Posts made by psafi

what kind of dimensional tolerances are acceptable when configuring the extrinsics for VIO when building a custom vehicle?

@psafi said in GPIO missing in /sys/class/gpio:

@Alex-Kushleyev Thank you!
I understand these ports are intended for RC input and QUP7 is connected directly to the DSP. I am considering these ports to connect a SiK radio (data format can be raw or mavlink). I want to make information coming through the radio available to ROS and PX4 at the same time. Can I use this port at all for application running on linux or is this only available to voxl-px4?

I am already using the External UART (J10) for another MAVLink device (optical flow sensor board) which is currently configured and working with PX4 (I don't need to intercept that one on the linux side). Would it be possible to connect my serial radio to J10 and switch my optical flow to J19 (and configure PX4 to read MAVLink from J19-10,11)?

@Alex-Kushleyev Thank you!
I understand these ports are intended for RC input and QUP7 is connected directly to the DSP. I am considering these ports to connect a SiK radio (data format can be raw or mavlink). I want to make information coming through the radio available to ROS and PX4 at the same time. Can I use this port at all for application running on linux or is this only available to voxl-px4?

@psafi I was able to use the info in the link below to enable the GPIO pin

https://forum.modalai.com/post/3656

I'm trying to connect a serial device to J19 (Pin10, 11)

voxl-gpio read 179 
ERROR:   Failed to open path /sys/class/gpio/gpio1279/value

I don't see GPIO 178 and 179 on my system:

@Eric-Katzfey I did the systemctl stop and started service again. I guess rebooting the board earlier did not have the same effect. The compass calibration in Q is working now (no more "no mag found" error) which I guess it means the mag is working now and our gps is working too.

here is the output of voxl-p4 -d by the way:

INFO  [qshell] Send cmd: 'lis3mdl start -R 10 -X -b 1'
INFO  [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] [qshell] qshell gotten: lis3mdl start -R 10 -X -b 1
INFO  [muorb] [qshell]   arg0 = 'lis3mdl'
INFO  [muorb] [qshell]   arg1 = 'start'
INFO  [muorb] [qshell]   arg2 = '-R'
INFO  [muorb] [qshell]   arg3 = '10'
INFO  [muorb] [qshell]   arg4 = '-X'
INFO  [muorb] [qshell]   arg5 = '-b'
INFO  [muorb] [qshell]   arg6 = '1'
INFO  [muorb] [drivers__device] *** I2C Device ID 0x51e09 335369
INFO  [muorb] [drivers__device] Set up I2C bus mutex for bus 1
INFO  [muorb] lis3mdl #0 on I2C bus 1
INFO  [muorb]  (external)
INFO  [muorb]  address 0x1E
INFO  [muorb]  rotation 10
INFO  [muorb] 

INFO  [muorb] [qshell] Ok executing command: lis3mdl start -R 10 -X -b 1

@Eric-Katzfey by installing debian package and I got output similar to this after installation:
https://gitlab.com/voxl-public/voxl-sdk/services/voxl-px4#deployment

@Eric-Katzfey I did that and was able to build and install new px4. Thank you!

Sill not detecting lis3mdl module on the px4 side.

I tried adding the following to /usr/bin/voxl-px4-start

qshell lis3mdl start -R 10 -X -b 1

but I think that causes px4 service fail to start. Not sure if that means the module has not been successfully added to voxl-px4 or some other issue.

Are there any steps I need to take besides adding sensor name to default.px4board file?

@Eric-Katzfey I am able to build voxl-px4 now.

I am following instructions outlined here to add this magnetometer:
https://forum.modalai.com/post/16770

I am adding following line:

CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y

to this file:
https://github.com/modalai/px4-firmware/blob/voxl-dev/boards/modalai/voxl2-slpi/default.px4board

when I attempt to build px4 I get the following error from the driver module:

@Eric-Katzfey Ok great. This is working now. It would be great if you can give me some idea of the underlying architecture for troubleshooting in the future and also making sure this is not going to have any side effects on the entire system. What is the role of voxl-mavlink-server in all of this? I understand we are telling voxl-px4 to expect mavlink messages on ttyHS0.

I see messages 132 and 106 start showing up in output of "mavlink-server -k" which is "show debug info on messages coming from autopilot" and they stop showing up when I unplug the sensor. It'd be great if you can give me some idea of flow of information.

@Eric-Katzfey I am Alex's co-worker and helping with the building the magnetometer's driver into PX4.

I am following instructions outlined here: https://gitlab.com/voxl-public/rb5-flight/rb5-flight-px4-build-docker#install-qualcomm-package-manager

I am having hard time downloading the hexagon SDK from qualcomm. I see v3.1 is available on your website. Am I going to need 4.X or I can use 3.1

@Eric-Katzfey My expectation is that I am going to receive mavlink messages from it. There is no driver for this product in mainstream PX4. I have never integrated UART version only CAN (which was plug and play with px4, i.e. I was receiving DISTANCE_SENSOR message with some parameter configuration). UART version should technically work the same from software standpoint since it is going to send mavlink messages. I guess the title of my post might be misleading. I am trying to integrate a "mavlink" device and I want it to connect to VOXL over UART.

@Eric-Katzfey ARK FLOW with some customization to enable UART

I have a UART distance sensor from ARK Electronics that I'd like to integrate with VOXL 2 mini. First of all I have a question on wiring: Can this be wired to J10 on VOXL or it has to be connected to an expansion board (we have M0188)? and second question is do I need to add driver to voxl-px4 for this sensor to work?