Topics created by jonathankampia

@jonathankampia ,

Here is something i tried, you can try as well. You are right, there is a background service that may be taking over, I think i found how to disable it:

systemctl disable QCMAP_ConnectionManagerd systemctl disable qti_pppd systemctl disable qtid rm /lib/systemd/system/multi-user.target.wants/QCMAP_ConnectionManagerd.service rm /lib/systemd/system/multi-user.target.wants/qti_pppd.service rm /lib/systemd/system/multi-user.target.wants/qtid.service #edit: instead of disabling the above 3 services and removing the entries from `multi-user.target.wants`, it seems you can do the following: systemctl mask QCMAP_ConnectionManagerd systemctl mask qti_pppd systemctl mask qtid # you may want to disable dhcpcd as well, but i dont think that is strictly necessary: systemctl disable dhcpcd

Now, set up static connection:

#create a new network interface file vi /etc/systemd/network/10-eth0.network [Match] Name=eth0 [Network] Address=192.168.xx.xx/24 Gateway=192.168.xx.1 DNS=8.8.8.8 1.1.1.1

enable networkd

systemctl enable systemd-networkd

Then reboot voxl2...

I think if dhcpcd is enabled, it may first take over the interface, but then networkd takes it back.. For example, here is the log from networkd when dhcpcd is enabled:

... Dec 10 06:01:00 m0054 systemd-networkd[1126]: dummy0: Gained carrier Dec 10 06:01:00 m0054 systemd-networkd[1126]: dummy0: Gained IPv6LL Dec 10 06:01:11 m0054 systemd-networkd[1126]: eth0: Gained carrier Dec 10 06:02:13 m0054 systemd-networkd[1126]: eth0: Gained IPv6LL Dec 10 06:02:13 m0054 systemd-networkd[1126]: eth0: Configured Dec 10 06:02:13 m0054 systemd-networkd[1126]: docker0: Link UP Dec 10 06:02:21 m0054 systemd-networkd[1126]: eth0: Lost carrier Dec 10 06:02:36 m0054 systemd-networkd[1126]: eth0: Gained carrier Dec 10 06:02:38 m0054 systemd-networkd[1126]: eth0: Gained IPv6LL Dec 10 06:02:38 m0054 systemd-networkd[1126]: eth0: Configured

and the log with dhcpcd disabled:

... Dec 10 06:02:13 m0054 systemd-networkd[1126]: bond0: Link is not managed by us Dec 10 06:02:13 m0054 systemd-networkd[1126]: sit0: Link is not managed by us Dec 10 06:02:14 m0054 systemd-networkd[1126]: eth0: Link UP Dec 10 06:02:38 m0054 systemd-networkd[1126]: eth0: Gained carrier Dec 10 06:09:56 m0054 systemd-networkd[1126]: eth0: Gained IPv6LL Dec 10 06:09:56 m0054 systemd-networkd[1126]: eth0: Configured Dec 10 06:09:56 m0054 systemd-networkd[1126]: docker0: Link UP

Can you try and see if that solves your issue?

Alex

@jonathankampia There is some relevant info here: https://docs.modalai.com/voxl2-external-flight-controller/
M0062 is more rare of a product for us so isn't listed there but you can find more info here: https://docs.modalai.com/m0062-datasheet/#j9---2w-uart--i2c-port

Hi @jonathankampia
Hate to hand you off but this is out of my realm now.... I think @tom is more suited for helping on this front if we are sure it is no longer a HW issue.

@Zachary-Lowell-0 and @smiley ,

I just updated the docs to include more info on this https://docs.modalai.com/M0153/#misc-connector-pinout

Also verified that i could ping a i2c device connected to M0201 J4 and M0201 itself is connected to VOXL2 J7 via M0181 (there are other options how to connect M0201 to VOXL).

IMU -> [JST GH cable] -> (M0201 J4) .... (M0201 J2) -> [MIPI COAX cable] -> (M0181 J1) .... (M0181) -> (VOXL2 J7)

voxl2:/$ i2cdetect -r -y 4 0 1 2 3 4 5 6 7 8 9 a b c d e f 00: -- -- -- -- -- -- -- -- -- -- -- -- -- 10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 60: -- -- -- -- -- -- -- -- 68 -- -- -- -- -- -- -- 70: -- -- -- -- -- -- -- --

(able to ping an i2c IMU board connected to /dev/i2c-4).

Please let me know if you have any additional questions.

Alex

@jonathankampia ,

Have you checked that your Boson actually works (using a USB interface with either Flir GUI or a UVC interface)?

Also, is your Boson configured to send MIPI data in 8-bit raw format?

The camera server cannot change the FPS of Boson (or any of its streaming parameters). In fact there is no communication at all happening from VOXL2 to Boson (besides just probing / detection) - all the settings have to be configured by the user prior connecting to VOXL2 (including resolution, fps, etc).

https://docs.modalai.com/M0153/#boson-software-setup

Please double check these points..

Alex

@jonathankampia , yes IMX412 is supported on VOXL2 Mini J6 (either upper or lower). You can connect any two cameras to VOXL2 mini J6 using M0135 (double) or M0076 (single) adapter or for coax camera versions you can use M0155 (single) adapter.

You would need to copy the correct sensormodule(s) to /usr/lib/camera/. see the following doc for help : https://docs.modalai.com/configure-cameras/#connect-a-new-camera

Let me know if you need more details.

Alex

@jonathankampia Correct, The VectorNAV needs to have the serial port implementation changed to support SLPI. That can either be done by modifying the code on our branch or going to mainline PX4 and modifying the implementation to use the platform independent Serial port abstraction.

it's more likely I will be commanding attitude / body rate which are already available

Indeed. I highly suggest you to use those two unless your application stricly requires direct actuation control.

I just wanted to get a clear overview of what the information dds client / agent can give me access to in the modalai version of px4.

By editing src/modules/microdds_client/dds_topics.yaml you can access any PX4 uorb message so the limit here is just about what has been implemented on PX4 that is or is not available in the voxl version.

How do you know what types of control / input & output data are not directly supported in px4 voxl version, as you said?

the type of offboard control you can achieve is exposed by OffboardControlMode.msg. As you can see in main PX4 you have

bool position bool velocity bool acceleration bool attitude bool body_rate bool thrust_and_torque bool direct_actuator

I've added thrust_and_torque and direct_actuator one year ago (more or less). However, latest voxl is still using the old version: this old version let's you control via thrust and torque setpoints but does not let you control the single motor individually.

@jonathankampia Unfortunately, the hard part is creating the build Docker.

@Gary-Holmgren Haha your way is a little more robust than mine. I just manually added the qshell start command to the extra commands section of the voxl-px4.conf file.

@jonathankampia , sorry for the delay, please see the response in this post https://forum.modalai.com/topic/3952/flir-boson-beta-hardware

@jonathankampia , were you able to first confirm that you can control the gimbal using the actuator test in QGC for the pwm channel 5 (make sure to remove propellers for testing, just in case)? it should work just like any other pwm channel, i am assuming you already have channels 1-4 already set up and working with ESCs?

If PWM actuator test is working through QGC, then you have VOXL2 IO board set up correctly and the rest of the logic for actually driving the pwm signal should be the same as for regular PX4 drone (which does not use VOXL).

At the end of the day, the VOXL2 IO driver receives 8 channel values from the mixer and just sends the desired pwm values out to the VOXL2 IO board. All the logic above the mixer is standard PX4 and if you have a question about that, you can also try the PX4 forum (since we are not necessarily the best PX4 experts).

You can try your python script, make sure propellers are off until you know exactly what you are doing and are ready to fly 🙂

Alex

@jonathankampia Edit: managed to fix it by disabling voxl-configure-modem and manually setting the IP of the eth0 interface. I guess 'eth1' is the J11 connector then.

@Zachary-Lowell-0 Hi, sorry for the late reply. This was the issue (lol)

@Alex-Kushleyev I never uploaded any parameters, just used both escs out of the box. maybe that caused the issue?

@jonathankampia Yes, it would require modifying the "tones" in whichever esc param file you're using. For example for starling 2 it is defined here: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-params/D0014_starling_1504_3000kv_ms_props/D0014_starling_1504_3000kv_ms_props.xml?ref_type=heads#L90

@jonathankampia Yes, both qmc5883l and ist8310 are supported now.

@Eric-Katzfey The EKF2_EV_CTRL param is set to 15 bits (all enabled). We don't have any cameras on the drone at the moment, though. Could that be introducing issues in the EKF2 and causing it to reset? I'll try disabling all vision stuff and see if it works different.