stop voxl-px4) and then start it from the command line (voxl-px4 -d) what output do you get? And if you disconnect the magnetometer from the system how does that change things? Remove the start command from voxl-px4-start and enter it after px4 starts from the command prompt to see what happens.

You can obtain Hexagon SDK 4.1.0.4 for the flight controller build environment described in this document: https://gitlab.com/voxl-public/rb5-flight/rb5-flight-px4-build-docker at the ModalAI developers web site under EULA protected downloads in addition to getting it directly from Qualcomm. https://developer.modalai.com/asset/view/184

@psafi Those should only be there on the Nuttx platform.

@psafi Looks like it will compile if you comment out the #include <debug.h> lines in both lis3mdl_i2c.cpp and lis3mdl_spi.cpp

@Jetson-Nano Here is some (admittedly sparse) documentation: https://docs.modalai.com/voxl-streamer/#running-multiple-instances

@psafi In this case we don't use voxl-mavlink-server directly because we are essentially setting up a "mavlink device" straight into px4.

@psafi Some of it is just standard PX4 stuff so you can take a look at their documentation. For voxl-mavlink-server this may help: https://docs.modalai.com/mavlink/

@psafi Yes, unfortunately it is a real pain to get the SDK from Qualcomm and you need that version.

@Jetson-Nano I'm sure it is related to your parameter settings. Take a look at our parameter settings for FPV drones and compare against what you are using: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/blob/dev/params/v1.14/platforms/D0008_v5.params?ref_type=heads

@ashwin I'm not really understanding the issue. Mavlink has no limitation to send packets to a localhost address. On VOXL 2 we configure voxl-px4 to send to localhost but that is because voxl-mavlink-server is the application that actually sends the data to the GCS. At the GCS you will see each connection with a unique IP address.

@psafi Ah, okay, then you will need to set up a new mavlink instance in /usr/bin/voxl-px4-start. It would be something like mavlink start -x -d /dev/ttyHS0

@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