Posts made by Eric Katzfey

@minhthinh The params are in our voxl-px4-params repo. For example: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/blob/master/params/v1.13/Platforms/M500_FCV2.params?ref_type=heads

@Aniruddha Did you follow this guide: https://docs.px4.io/main/en/config/level_horizon_calibration

@Aniruddha Can you use level calibration in QGC instead? Are you saying that you are crashing after running voxl-calibrate-px4-horizon or in your attempt to run it? What flight mode are you using in your flight? If you fly in manual mode is everything okay?

@Daehan-Won The mb12xx px4 driver is not in our build so you would need to add it to the voxl2-slpi build. Which pins are you attaching it to on J19?

@Dan-Jennings I'm also guessing that the driver may not be detecting the hardware so is not able to get the data for the battery_status. Have you tried swapping some other hardware to see if the problem is associated with a particular unit?

@RyanH You don't need to fly the drone to get a log. Perhaps take off the props, arm it, throttle it up a few times, then disarm.

@RyanH I'll let another of my associates comment on the purchase of a new motor. But can you also share a px4 log file from such a flight. It would be helpful for us to take a look at it.

@Nikos-Mavr You're welcome! And can you please start a new forum post for this new issue? Thanks!

@Dan-Jennings I'd try our voxl-inspect-mavlink application. Check voxl-inspect-mavlink mavlink_onboard and voxl-inspect-mavlink mavlink_to_gcs and see if battery_status appears at all. I just loaded voxl-ardupilot_ArduCopter_4.8.0-94b27fd3_arm64.deb on my voxl2 with our standard APM and I see battery status in QGroundControl and with voxl-inspect-mavlink mavlink_to_gcs. Also, can you upgrade to VOXL SDK 1.6.x?

@restore There are a few examples of code that listens for Mavlink messages in our SDK. For example, in voxl-mpa-tools, take a look at the source code for voxl-inspect-mavlink.c. https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-tools/-/blob/master/tools/voxl-inspect-mavlink.c?ref_type=heads

Probably would be a good idea to run voxl-inspect-mavlink on the mavlink_onboard and mavlink_to_gcs pipes to see which one has the desired Mavlink message in it. Then create your own application that listens for the Mavlink message on that pipe.

@Nikos-Mavr Can you reboot, try the command again, and send the entire output of PX4 so that I can see the entire startup process?

@Dan-Jennings Rather than use voxl-inspect-battery have you tried QGC or Mission Planner or Mav Proxy?

@Dan-Jennings Which arducopter build are you using?

@Nikos-Mavr I added the ina226 and ina228 drivers into the build. Updated build can be found here: http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-px4_1.14.0-2.0.136-202603180951_arm64.deb

To try it out use the command qshell ina226 start -X -b 4 or qshell ina228 start -X -b 4 from the px4 command line to see if the driver sees your device.

@Nikos-Mavr Okay, great, so the I2C is working then. But address 0x41 is an INA226, not an INA228. The PX4 driver indicates that an INA228 has an address of 0x45. And the Holybro data sheet for the PM02D indicates that the lower voltage one for up to 6S battery uses the INA226 while the higher voltage one for up to 12S. Am I reading that correctly? Regardless, it doesn't matter how you set POWER_MANAGER in voxl-px4.conf because that just determines whether it will start the voxlpm driver. But, probably best to set it to EXTERNAL for now. The bigger issue is that the drivers for INA226 and INA228 are not in the image. So they need to be added to the image and then started in the voxl-px4-start startup script located in /usr/bin.

@Nikos-Mavr Once you get the signals figured out I added i2cdetect to px4 so you can scan the buses and see if your device is detected. Some rudimentary instructions are here: https://docs.modalai.com/voxl-px4-dev-build-guide/#i2c-debugging. You will need the latest voxl-px4 which is here: http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-px4_1.14.0-2.0.135-202603171827_arm64.deb

@shawn_ricardo A couple of quick points. First of all, PX4 just queries the Linux system time so there's no mechanism to set a separate notion of system time in PX4. If the VOXL 2 is connected to the internet then, yes, it will update the Linux system time with NTP. But VOXL 2 has no battery backed RTC so if it cannot get system time from NTP then it uses the last saved time which is typically the last time there was a connection to an NTP server. Also, in newer versions of our PX4 we get rid of the -t option when starting the logger module so it will not use the system time. Instead it will just create session directories and log files within them in increasing numerical order. So, highest numbered log file in highest numbered session directory is the latest log.

@Nikos-Mavr I'm not a hardware guy so not sure on the specifics of proper level shifting, etc. But have you made sure the unit works with some other board first like an Arduino? What is the sen228 module? Is a data sheet publicly available for that? What is the i2c address? J4 / J19 i2c ports should work with PX4 running the correct driver for that module.

@Nikos-Mavr Which pins are you using? i2cdetect is only looking at i2c ports on the Linux (applications) processor. For PX4, the standard i2c ports are mapped to the DSP (aka SLPI) so you wouldn't see them.

@restore Are there any Mavlink messages coming out of ArduPilot that you could use to know when to take the snapshot? If so, create a new application that listens, via voxl-mavlink-server, to Mavlink and the message(s) you need. Then trigger the snapshot when it's needed. ArduPilot's external interface is Mavlink so it would be good to leverage Mavlink messages for this.