Posts made by ravi

ravi · 2 Apr 2025, 17:02

HI, this seems mainline px4 build has no support for septentrio GNSS drive.
I tried to enable from px4-firmware config.
CONFIG_DRIVERS_GNSS_SEPTENTRIO=y

But getting error as below. Can you look into it and suggest the solution?

root@5367fe896de8:/usr/local/workspace# ./build.sh 
+ echo '*** Starting build ***'
*** Starting build ***
+ source /home/build-env.sh
++ source /home/4.1.0.4/setup_sdk_env.source
+++ '[' -n '' ']'
+++ echo ''

+++ echo Setting up the Hexagon SDK environment locally
Setting up the Hexagon SDK environment locally
+++++ dirname /home/4.1.0.4/setup_sdk_env.source
++++ cd /home/4.1.0.4
++++ pwd
+++ DIR=/home/4.1.0.4
+++ export HEXAGON_SDK_ROOT=/home/4.1.0.4
+++ HEXAGON_SDK_ROOT=/home/4.1.0.4
+++ '[' -n '' ']'
+++ export ANDROID_ROOT_DIR=/home/4.1.0.4/tools/android-ndk-r19c
+++ ANDROID_ROOT_DIR=/home/4.1.0.4/tools/android-ndk-r19c
+++ export QNX_HOST=/home/4.1.0.4/tools/qnx/qnx_700/host/linux/x86_64/
+++ QNX_HOST=/home/4.1.0.4/tools/qnx/qnx_700/host/linux/x86_64/
+++ export QNX_TARGET=/home/4.1.0.4/tools/qnx/qnx_700/target/qnx7/
+++ QNX_TARGET=/home/4.1.0.4/tools/qnx/qnx_700/target/qnx7/
+++ echo HEXAGON_SDK_ROOT is : /home/4.1.0.4
HEXAGON_SDK_ROOT is : /home/4.1.0.4
+++ export SDK_SETUP_ENV=Done
+++ SDK_SETUP_ENV=Done
+++ export LD_LIBRARY_PATH=:/home/4.1.0.4/tools/libusb/
+++ LD_LIBRARY_PATH=:/home/4.1.0.4/tools/libusb/
+++ export DEFAULT_HEXAGON_TOOLS_ROOT=/home/4.1.0.4/tools/HEXAGON_Tools/8.4.05
+++ DEFAULT_HEXAGON_TOOLS_ROOT=/home/4.1.0.4/tools/HEXAGON_Tools/8.4.05
+++ export DEFAULT_DSP_ARCH=v65
+++ DEFAULT_DSP_ARCH=v65
+++ export DEFAULT_BUILD=ReleaseG
+++ DEFAULT_BUILD=ReleaseG
+++ export DEFAULT_HLOS_ARCH=64
+++ DEFAULT_HLOS_ARCH=64
+++ export DEFAULT_TOOLS_VARIANT=toolv84
+++ DEFAULT_TOOLS_VARIANT=toolv84
+++ export DEFAULT_NO_QURT_INC=1
+++ DEFAULT_NO_QURT_INC=1
+++ export DEFAULT_TREE=1
+++ DEFAULT_TREE=1
+++ export CMAKE_ROOT_PATH=/home/4.1.0.4/tools/utils/cmake-3.17.0-Linux-x86_64
+++ CMAKE_ROOT_PATH=/home/4.1.0.4/tools/utils/cmake-3.17.0-Linux-x86_64
+++ echo 'Setting up the QAIC binary for the platform'
Setting up the QAIC binary for the platform
+++ make -C /home/4.1.0.4/ipc/fastrpc/qaic/
make: Entering directory '/home/4.1.0.4/ipc/fastrpc/qaic'
make: 'bin/qaic' is up to date.
make: Leaving directory '/home/4.1.0.4/ipc/fastrpc/qaic'
+++ '[' -d /home/4.1.0.4/tools/android-ndk-r19c ']'
+++ echo 'Could not find Androd ndk at /home/4.1.0.4/tools/android-ndk-r19c'
Could not find Androd ndk at /home/4.1.0.4/tools/android-ndk-r19c
+++ export WARNING=1
+++ WARNING=1
+++ '[' -d /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05 ']'
+++ true
+++ '[' -n 1 ']'
+++ echo ''

+++ echo 'Please refer to /home/4.1.0.4/docs/tools/setup.html for installing the missed components'
Please refer to /home/4.1.0.4/docs/tools/setup.html for installing the missed components
+++ echo ''

++ export ARM_CROSS_GCC_ROOT=/home/4.1.0.4/tools/linaro64
++ ARM_CROSS_GCC_ROOT=/home/4.1.0.4/tools/linaro64
++ export HEXAGON_ARM_SYSROOT=/home/4.1.0.4/tools/linaro64/aarch64-linux-gnu/libc
++ HEXAGON_ARM_SYSROOT=/home/4.1.0.4/tools/linaro64/aarch64-linux-gnu/libc
++ export HEXAGON_TOOLS_ROOT=/home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools
++ HEXAGON_TOOLS_ROOT=/home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools
+ export PATH=/home/4.1.0.4/tools/linaro64/bin:/home/4.1.0.4/tools/linaro64/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
+ PATH=/home/4.1.0.4/tools/linaro64/bin:/home/4.1.0.4/tools/linaro64/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
+ APPS_BUILD=ON
+ SLPI_BUILD=ON
+ DEPS_BUILD=ON
+ getopts asd flag
+ cd px4-firmware
+ '[' ON == ON ']'
+ echo '*** Starting dependencies build ***'
*** Starting dependencies build ***
+ ./boards/modalai/voxl2/scripts/build-deps.sh
-- The C compiler identification is GNU 7.5.0
-- The CXX compiler identification is GNU 9.4.0
-- Check for working C compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc
-- Check for working C compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Configuring done
-- Generating done
-- Build files have been written to: /usr/local/workspace/px4-firmware/boards/modalai/voxl2/libfc-sensor-api/build
Scanning dependencies of target fc_sensor
[ 50%] Building C object CMakeFiles/fc_sensor.dir/src/fc_sensor_stub.c.o
[100%] Linking C shared library libfc_sensor.so
[100%] Built target fc_sensor
+ echo '*** End of dependencies build ***'
*** End of dependencies build ***
+ '[' ON == ON ']'
+ echo '*** Starting apps processor build ***'
*** Starting apps processor build ***
+ make modalai_voxl2
-- PX4_GIT_TAG: v1.16.0-alpha2-379-g5fb810a5ea
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") 
-- PX4 config file: /usr/local/workspace/px4-firmware/boards/modalai/voxl2/default.px4board
-- PLATFORM posix
-- LINUX_TARGET y
-- TOOLCHAIN aarch64-linux-gnu
-- ROMFSROOT px4fmu_common
-- ROOT_PATH /data/px4
-- PARAM_FILE /fs/mtd_params
-- PX4 config: modalai_voxl2_default
-- PX4 platform: posix
-- PX4 lockstep: disabled
-- The CXX compiler identification is GNU 7.5.0
-- The C compiler identification is GNU 7.5.0
-- The ASM compiler identification is GNU
-- Found assembler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc
-- Check for working CXX compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-g++
-- Check for working CXX compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-g++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Check for working C compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc
-- Check for working C compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- cmake build type: RelWithDebInfo
-- ccache enabled (export CCACHE_DISABLE=1 to disable)
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/linux_pwm_out/module.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/pca9685_pwm_out/module.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/pwm_out/module.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/modules/simulation/pwm_out_sim/module_hil.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/modules/simulation/pwm_out_sim/module_sim.yaml for VOXL2
-- Skipping spacecraft file path /usr/local/workspace/px4-firmware/src/modules/spacecraft/module.yaml for VOXL2
-- ROMFS: ROMFS/px4fmu_common
Architecture:  amd64
==> CPACK_INSTALL_PREFIX = @DEB_INSTALL_PREFIX@
-- Configuring done
-- Generating done
-- Build files have been written to: /usr/local/workspace/px4-firmware/build/modalai_voxl2_default
[1/626] git submodule src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client
[4/626] git submodule src/drivers/gps/devices
[9/626] git submodule src/modules/mavlink/mavlink
[54/626] Performing configure step for 'libmicroxrceddsclient_project'
-- libmicroxrceddsclient_project configure command succeeded.  See also /usr/local/workspace/px4-firmware/build/modalai_voxl2_default/src/modules/uxrce_dds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-configure-*.log
[103/626] Performing build step for 'libmicroxrceddsclient_project'
-- libmicroxrceddsclient_project build command succeeded.  See also /usr/local/workspace/px4-firmware/build/modalai_voxl2_default/src/modules/uxrce_dds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-build-*.log
[284/626] Performing install step for 'libmicroxrceddsclient_project'
-- libmicroxrceddsclient_project install command succeeded.  See also /usr/local/workspace/px4-firmware/build/modalai_voxl2_default/src/modules/uxrce_dds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-install-*.log
[381/626] Building CXX object src/drivers/gnss/septentrio/CMakeFiles/driver__septentrio.dir/septentrio.cpp.o
FAILED: src/drivers/gnss/septentrio/CMakeFiles/driver__septentrio.dir/septentrio.cpp.o 
/usr/bin/ccache /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-g++  -DCONFIG_ARCH_BOARD_MODALAI_VOXL2 -DMODULE_NAME=\"septentrio\" -DPX4_MAIN=septentrio_app_main -D__CUSTOM_FILE_IO__ -D__PX4_LINUX -D__PX4_POSIX -D__STDC_FORMAT_MACROS -Dnoreturn_function="__attribute__((noreturn))" -I../../boards/modalai/voxl2/src -I../../platforms/posix/src/px4/common/include -I. -Isrc/lib -I../../platforms/posix/src/px4/generic/generic/include -I../../platforms/common -I../../platforms/common/include -I../../src -I../../src/include -I../../src/lib -I../../src/lib/matrix -I../../src/modules -I../../platforms/posix/include -I../../boards/modalai/voxl2/libfc-sensor-api/inc -Iexternal/Install/include -O2 -g -DNDEBUG -fPIC   -g -fdata-sections -ffunction-sections -fomit-frame-pointer -fmerge-all-constants -fno-signed-zeros -fno-trapping-math -freciprocal-math -fno-math-errno -fno-strict-aliasing -fvisibility=hidden -include visibility.h -Wall -Wextra -Werror -Warray-bounds -Wcast-align -Wdisabled-optimization -Wdouble-promotion -Wfatal-errors -Wfloat-equal -Wformat-security -Winit-self -Wlogical-op -Wpointer-arith -Wshadow -Wuninitialized -Wunknown-pragmas -Wunused-variable -Wno-missing-field-initializers -Wno-missing-include-dirs -Wno-unused-parameter -fdiagnostics-color=always -fno-builtin-printf -fno-strength-reduce -Wformat=1 -Wunused-but-set-variable -Wno-format-truncation -fcheck-new -Wreorder -Wno-overloaded-virtual -fno-rtti -DSEP_LOG_ERROR -std=gnu++14 -MD -MT src/drivers/gnss/septentrio/CMakeFiles/driver__septentrio.dir/septentrio.cpp.o -MF src/drivers/gnss/septentrio/CMakeFiles/driver__septentrio.dir/septentrio.cpp.o.d -o src/drivers/gnss/septentrio/CMakeFiles/driver__septentrio.dir/septentrio.cpp.o -c ../../src/drivers/gnss/septentrio/septentrio.cpp
In file included from ../../src/drivers/gnss/septentrio/sbf/decoder.h:46:0,
                 from ../../src/drivers/gnss/septentrio/septentrio.h:63,
                 from ../../src/drivers/gnss/septentrio/septentrio.cpp:44:
../../src/drivers/gnss/septentrio/sbf/messages.h:101:21: error: 'septentrio::sbf::Header::id_number' is too small to hold all values of 'enum class septentrio::sbf::BlockID' [-Werror]
  BlockID id_number: 13;
                     ^~
compilation terminated due to -Wfatal-errors.
cc1plus: all warnings being treated as errors
[384/626] Building CXX object src/drivers/gnss/septentrio/CMakeFiles/driver__septentrio.dir/sbf/decoder.cpp.o
FAILED: src/drivers/gnss/septentrio/CMakeFiles/driver__septentrio.dir/sbf/decoder.cpp.o 
/usr/bin/ccache /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-g++  -DCONFIG_ARCH_BOARD_MODALAI_VOXL2 -DMODULE_NAME=\"septentrio\" -DPX4_MAIN=septentrio_app_main -D__CUSTOM_FILE_IO__ -D__PX4_LINUX -D__PX4_POSIX -D__STDC_FORMAT_MACROS -Dnoreturn_function="__attribute__((noreturn))" -I../../boards/modalai/voxl2/src -I../../platforms/posix/src/px4/common/include -I. -Isrc/lib -I../../platforms/posix/src/px4/generic/generic/include -I../../platforms/common -I../../platforms/common/include -I../../src -I../../src/include -I../../src/lib -I../../src/lib/matrix -I../../src/modules -I../../platforms/posix/include -I../../boards/modalai/voxl2/libfc-sensor-api/inc -Iexternal/Install/include -O2 -g -DNDEBUG -fPIC   -g -fdata-sections -ffunction-sections -fomit-frame-pointer -fmerge-all-constants -fno-signed-zeros -fno-trapping-math -freciprocal-math -fno-math-errno -fno-strict-aliasing -fvisibility=hidden -include visibility.h -Wall -Wextra -Werror -Warray-bounds -Wcast-align -Wdisabled-optimization -Wdouble-promotion -Wfatal-errors -Wfloat-equal -Wformat-security -Winit-self -Wlogical-op -Wpointer-arith -Wshadow -Wuninitialized -Wunknown-pragmas -Wunused-variable -Wno-missing-field-initializers -Wno-missing-include-dirs -Wno-unused-parameter -fdiagnostics-color=always -fno-builtin-printf -fno-strength-reduce -Wformat=1 -Wunused-but-set-variable -Wno-format-truncation -fcheck-new -Wreorder -Wno-overloaded-virtual -fno-rtti -DSEP_LOG_ERROR -std=gnu++14 -MD -MT src/drivers/gnss/septentrio/CMakeFiles/driver__septentrio.dir/sbf/decoder.cpp.o -MF src/drivers/gnss/septentrio/CMakeFiles/driver__septentrio.dir/sbf/decoder.cpp.o.d -o src/drivers/gnss/septentrio/CMakeFiles/driver__septentrio.dir/sbf/decoder.cpp.o -c ../../src/drivers/gnss/septentrio/sbf/decoder.cpp
In file included from ../../src/drivers/gnss/septentrio/sbf/decoder.h:46:0,
                 from ../../src/drivers/gnss/septentrio/sbf/decoder.cpp:42:
../../src/drivers/gnss/septentrio/sbf/messages.h:101:21: error: 'septentrio::sbf::Header::id_number' is too small to hold all values of 'enum class septentrio::sbf::BlockID' [-Werror]
  BlockID id_number: 13;
                     ^~
compilation terminated due to -Wfatal-errors.
cc1plus: all warnings being treated as errors
[386/626] Building CXX object src/drivers/actuators/voxl_esc/CMakeFiles/drivers__actuators__voxl_esc.dir/voxl_esc.cpp.o
ninja: build stopped: subcommand failed.
make: *** [Makefile:232: modalai_voxl2] Error 1
+ cat build/modalai_voxl2_default/src/lib/version/build_git_version.h

/* Auto Magically Generated file */
/* Do not edit! */
#pragma once

#define PX4_GIT_VERSION_STR "5fb810a5ea0bf6c8d9e0f69251a44ad8e3d4b2ce"
#define PX4_GIT_VERSION_BINARY 0x5fb810a5ea0bf6c8
#define PX4_GIT_TAG_STR "v1.16.0-alpha2-379-g5fb810a5ea"
#define PX4_GIT_BRANCH_NAME ""

#define PX4_GIT_OEM_VERSION_STR  ""

#define PX4_GIT_TAG_OR_BRANCH_NAME "main" // special variable: git tag, release or main branch

#define MAVLINK_LIB_GIT_VERSION_STR  "8690e10164da864d7d36a3daad5547662e7a4103"
#define MAVLINK_LIB_GIT_VERSION_BINARY 0x8690e10164da864d

#define NUTTX_GIT_VERSION_STR  "205b3100f8f63944a45faa5cfb5d3f86e904ee59"
#define NUTTX_GIT_VERSION_BINARY 0x205b3100f8f63944
#define NUTTX_GIT_TAG_STR  "v11.0.0"
+ echo '*** End of apps processor build ***'
*** End of apps processor build ***
+ '[' ON == ON ']'
+ echo '*** Starting qurt slpi build ***'
*** Starting qurt slpi build ***
+ make modalai_voxl2-slpi
-- PX4_GIT_TAG: v1.16.0-alpha2-379-g5fb810a5ea
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") 
-- PX4 config file: /usr/local/workspace/px4-firmware/boards/modalai/voxl2-slpi/default.px4board
-- PLATFORM qurt
-- TOOLCHAIN qurt
-- ROMFSROOT px4fmu_common
-- ROOT_PATH /fs/microsd
-- PARAM_FILE /fs/mtd_params
-- PX4 config: modalai_voxl2-slpi_default
-- PX4 platform: qurt
-- The CXX compiler identification is Clang 10.0.0
-- The C compiler identification is Clang 10.0.0
-- The ASM compiler identification is unknown
-- Found assembler: /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang
-- Check for working CXX compiler: /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang++
-- Check for working CXX compiler: /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - failed
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Check for working C compiler: /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang
-- Check for working C compiler: /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - failed
-- Detecting C compile features
-- Detecting C compile features - done
-- Warning: Did not find file Compiler/-ASM
-- cmake build type: RelWithDebInfo
-- ccache enabled (export CCACHE_DISABLE=1 to disable)
-- Mavlink include directory: /usr/local/workspace/px4-firmware/../build/modalai_voxl2_default/mavlink/standard
-- Mavlink include directory: /usr/local/workspace/px4-firmware/../build/modalai_voxl2_default/mavlink/common
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/linux_pwm_out/module.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/pca9685_pwm_out/module.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/pwm_out/module.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/modules/simulation/pwm_out_sim/module_hil.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/modules/simulation/pwm_out_sim/module_sim.yaml for VOXL2
-- Skipping spacecraft file path /usr/local/workspace/px4-firmware/src/modules/spacecraft/module.yaml for VOXL2
Architecture:  amd64
==> CPACK_INSTALL_PREFIX = @DEB_INSTALL_PREFIX@
-- Configuring done
-- Generating done
-- Build files have been written to: /usr/local/workspace/px4-firmware/build/modalai_voxl2-slpi_default
[0/746] git submodule src/drivers/gps/devices
[746/746] Linking CXX shared library platforms/qurt/libpx4.so
+ cat build/modalai_voxl2-slpi_default/src/lib/version/build_git_version.h
cat: build/modalai_voxl2-slpi_default/src/lib/version/build_git_version.h: No such file or directory
+ echo '*** End of qurt slpi build ***'
*** End of qurt slpi build ***
+ cd -
/usr/local/workspace
++ stat -c %u .git/modules/px4-firmware
+ USER=1000
+ echo 'User ID is 1000'
User ID is 1000
+ chown -R 1000 .git/modules/px4-firmware
++ stat -c %g .git/modules/px4-firmware
+ GROUP=1000
+ echo 'Group ID is 1000'
Group ID is 1000
+ chgrp -R 1000 .git/modules/px4-firmware
+ echo '*** End of build ***'
*** End of build ***
root@5367fe896de8:/usr/local/workspace#

Thank you.

ravi · 20 Feb 2025, 18:37

@Eric-Katzfey

Yes, seems working. no error.
Thanks.

ravi · 20 Feb 2025, 16:40

@Eric-Katzfey

Hi

I tried to install px4 deb but getting error.
I also tried disabling px4 service and install. but getting same error.
Error is as below.

voxl2:~$ sudo dpkg -i voxl-mainline-px4_1.15.2-202502041627_arm64.deb
(Reading database ... 105295 files and directories currently installed.)
Preparing to unpack voxl-mainline-px4_1.15.2-202502041627_arm64.deb ...
Unpacking voxl-mainline-px4 (1.15.2-202502041627) ...
dpkg: error processing archive voxl-mainline-px4_1.15.2-202502041627_arm64.deb (--install):
 trying to overwrite '/data/px4/etc/extras/actuators.json.xz', which is also in package voxl-px4 1.14.0-2.0.85
dpkg-deb (subprocess): decompressing archive member: lzma write error: Broken pipe
dpkg-deb (subprocess): cannot copy archive member from 'voxl-mainline-px4_1.15.2-202502041627_arm64.deb' to decompressor pipe: failed to write (Broken pipe)
dpkg-deb: error: <decompress> subprocess returned error exit status 2
Errors were encountered while processing:
 voxl-mainline-px4_1.15.2-202502041627_arm64.deb

ravi · 12 Feb 2025, 17:31

@Moderator

Hi,

We want to use a septentrio GNSS / GPS receiver module with VOXL2.
seems it needs some driver update: https://docs.px4.io/main/en/gps_compass/septentrio.html
VOXL-PX4 is using "voxl-dev" px4-firmware which doesn't have gnss/septentrio support yet.

Which is already available in the "main" branch of px4-firmware: https://github.com/modalai/px4-firmware/tree/main/src/drivers/gnss/septentrio.

can I get any info on when we can get it Or brief details like how I can add and build it?
and add support.

Thank you.

ravi · 11 Feb 2025, 18:44

Hi @Eric-Katzfey

yes, i can see

lrwxrwxrwx 1 1000 1000         7 Feb 11 16:00 hexagon-link -> ld.qcld

and also

-rw-rw-rw- 1 1000 1000  46687200 Feb 11 16:00 ld.qcld

So it seems " ld.qcld'" is not executable.
then I made it executable using.
"chmod +x /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/ld.qcld"

Then, it seems the voxl-PX4 build is working.

Thank you for the help.

root@798402fd070f:/usr/local/workspace# ./build.sh
*** Starting build ***

Setting up the Hexagon SDK environment locally
HEXAGON_SDK_ROOT is : /home/4.1.0.4
Setting up the QAIC binary for the platform
make: Entering directory '/home/4.1.0.4/ipc/fastrpc/qaic'
make: 'bin/qaic' is up to date.
make: Leaving directory '/home/4.1.0.4/ipc/fastrpc/qaic'
Could not find Androd ndk at /home/4.1.0.4/tools/android-ndk-r19c

Please refer to /home/4.1.0.4/docs/tools/setup.html for installing the missed components

*** Starting dependencies build ***
-- The C compiler identification is GNU 7.5.0
-- The CXX compiler identification is GNU 9.4.0
-- Check for working C compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc
-- Check for working C compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Configuring done
-- Generating done
-- Build files have been written to: /usr/local/workspace/px4-firmware/boards/modalai/voxl2/libfc-sensor-api/build
Scanning dependencies of target fc_sensor
[ 50%] Building C object CMakeFiles/fc_sensor.dir/src/fc_sensor_stub.c.o
[100%] Linking C shared library libfc_sensor.so
[100%] Built target fc_sensor
*** End of dependencies build ***
*** Starting apps processor build ***
-- PX4 version: v1.14.0-2.0.94-dev (1.14.0)
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") 
-- PX4 config file: /usr/local/workspace/px4-firmware/boards/modalai/voxl2/default.px4board
-- PLATFORM posix
-- LINUX_TARGET y
-- TOOLCHAIN aarch64-linux-gnu
-- ROMFSROOT px4fmu_common
-- ROOTFSDIR /data/px4
-- PX4 config: modalai_voxl2_default
-- PX4 platform: posix
-- PX4 lockstep: disabled
-- The CXX compiler identification is GNU 7.5.0
-- The C compiler identification is GNU 7.5.0
-- The ASM compiler identification is GNU
-- Found assembler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc
-- Check for working CXX compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-g++
-- Check for working CXX compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-g++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Check for working C compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc
-- Check for working C compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- cmake build type: RelWithDebInfo
-- ccache enabled (export CCACHE_DISABLE=1 to disable)
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/linux_pwm_out/module.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/pca9685_pwm_out/module.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/pwm_out/module.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/modules/simulation/pwm_out_sim/module_hil.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/modules/simulation/pwm_out_sim/module_sim.yaml for VOXL2
-- ROMFS: ROMFS/px4fmu_common
Architecture:  amd64
==> CPACK_INSTALL_PREFIX = @DEB_INSTALL_PREFIX@
-- Configuring done
-- Generating done
-- Build files have been written to: /usr/local/workspace/px4-firmware/build/modalai_voxl2_default
[0/562] git submodule src/modules/microdds_client/Micro-XRCE-DDS-Client
[2/562] git submodule src/drivers/gps/devices
[6/562] git submodule src/modules/mavlink/mavlink
[64/562] Performing configure step for 'libmicroxrceddsclient_project'
-- libmicroxrceddsclient_project configure command succeeded.  See also /usr/local/workspace/px4-firmware/build/modalai_voxl2_default/src/modules/microdds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-configure-*.log
[555/562] Performing build step for 'libmicroxrceddsclient_project'
-- libmicroxrceddsclient_project build command succeeded.  See also /usr/local/workspace/px4-firmware/build/modalai_voxl2_default/src/modules/microdds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-build-*.log
[556/562] Performing install step for 'libmicroxrceddsclient_project'
-- libmicroxrceddsclient_project install command succeeded.  See also /usr/local/workspace/px4-firmware/build/modalai_voxl2_default/src/modules/microdds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-install-*.log
[562/562] Linking CXX executable bin/px4

/* Auto Magically Generated file */
/* Do not edit! */
#pragma once

#define PX4_GIT_VERSION_STR "5e6a8c257371b6c45e55662daac5fe9fbd08040b"
#define PX4_GIT_VERSION_BINARY 0x5e6a8c257371b6c4
#define PX4_GIT_TAG_STR "v1.14.0-2.0.94-dev-dirty"
#define PX4_GIT_BRANCH_NAME ""

#define PX4_GIT_OEM_VERSION_STR  ""

#define PX4_GIT_TAG_OR_BRANCH_NAME "v1.14.0-2.0.94-dev-dirty" // special variable: git tag, release or master branch

#define MAVLINK_LIB_GIT_VERSION_STR  "3ee5382d0c96134b0e1c250d8c2d54bfed0166fa"
#define MAVLINK_LIB_GIT_VERSION_BINARY 0x3ee5382d0c96134b

#define NUTTX_GIT_VERSION_STR  "3f77354c0dc88793a47ff3b57595195ab45f7ba9"
#define NUTTX_GIT_VERSION_BINARY 0x3f77354c0dc88793
#define NUTTX_GIT_TAG_STR  "v11.0.0"
*** End of apps processor build ***
*** Starting qurt slpi build ***
-- PX4 version: v1.14.0-2.0.94-dev (1.14.0)
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") 
-- PX4 config file: /usr/local/workspace/px4-firmware/boards/modalai/voxl2-slpi/default.px4board
-- PLATFORM qurt
-- TOOLCHAIN qurt
-- ROMFSROOT px4fmu_common
-- PX4 config: modalai_voxl2-slpi_default
-- PX4 platform: qurt
-- The CXX compiler identification is Clang 10.0.0
-- The C compiler identification is Clang 10.0.0
-- The ASM compiler identification is unknown
-- Found assembler: /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang
-- Check for working CXX compiler: /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang++
-- Check for working CXX compiler: /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - failed
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Check for working C compiler: /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang
-- Check for working C compiler: /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - failed
-- Detecting C compile features
-- Detecting C compile features - done
-- Warning: Did not find file Compiler/-ASM
-- cmake build type: RelWithDebInfo
-- ccache enabled (export CCACHE_DISABLE=1 to disable)
-- Mavlink include directory: /usr/local/workspace/px4-firmware/../build/modalai_voxl2_default/mavlink/standard
-- Mavlink include directory: /usr/local/workspace/px4-firmware/../build/modalai_voxl2_default/mavlink/common
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/linux_pwm_out/module.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/pca9685_pwm_out/module.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/pwm_out/module.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/modules/simulation/pwm_out_sim/module_hil.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/modules/simulation/pwm_out_sim/module_sim.yaml for VOXL2
Architecture:  amd64
==> CPACK_INSTALL_PREFIX = @DEB_INSTALL_PREFIX@
-- Configuring done
-- Generating done
-- Build files have been written to: /usr/local/workspace/px4-firmware/build/modalai_voxl2-slpi_default
[0/724] git submodule src/drivers/gps/devices
[724/724] Linking CXX shared library platforms/qurt/libpx4.so

/* Auto Magically Generated file */
/* Do not edit! */
#pragma once

#define PX4_GIT_VERSION_STR "5e6a8c257371b6c45e55662daac5fe9fbd08040b"
#define PX4_GIT_VERSION_BINARY 0x5e6a8c257371b6c4
#define PX4_GIT_TAG_STR "v1.14.0-2.0.94-dev-dirty"
#define PX4_GIT_BRANCH_NAME ""

#define PX4_GIT_OEM_VERSION_STR  ""

#define PX4_GIT_TAG_OR_BRANCH_NAME "v1.14.0-2.0.94-dev-dirty" // special variable: git tag, release or master branch

#define MAVLINK_LIB_GIT_VERSION_STR  "3ee5382d0c96134b0e1c250d8c2d54bfed0166fa"
#define MAVLINK_LIB_GIT_VERSION_BINARY 0x3ee5382d0c96134b

#define NUTTX_GIT_VERSION_STR  "3f77354c0dc88793a47ff3b57595195ab45f7ba9"
#define NUTTX_GIT_VERSION_BINARY 0x3f77354c0dc88793
#define NUTTX_GIT_TAG_STR  "v11.0.0"
*** End of qurt slpi build ***
/usr/local/workspace
User ID is 1000
Group ID is 1000
*** End of build ***
root@798402fd070f:/usr/local/workspace# ls

ravi · 11 Feb 2025, 17:56

@Eric-Katzfey

please find the ls output

root@798402fd070f:/usr/local/workspace# ls -l /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin
total 1163652
-rwxrwxrwx 1 1000 1000     51542 Feb 11 15:59 YAMLMapParser.py
lrwxrwxrwx 1 1000 1000         8 Feb 11 16:00 clang -> clang-10
-rwxrwxrwx 1 1000 1000 101061712 Feb 11 16:00 clang-10
-rwxrwxrwx 1 1000 1000   2700800 Feb 11 16:00 clang-apply-replacements
-rwxrwxrwx 1 1000 1000  31329968 Feb 11 16:01 clang-change-namespace
-rwxrwxrwx 1 1000 1000  63259784 Feb 11 16:01 clang-check
-rwxrwxrwx 1 1000 1000  29689544 Feb 11 16:00 clang-extdef-mapping
-rwxrwxrwx 1 1000 1000  30458768 Feb 11 16:01 clang-include-fixer
-rwxrwxrwx 1 1000 1000   4687208 Feb 11 16:00 clang-offload-bundler
-rwxrwxrwx 1 1000 1000  32786688 Feb 11 16:02 clang-query
-rwxrwxrwx 1 1000 1000  30623376 Feb 11 16:00 find-all-symbols
-rwxrwxrwx 1 1000 1000    300632 Feb 11 16:01 hexagon-addr2line
-rwxrwxrwx 1 1000 1000    652176 Feb 11 16:00 hexagon-analyzer-backend
lrwxrwxrwx 1 1000 1000         7 Feb 11 16:00 hexagon-ar -> llvm-ar
lrwxrwxrwx 1 1000 1000        12 Feb 11 16:00 hexagon-c++filt -> llvm-cxxfilt
lrwxrwxrwx 1 1000 1000         8 Feb 11 16:00 hexagon-clang -> clang-10
-rwxrwxrwx 1 1000 1000 101061712 Feb 11 15:59 hexagon-clang++
-rwxrwxrwx 1 1000 1000   2700800 Feb 11 16:00 hexagon-clang-apply-replacements
-rwxrwxrwx 1 1000 1000 101061712 Feb 11 16:01 hexagon-clang-cl
-rwxrwxrwx 1 1000 1000 101061712 Feb 11 16:01 hexagon-clang-cpp
-rwxrwxrwx 1 1000 1000  30459272 Feb 11 16:00 hexagon-clang-doc
-rwxrwxrwx 1 1000 1000   2650104 Feb 11 16:00 hexagon-clang-format
-rwxrwxrwx 1 1000 1000  39048544 Feb 11 16:00 hexagon-clang-import-test
-rwxrwxrwx 1 1000 1000  30458768 Feb 11 16:01 hexagon-clang-include-fixer
-rwxrwxrwx 1 1000 1000  31477312 Feb 11 16:01 hexagon-clang-refactor
-rwxrwxrwx 1 1000 1000  30226616 Feb 11 16:00 hexagon-clang-rename
-rwxrwxrwx 1 1000 1000  30479008 Feb 11 16:01 hexagon-clang-reorder-fields
-rwxrwxrwx 1 1000 1000  29713472 Feb 11 16:00 hexagon-clang-scan-deps
-rwxrwxrwx 1 1000 1000  49359608 Feb 11 16:00 hexagon-clang-tidy
-rwxrwxrwx 1 1000 1000  42697872 Feb 11 16:00 hexagon-clangd
-rwxrwxrwx 1 1000 1000    798360 Feb 11 16:00 hexagon-coverage
lrwxrwxrwx 1 1000 1000        20 Feb 11 16:00 hexagon-elfcopy -> hexagon-llvm-objcopy
-rwxrwxrwx 1 1000 1000    375680 Feb 11 16:01 hexagon-elfcopy-deprecated
-rwxrwxrwx 1 1000 1000     16832 Feb 11 16:00 hexagon-gmon-dump
-rwxrwxrwx 1 1000 1000     21480 Feb 11 16:00 hexagon-gmon-merge
-rwxrwxrwx 1 1000 1000    235496 Feb 11 15:59 hexagon-gprof
lrwxrwxrwx 1 1000 1000         7 Feb 11 16:00 hexagon-link -> ld.qcld
-rwxrwxrwx 1 1000 1000  47836752 Feb 11 16:00 hexagon-llc
-rwxrwxrwx 1 1000 1000    369752 Feb 11 16:01 hexagon-lldb
-rwxrwxrwx 1 1000 1000   2546696 Feb 11 16:00 hexagon-lldb-mi
-rwxrwxrwx 1 1000 1000   6610408 Feb 11 16:00 hexagon-llvm-addr2src
-rwxrwxrwx 1 1000 1000   6530168 Feb 11 16:01 hexagon-llvm-addr2struct
-rwxrwxrwx 1 1000 1000    259000 Feb 11 16:00 hexagon-llvm-config
-rwxrwxrwx 1 1000 1000   3519928 Feb 11 16:00 hexagon-llvm-dis
-rwxrwxrwx 1 1000 1000   6528480 Feb 11 16:00 hexagon-llvm-dwarfdump
-rwxrwxrwx 1 1000 1000   3206256 Feb 11 16:00 hexagon-llvm-mc
-rwxrwxrwx 1 1000 1000   5502416 Feb 11 16:00 hexagon-llvm-objcopy
-rwxrwxrwx 1 1000 1000   7676128 Feb 11 16:00 hexagon-llvm-objdump
-rwxrwxrwx 1 1000 1000   2807152 Feb 11 15:59 hexagon-llvm-profdata
lrwxrwxrwx 1 1000 1000        12 Feb 11 16:00 hexagon-llvm-readelf -> llvm-readobj
-rwxrwxrwx 1 1000 1000    332136 Feb 11 16:00 hexagon-llvm-strings
-rwxrwxrwx 1 1000 1000  29882872 Feb 11 16:00 hexagon-modularize
lrwxrwxrwx 1 1000 1000         7 Feb 11 16:00 hexagon-nm -> llvm-nm
-rwxrwxrwx 1 1000 1000     24264 Feb 11 16:00 hexagon-profiler
lrwxrwxrwx 1 1000 1000         7 Feb 11 16:00 hexagon-ranlib -> llvm-ar
-rwxrwxrwx 1 1000 1000   7587760 Feb 11 16:01 hexagon-readelf
-rwxrwxrwx 1 1000 1000    263528 Feb 11 16:00 hexagon-sim
lrwxrwxrwx 1 1000 1000         9 Feb 11 16:00 hexagon-size -> llvm-size
lrwxrwxrwx 1 1000 1000        20 Feb 11 15:59 hexagon-strings -> hexagon-llvm-strings
-rwxrwxrwx 1 1000 1000    171080 Feb 11 16:01 hexagon-strings-deprecated
lrwxrwxrwx 1 1000 1000        20 Feb 11 16:00 hexagon-strip -> hexagon-llvm-objcopy
-rwxrwxrwx 1 1000 1000    375680 Feb 11 16:00 hexagon-strip-deprecated
-rwxrwxrwx 1 1000 1000      9974 Feb 11 16:00 hmaptool
-rw-rw-rw- 1 1000 1000  46687200 Feb 11 16:00 ld.qcld
-rwxrwxrwx 1 1000 1000   6238888 Feb 11 16:00 llvm-ar
-rwxrwxrwx 1 1000 1000    485096 Feb 11 16:00 llvm-cxxfilt
lrwxrwxrwx 1 1000 1000         7 Feb 11 16:00 llvm-lib -> llvm-ar
-rwxrwxrwx 1 1000 1000   6578800 Feb 11 16:00 llvm-nm
lrwxrwxrwx 1 1000 1000         7 Feb 11 16:00 llvm-ranlib -> llvm-ar
-rwxrwxrwx 1 1000 1000   7587760 Feb 11 16:00 llvm-readobj
-rwxrwxrwx 1 1000 1000   4737296 Feb 11 16:01 llvm-size
-rwxrwxrwx 1 1000 1000   5557112 Feb 11 16:00 llvm-symbolizer
-rwxrwxrwx 1 1000 1000  29882872 Feb 11 16:01 modularize
-rwxrwxrwx 1 1000 1000     39600 Feb 11 16:02 post-process
-rwxrwxrwx 1 1000 1000     56761 Feb 11 16:01 scan-build
-rwxrwxrwx 1 1000 1000      4702 Feb 11 16:00 scan-view
root@798402fd070f:/usr/local/workspace#

ravi · 11 Feb 2025, 16:29

@Moderator

Hi,

I am trying to build voxl-px4 repo.
https://gitlab.com/voxl-public/voxl-sdk/services/voxl-px4.git
For build setup,
I installed voxl-docker and voxl-cross as per - https://docs.modalai.com/voxl-docker-and-cross-installation/
I referred for px4 docker build image, https://gitlab.com/voxl-public/rb5-flight/rb5-flight-px4-build-docker.
according to readme.

I tried to install hexagon SDK 4.1.0.4, using QPM3.
But getting a post script error, every time, I tried with Ubuntu 20.04 and 22.04 also.

Qualcomm(R) Hexagon™ SDK 4.x
Version 4.1.0.4 for Linux

Tool Name: HexagonSDK4.x

Install Summary
Install failed

[Info] : Config File Present

[Info] : Step 1 of 7: Checking environment

[Info] : Step 2 of 7: Checking previous version

[Info] : Step 3 of 7: Checking dependencies

[Info] : Step 4 of 7: Preparing system

[Info] : Step 5 of 7: Extracting files

[Info] : Step 6 of 7: Configuring system

[Error] : Post-install step failed.

Please reach out to the owner of Hexagon SDK 4.x for more assistance.

[Error] Install failed for Qualcomm(R) Hexagon™ SDK 4.x and version 4.1.0.4

But as per thread - https://forum.modalai.com/topic/3079/hexagonsdk4-1-0-4-installation-fails-due-to-erro-on-license-verification?_=1738850535021
I ignored the error and tar it and placed it in rb5-flight-px4-build-docker
and ran setup.sh and build.sh.

it generated the docker image rb5-flight-px4-build-docker
So. currently this much images I have:

ravi@ravipc:~/Desktop/modalai/build_setup/voxl-docker-cross$ voxl-docker -l
REPOSITORY                    TAG       IMAGE ID       CREATED         SIZE
rb5-flight-px4-build-docker   latest    54ba544d5242   5 minutes ago   8.09GB
rb5-flight-px4-build-docker   v1.5      54ba544d5242   5 minutes ago   8.09GB
base-px4-build-docker         v1.4      3095b633bdc3   21 months ago   2.03GB
voxl-cross                    V2.5      63eb2f07ad21   2 years ago     1.55GB
voxl-cross                    latest    63eb2f07ad21   2 years ago     1.55GB
ravi@ravipc:~/Desktop/modalai/build_setup/voxl-docker-cross$

Then I tried to build and got error in building voxl-px4 - https://gitlab.com/voxl-public/voxl-sdk/services/voxl-px4
its log is attached.

root@bf9bfdd9f0e3:/usr/local/workspace# ./build.sh 
*** Starting build ***

Setting up the Hexagon SDK environment locally
HEXAGON_SDK_ROOT is : /home/4.1.0.4
Setting up the QAIC binary for the platform
make: Entering directory '/home/4.1.0.4/ipc/fastrpc/qaic'
make: 'bin/qaic' is up to date.
make: Leaving directory '/home/4.1.0.4/ipc/fastrpc/qaic'
Could not find Androd ndk at /home/4.1.0.4/tools/android-ndk-r19c

Please refer to /home/4.1.0.4/docs/tools/setup.html for installing the missed components

*** Starting dependencies build ***
-- The C compiler identification is GNU 7.5.0
-- The CXX compiler identification is GNU 9.4.0
-- Check for working C compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc
-- Check for working C compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Configuring done
-- Generating done
-- Build files have been written to: /usr/local/workspace/px4-firmware/boards/modalai/voxl2/libfc-sensor-api/build
Scanning dependencies of target fc_sensor
[ 50%] Building C object CMakeFiles/fc_sensor.dir/src/fc_sensor_stub.c.o
[100%] Linking C shared library libfc_sensor.so
[100%] Built target fc_sensor
*** End of dependencies build ***
*** Starting apps processor build ***
-- PX4 version: v1.14.0-2.0.94-dev (1.14.0)
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") 
-- PX4 config file: /usr/local/workspace/px4-firmware/boards/modalai/voxl2/default.px4board
-- PLATFORM posix
-- LINUX_TARGET y
-- TOOLCHAIN aarch64-linux-gnu
-- ROMFSROOT px4fmu_common
-- ROOTFSDIR /data/px4
-- PX4 config: modalai_voxl2_default
-- PX4 platform: posix
-- PX4 lockstep: disabled
-- The CXX compiler identification is GNU 7.5.0
-- The C compiler identification is GNU 7.5.0
-- The ASM compiler identification is GNU
-- Found assembler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc
-- Check for working CXX compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-g++
-- Check for working CXX compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-g++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Check for working C compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc
-- Check for working C compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- cmake build type: RelWithDebInfo
-- ccache enabled (export CCACHE_DISABLE=1 to disable)
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/linux_pwm_out/module.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/pca9685_pwm_out/module.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/pwm_out/module.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/modules/simulation/pwm_out_sim/module_hil.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/modules/simulation/pwm_out_sim/module_sim.yaml for VOXL2
-- ROMFS: ROMFS/px4fmu_common
Architecture:  amd64
==> CPACK_INSTALL_PREFIX = @DEB_INSTALL_PREFIX@
-- Configuring done
-- Generating done
-- Build files have been written to: /usr/local/workspace/px4-firmware/build/modalai_voxl2_default
[0/562] git submodule src/modules/microdds_client/Micro-XRCE-DDS-Client
[2/562] git submodule src/drivers/gps/devices
[4/562] git submodule src/modules/mavlink/mavlink
[259/562] Performing configure step for 'libmicroxrceddsclient_project'
-- libmicroxrceddsclient_project configure command succeeded.  See also /usr/local/workspace/px4-firmware/build/modalai_voxl2_default/src/modules/microdds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-configure-*.log
[416/562] Performing build step for 'libmicroxrceddsclient_project'
-- libmicroxrceddsclient_project build command succeeded.  See also /usr/local/workspace/px4-firmware/build/modalai_voxl2_default/src/modules/microdds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-build-*.log
[425/562] Performing install step for 'libmicroxrceddsclient_project'
-- libmicroxrceddsclient_project install command succeeded.  See also /usr/local/workspace/px4-firmware/build/modalai_voxl2_default/src/modules/microdds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-install-*.log
[562/562] Linking CXX executable bin/px4

/* Auto Magically Generated file */
/* Do not edit! */
#pragma once

#define PX4_GIT_VERSION_STR "5e6a8c257371b6c45e55662daac5fe9fbd08040b"
#define PX4_GIT_VERSION_BINARY 0x5e6a8c257371b6c4
#define PX4_GIT_TAG_STR "v1.14.0-2.0.94-dev-dirty"
#define PX4_GIT_BRANCH_NAME ""

#define PX4_GIT_OEM_VERSION_STR  ""

#define PX4_GIT_TAG_OR_BRANCH_NAME "v1.14.0-2.0.94-dev-dirty" // special variable: git tag, release or master branch

#define MAVLINK_LIB_GIT_VERSION_STR  "3ee5382d0c96134b0e1c250d8c2d54bfed0166fa"
#define MAVLINK_LIB_GIT_VERSION_BINARY 0x3ee5382d0c96134b

#define NUTTX_GIT_VERSION_STR  "3f77354c0dc88793a47ff3b57595195ab45f7ba9"
#define NUTTX_GIT_VERSION_BINARY 0x3f77354c0dc88793
#define NUTTX_GIT_TAG_STR  "v11.0.0"
*** End of apps processor build ***
*** Starting qurt slpi build ***
-- PX4 version: v1.14.0-2.0.94-dev (1.14.0)
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") 
-- PX4 config file: /usr/local/workspace/px4-firmware/boards/modalai/voxl2-slpi/default.px4board
-- PLATFORM qurt
-- TOOLCHAIN qurt
-- ROMFSROOT px4fmu_common
-- PX4 config: modalai_voxl2-slpi_default
-- PX4 platform: qurt
-- The CXX compiler identification is Clang 10.0.0
-- The C compiler identification is Clang 10.0.0
-- The ASM compiler identification is unknown
-- Found assembler: /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang
-- Check for working CXX compiler: /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang++
-- Check for working CXX compiler: /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang++ -- broken
CMake Error at /usr/share/cmake-3.16/Modules/CMakeTestCXXCompiler.cmake:53 (message):
  The C++ compiler

    "/home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang++"

  is not able to compile a simple test program.

  It fails with the following output:

    Change Dir: /usr/local/workspace/px4-firmware/build/modalai_voxl2-slpi_default/CMakeFiles/CMakeTmp
    
    Run Build Command(s):/usr/bin/ninja cmTC_7ce90 && [1/2] Building CXX object CMakeFiles/cmTC_7ce90.dir/testCXXCompiler.cxx.o
    [2/2] Linking CXX executable cmTC_7ce90
    FAILED: cmTC_7ce90 
    : && /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang++  -Wno-inconsistent-missing-override -DCONFIG_WCHAR_BUILTIN -D__CUSTOM_FILE_IO__ -mv66 -G0 -O3   -Wno-inconsistent-missing-override -DCONFIG_WCHAR_BUILTIN -D__CUSTOM_FILE_IO__ -mv66 -G0 -O3  -Wno-inconsistent-missing-override -DCONFIG_WCHAR_BUILTIN -D__CUSTOM_FILE_IO__ -mv66 -G0 -O3 -Wno-inconsistent-missing-override -DCONFIG_WCHAR_BUILTIN -D__CUSTOM_FILE_IO__ -mv66 -G0 -O3  -mv66 -mG0lib -G0 -fpic -shared -Wl,-Bsymbolic -Wl,--wrap=malloc -Wl,--wrap=calloc -Wl,--wrap=free -Wl,--wrap=realloc -Wl,--wrap=memalign -Wl,--wrap=__stack_chk_fail -Wl,/home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/target/hexagon/lib/v66/G0/pic/libc++.a -lc -mv66 -mG0lib -G0 -fpic -shared -Wl,-Bsymbolic -Wl,--wrap=malloc -Wl,--wrap=calloc -Wl,--wrap=free -Wl,--wrap=realloc -Wl,--wrap=memalign -Wl,--wrap=__stack_chk_fail -Wl,/home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/target/hexagon/lib/v66/G0/pic/libc++.a -lc CMakeFiles/cmTC_7ce90.dir/testCXXCompiler.cxx.o  -o cmTC_7ce90   && :
    hexagon-clang++: error: unable to execute command: Executable "hexagon-link" doesn't exist!
    hexagon-clang++: error: hexagon-link command failed with exit code 1 (use -v to see invocation)
    ninja: build stopped: subcommand failed.
    
    

  

  CMake will not be able to correctly generate this project.
Call Stack (most recent call first):
  CMakeLists.txt:219 (project)


-- Configuring incomplete, errors occurred!
See also "/usr/local/workspace/px4-firmware/build/modalai_voxl2-slpi_default/CMakeFiles/CMakeOutput.log".
See also "/usr/local/workspace/px4-firmware/build/modalai_voxl2-slpi_default/CMakeFiles/CMakeError.log".
Error: /usr/local/workspace/px4-firmware/build/modalai_voxl2-slpi_default is not a directory
make: *** [Makefile:232: modalai_voxl2-slpi] Error 1
cat: build/modalai_voxl2-slpi_default/src/lib/version/build_git_version.h: No such file or directory
*** End of qurt slpi build ***
/usr/local/workspace
User ID is 1000
Group ID is 1000
*** End of build ***
root@bf9bfdd9f0e3:/usr/local/workspace#

Can you provide a solution? what am I missing and how to resolve the issue?

ravi · 31 Jan 2025, 20:33

@Alex-Kushleyev

I appreciate your support and providing corrections.

yes, I will remove cv2.imshow, cv2.waitKey ,cv2.destroyAllWindows().
When I tried I was getting "Error opening video file".

I installed voxl-opencv_4.5.5-3_arm64.deb. you linked in the thread below.

https://forum.modalai.com/topic/3220/seeking-reference-code-for-mpa-integration-with-rtsp-video-streams-for-tflite-server/20

Thanks for the instructions for FFmpeg and OpenCV build.

I will try to install it both and test it again.

Thank you.

ravi · 30 Jan 2025, 17:17

Hi
@Moderator

I want a utility to video to tflite server.
To test the Tflite models.

For transfering video frames, irefereed modal-pipe examples.

But for reading video files. it seems there are 2 posible methods.
using ffmpeg and opencv.

first i tried to find ffmpeg on voxl2, it is not installed so i tried to compile 'voxl-ffmpeg' as per readme for qrb5165.
But it was getting failed.

then i amd tring opencv to read "mp4" format video.
I am getting error in reading mp4 file using python and opencv.
but same code working on my ubuntu perfectly.

Can help me find the issue.
please find the code and error below.

Thank you.

on voxl2, i am getting below error.

voxl2:~/tests$ python3 video-test2.py
gbm_create_device(156): Info: backend name is: msm_drm
[ WARN:0@3.094] global /opt/code/opencv/modules/videoio/src/cap_gstreamer.cpp (1374) open OpenCV | GStreamer warning: unable to query duration of stream

(python3:18838): GStreamer-CRITICAL **: 13:10:33.515: gst_caps_get_structure: assertion 'GST_IS_CAPS (caps)' failed

(python3:18838): GStreamer-CRITICAL **: 13:10:33.515: gst_structure_get_int: assertion 'structure != NULL' failed
[ WARN:0@3.095] global /opt/code/opencv/modules/videoio/src/cap_gstreamer.cpp (1384) open OpenCV | GStreamer warning: cannot query video width/height

(python3:18838): GStreamer-CRITICAL **: 13:10:33.515: gst_structure_get_fraction: assertion 'structure != NULL' failed
[ WARN:0@3.095] global /opt/code/opencv/modules/videoio/src/cap_gstreamer.cpp (1390) open OpenCV | GStreamer warning: cannot query video fps
[ WARN:0@3.095] global /opt/code/opencv/modules/videoio/src/cap_gstreamer.cpp (1405) open OpenCV | GStreamer warning: Cannot query video position: status=0, value=-1, duration=-1
Traceback (most recent call last):
  File "video-test2.py", line 33, in <module>
    cv2.destroyAllWindows()
cv2.error: OpenCV(4.5.5) /opt/code/opencv/modules/highgui/src/window.cpp:1262: error: (-2:Unspecified error) The function is not implemented. Rebuild the library with Windows, GTK+ 2.x or Cocoa support. If you are on Ubuntu or Debian, install libgtk2.0-dev and pkg-config, then re-run cmake or configure script in function 'cvDestroyAllWindows'

voxl2:~/tests$

This is my python test code.

# importing libraries
import cv2

# Create a VideoCapture object and read from input file
cap = cv2.VideoCapture('0122_part_030.MP4')

# Check if camera opened successfully
if (cap.isOpened()== False):
    print("Error opening video file")

# Read until video is completed
while(cap.isOpened()):
    
# Capture frame-by-frame
    ret, frame = cap.read()
    if ret == True:
    # Display the resulting frame
        cv2.imshow('Frame', frame)
        
    # Press Q on keyboard to exit
        if cv2.waitKey(25) & 0xFF == ord('q'):
            break

# Break the loop
    else:
        break

# When everything done, release
# the video capture object
cap.release()

# Closes all the frames
cv2.destroyAllWindows()