Hei @Eric-Katzfey
is there any code example to read the J19 i2c port 'outside' px4 ?
Hei @Eric-Katzfey
is there any code example to read the J19 i2c port 'outside' px4 ?
@tom @Eric-Katzfey
Thank you guys!! More to come eheh
hei Eric! I thought you would like to see some results (LINK HERE). voxl2 mini + 4in1 mini esc, amazing products!
we submitted to ICUAS2024, more details in case the paper gets accepted
you are the best! that worked! hurra!
for anyone bumping into the same issue:
adb shell into voxl2 mini
wget http://voxl-packages.modalai.com/dists/qrb5165/staging/binary-arm64/modalai-slpi_1.1.12_arm64.deb
dpkg -i modalai-slpi_1.1.12_arm64.deb
wget http://voxl-packages.modalai.com/dists/qrb5165/staging/binary-arm64/libfc-sensor_1.0.5_arm64.deb
dpkg -i libfc-sensor_1.0.5_arm64.deb
into the docker:
./clean.sh
./build.sh
into voxl-px4/px4-firmware/
/boards/modalai/voxl2/scripts/install-voxl.sh
tadaaa
@Eric-Katzfey
I thought about it as well, it does not seem to have an effect
anything else I could try? I am scanning the commits to see if this symbol was introduced as some point
hi,
after setting up the docker, updated the submodules and followed the guidelines as described here,
I build and flash the firmware on my voxl2 mini board
then I stop the voxl-px4 service and when I
voxl-px4 -d
I get the following error:
voxl2-mini:/$ voxl-px4 -d
[INFO] Reading from /etc/modalai/voxl-px4.conf
Found DSP signature file
[INFO] Disabling daemon mode
*************************
GPS=AUTODETECT
RC=CRSF_RAW
ESC=VOXL_ESC
POWER MANAGER=NONE
DISTANCE SENSOR=NONE
OSD=DISABLE
DAEMON_MODE=DISABLE
SENSOR_CAL=ACTUAL
EXTRA STEPS:
*************************
INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM.
INFO [px4] assuming working directory is rootfs, no symlinks needed.
INFO [muorb] Got muorb init command
Sending initialization request
INFO [muorb] muorb protobuf initalize method succeeded
INFO [muorb] SLPI: Creating pthread test_MUORB
INFO [muorb] succesfully did ADVERTISE_TEST_TYPE
ERROR [muorb] SLPI: Hit maximum number of threads
ERROR [muorb] Test timed out waiting for response
px4: symbol lookup error: px4: undefined symbol: fc_sensor_get_time_offset
PX4 branch voxl-dev, commit 98e2c064459509
This is with everything default without touching any code except the px4.conf file
Any idea?
@Alex-Kushleyev thank you for the fast reply!
I (apparenmtly) solved the issue after upgrading everything to latest version and uploading the correct params for m0129 v3 from my laptop
interestingly the mini2 detects the complement of what my usb-uart cable detecs
but yes thank you for the tools, otherwise I had no idea how to recover a bricked 4in1 lol
Hi! I am trying to use the scripts in esc-tools to read the 4in1 esc for the voxl2mini
and it seems like only 1 of the 4 escs is detected:
voxl2-mini:/usr/share/modalai/voxl-esc-tools$ python3 voxl-esc-verify-params.py
Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00)
[GCC 8.4.0]
Found voxl-esc tools bin version: 1.4
VOXL Platform: M0104
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000
Sending library name request: libslpi_qrb5165_io.so
Received standard error event 2
Sending initialization request
INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000
ERROR: ESC ID 0 not found
ERROR: ESC ID 1 not found
ERROR: ESC ID 2 not found
INFO: Params from ID 3 match ../voxl-esc-params/boards/esc_params_generic_m0129.xml
ERROR: Some params are invalid or not the same!
Number of ESCs expected : 4
Number of ESCs found : 1
Number of invalid params : 0
Number of matched params : 1
voxl2-mini:/usr/share/modalai/voxl-esc-tools$
more info about the system:
--------------------------------------------------------------------------------
system-image: 1.7.1-M0104-14.1a-perf-nightly-20231025
kernel: #1 SMP PREEMPT Thu Oct 26 04:23:26 UTC 2023 4.19.125
--------------------------------------------------------------------------------
hw version: M0104
--------------------------------------------------------------------------------
voxl-suite: 1.1.2
--------------------------------------------------------------------------------
current IP: wlan0: 192.168.5.158
--------------------------------------------------------------------------------
does anyone have any idea what is going on?
can you please confirm that in order to communicate with a sensor on the DSP, even if the driver already exists in px4, one need to patch the driver as you guys did for voxl2-slpi/src/drivers ?
for example, read an MPU6050 over i2c on J19
@bcj did eventually figured out?? I stumbled upon the same problem!
@Eric-Katzfey what I am trying to do is writing a driver for an external i2c imu
is there any code example where you have already implemented an i2c interface on the dsp on voxl2 mini?
@Eric-Katzfey thanks for your answer
so what could be a way to check if I correctly detect a i2c device on J19? assuming of course wiring is correct
Hi,
Im testing the command i2cdetect with the magnetometer attached on J19 as swhon here
but I get a weird output:
voxl2-mini:/$ i2cdetect 0
Warning: Can't use SMBus Quick Write command, will skip some addresses
WARNING! This program can confuse your I2C bus, cause data loss and worse!
I will probe file /dev/i2c-0.
I will probe address range 0x03-0x77.
Continue? [Y/n] y
0 1 2 3 4 5 6 7 8 9 a b c d e f
00:
10:
20:
30: -- -- -- -- -- -- -- --
40:
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60:
70:
I tried to look it up on the web but I do not seem to find any solution for properly probe the bus. Any help?
system details:
system-image: 1.7.1-M0104-14.1a-perf-nightly-20231025
kernel: #1 SMP PREEMPT Thu Oct 26 04:23:26 UTC 2023 4.19.125
--------------------------------------------------------------------------------
hw version: M0104
--------------------------------------------------------------------------------
voxl-suite: 1.1.1
--------------------------------------------------------------------------------
@Eric-Katzfey thank you for the reply
this is the output to the command you suggested:
pxh> qshell dsp_hitl status
INFO [qshell] Send cmd: 'dsp_hitl status'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: dsp_hitl status
INFO [muorb] SLPI: arg0 = 'dsp_hitl'
INFO [muorb] SLPI: arg1 = 'status'
INFO [muorb] SLPI: Running: no
INFO [muorb] SLPI: Status of IMU_Data counter: 0
INFO [muorb] SLPI: Value of current accel x, y, z data: 0.000000, 0.000000, 0.000000
INFO [muorb] SLPI: Value of current gyro x, y, z data: 0.000000, 0.000000, 0.000000
INFO [muorb] SLPI: Value of HIL_Sensor counter: 0
INFO [muorb] SLPI: Value of Heartbeat counter: 4
INFO [muorb] SLPI: Value of Vision data counter: 0
INFO [muorb] SLPI: Value of GPS Data counter: 0
INFO [muorb] SLPI: Ok executing command: dsp_hitl status
INFO [qshell] qshell return value timestamp: 59399090, local time: 59402895
pxh>
then I thought ok, maybe id did not start for some reason.
I then run
qshell dsp_hitl start
qshell dsp_hitl start
INFO [qshell] Send cmd: 'dsp_hitl start'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: dsp_hitl start
INFO [muorb] SLPI: arg0 = 'dsp_hitl'
INFO [muorb] SLPI: arg1 = 'start'
INFO [muorb] SLPI: Creating pthread dsp_hitl__main
INFO [muorb] SLPI: Successfully created px4 task PX4_dsp_hitl__main with tid 2097643
INFO [muorb] SLPI: Ok executing command: dsp_hitl start
ERROR [muorb] SLPI: Port in use: 2 (22)
ERROR [muorb] SLPI: Port is open: -1
INFO [uORB] Marking DeviceNode(sensor_accel) as advertised in process_remote_topic
INFO [uORB] Marking DeviceNode(sensor_gyro) as advertised in process_remote_topic
INFO [qshell] qshell return value timestamp: 1093811038, local time: 1093815063
pxh> INFO [muorb] SLPI: Got 8 from orb_subscribe
INFO [uORB] Marking DeviceNode(vehicle_imu) as advertised in process_remote_topic
INFO [uORB] Marking DeviceNode(vehicle_imu_status) as advertised in process_remote_topic
@Eric-Katzfey of course sorry I forgot!
hw version: M0054
px4-ver all
HW arch: MODALAI_VOXL2
PX4 git-hash: d21e9718a77d72334e03dff79f2a7cb8e413b3a9
PX4 version: 1.14.0 0 (17694720)
PX4 git-branch: voxl-dev
Vendor version: 2.0.56 0 (33568768)
OS: Linux
OS version: Release 4.19.125 (68386303)
Build datetime: Nov 1 2023 15:16:24
Build uri: localhost
Build variant: default
Toolchain: GNU GCC, 7.5.0
PX4GUID: 100a41444f4d5649414c324c584f30303030
UNKNOWN MCU
this cable I'm using also has visual feedback on rx/tx with a green/red led
I then suspect it is not a wiring issue but of course I might be wrong
hi,
I know it has been asked several times and I already went through all the answers (I think). Still cannot figure out what am I doing wrong.
I am trying to run HITL with gazebo connected via usb-ftdi as reported in the awesome documentation. I know it is not the cable cause I can both 'cat /dev/ttyUSB0' and get data and when I run
gazebo Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/hitl_iris_flex.world
Opened serial device /dev/ttyUSB0
I of course followed the video from Zach but here is the output when I run voxl-px4-hitl on voxl2:
voxl-px4-hitl
Found DSP signature file
INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM.
INFO [px4] assuming working directory is rootfs, no symlinks needed.
INFO [muorb] Got muorb init command
Sending initialization request
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
INFO [muorb] SLPI: muorb aggregator thread running
INFO [muorb] muorb protobuf initalize method succeeded
INFO [muorb] succesfully did ADVERTISE_TEST_TYPE
INFO [muorb] SLPI: Creating pthread test_MUORB
INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097656
INFO [muorb] succesfully did SUBSCRIBE_TEST_TYPE
INFO [muorb] SLPI: Creating pthread test_MUORB
INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097655
INFO [muorb] succesfully did TOPIC_TEST_TYPE
INFO [muorb] SLPI: Creating pthread test_MUORB
INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097654
INFO [muorb] succesfully did UNSUBSCRIBE_TEST_TYPE
INFO [muorb] SLPI: Creating pthread test_MUORB
INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097653
INFO [muorb] muorb test passed
______ __ __ ___
| ___ \ \ \ / / / |
| |_/ / \ V / / /| |
| __/ / \ / /_| |
| | / /^\ \ \___ |
\_| \/ \/ |_/
px4 starting.
INFO [px4] startup script: /bin/sh /usr/bin/voxl-px4-hitl-start 0
INFO [muorb] SLPI: Advertising remote topic log_message
INFO [parameters] Starting param sync THREAD
INFO [muorb] SLPI: Starting param sync THREAD
Running on M0054
INFO [muorb] SLPI: before starting the qshell_entry task
INFO [muorb] SLPI: Creating pthread qshell
INFO [muorb] SLPI: qshell entry.....
INFO [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 2097652
INFO [muorb] SLPI: Init app map initialized
INFO [muorb] SLPI: after starting the qshell_entry task
INFO [param] selected parameter default file /data/px4/param/hitl_parameters
INFO [muorb] SLPI: Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic
INFO [uORB] Marking DeviceNode(parameter_client_reset_response) as advertised in process_remote_topic
INFO [muorb] SLPI: Advertising remote topic parameter_update
INFO [muorb] SLPI: Marking DeviceNode(parameter_client_set_value_request) as advertised in process_remote_to
INFO [uORB] Marking DeviceNode(parameter_server_set_used_request) as advertised in process_remote_topic
INFO [muorb] SLPI: Marking DeviceNode(parameter_server_set_used_response) as advertised in process_remote_to
INFO [uORB] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic
INFO [parameters] BSON document size 1656 bytes, decoded 1656 bytes (INT32:43, FLOAT:36)
INFO [logger] logger started (mode=all)
INFO [logger] Start file log (type: full)
INFO [logger] [logger] /data/px4/log/2023-11-02/13_05_28.ulg
INFO [muorb] SLPI: Advertising remote topic mavlink_log
INFO [muorb] SLPI: Advertising remote topic event
INFO [logger] Opened full log file: /data/px4/log/2023-11-02/13_05_28.ulg
INFO [muorb] SLPI: Advertising remote topic logger_status
INFO [qshell] Send cmd: 'sensors start -h'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: sensors start -h
INFO [muorb] SLPI: arg0 = 'sensors'
INFO [muorb] SLPI: arg1 = 'start'
INFO [muorb] SLPI: arg2 = '-h'
INFO [uORB] Advertising remote topic sensor_selection
INFO [uORB] Advertising remote topic sensors_status_imu
INFO [uORB] Advertising remote topic vehicle_acceleration
INFO [uORB] Advertising remote topic vehicle_angular_velocity
INFO [uORB] Advertising remote topic sensor_combined
INFO [uORB] Advertising remote topic vehicle_air_data
INFO [uORB] Advertising remote topic vehicle_gps_position
INFO [muorb] SLPI: Ok executing command: sensors start -h
INFO [uORB] Advertising remote topic qshell_retval
INFO [qshell] qshell return value timestamp: 815009623, local time: 815017199
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: ekf2 start
INFO [qshell] Send cmd: 'ekf2 start'
INFO [muorb] SLPI: arg0 = 'ekf2'
INFO [muorb] SLPI: arg1 = 'start'
INFO [uORB] Advertising remote topic vehicle_attitude
INFO [uORB] Advertising remote topic vehicle_local_position
INFO [uORB] Advertising remote topic estimator_event_flags
INFO [uORB] Advertising remote topic estimator_innovation_test_ratios
INFO [uORB] Advertising remote topic estimator_innovation_variances
INFO [uORB] Advertising remote topic estimator_innovations
INFO [uORB] Advertising remote topic estimator_sensor_bias
INFO [uORB] Advertising remote topic estimator_states
INFO [uORB] Advertising remote topic estimator_status_flags
INFO [uORB] Advertising remote topic estimator_status
INFO [muorb] SLPI: Ok executing command: ekf2 start
INFO [qshell] qshell return value timestamp: 815334178, local time: 815338611
INFO [qshell] Send cmd: 'mc_pos_control start'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: mc_pos_control start
INFO [muorb] SLPI: arg0 = 'mc_pos_control'
INFO [muorb] SLPI: arg1 = 'start'
INFO [uORB] Advertising remote topic takeoff_status
INFO [muorb] SLPI: Ok executing command: mc_pos_control start
INFO [qshell] qshell return value timestamp: 815491755, local time: 815493222
INFO [qshell] Send cmd: 'mc_att_control start'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: mc_att_control start
INFO [muorb] SLPI: arg0 = 'mc_att_control'
INFO [muorb] SLPI: arg1 = 'start'
INFO [muorb] SLPI: Ok executing command: mc_att_control start
INFO [qshell] qshell return value timestamp: 815560077, local time: 815562711
INFO [qshell] Send cmd: 'mc_rate_control start'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: mc_rate_control start
INFO [muorb] SLPI: arg0 = 'mc_rate_control'
INFO [muorb] SLPI: arg1 = 'start'
INFO [uORB] Advertising remote topic rate_ctrl_status
INFO [muorb] SLPI: Ok executing command: mc_rate_control start
INFO [qshell] qshell return value timestamp: 815678230, local time: 815682065
INFO [qshell] Send cmd: 'mc_hover_thrust_estimator start'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: mc_hover_thrust_estimator start
INFO [muorb] SLPI: arg0 = 'mc_hover_thrust_estimator'
INFO [muorb] SLPI: arg1 = 'start'
INFO [muorb] SLPI: Ok executing command: mc_hover_thrust_estimator start
INFO [qshell] qshell return value timestamp: 815746736, local time: 815748268
INFO [qshell] Send cmd: 'mc_autotune_attitude_control start'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: mc_autotune_attitude_control start
INFO [muorb] SLPI: arg0 = 'mc_autotune_attitude_control'
INFO [muorb] SLPI: arg1 = 'start'
INFO [uORB] Advertising remote topic autotune_attitude_control_status
INFO [muorb] SLPI: Ok executing command: mc_autotune_attitude_control start
INFO [qshell] qshell return value timestamp: 815789804, local time: 815791337
INFO [qshell] Send cmd: 'land_detector start multicopter'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: land_detector start multicopter
INFO [muorb] SLPI: arg0 = 'land_detector'
INFO [muorb] SLPI: arg1 = 'start'
INFO [muorb] SLPI: arg2 = 'multicopter'
INFO [muorb] SLPI: Ok executing command: land_detector start multicopter
INFO [qshell] qshell return value timestamp: 815839581, local time: 815841469
INFO [uORB] Advertising remote topic vehicle_land_detected
INFO [qshell] Send cmd: 'manual_control start'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: manual_control start
INFO [muorb] SLPI: arg0 = 'manual_control'
INFO [muorb] SLPI: arg1 = 'start'
INFO [muorb] SLPI: Ok executing command: manual_control start
INFO [uORB] Advertising remote topic manual_control_setpoint
INFO [qshell] qshell return value timestamp: 815912276, local time: 815914468
INFO [qshell] Send cmd: 'control_allocator start'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: control_allocator start
INFO [muorb] SLPI: arg0 = 'control_allocator'
INFO [muorb] SLPI: arg1 = 'start'
INFO [uORB] Advertising remote topic control_allocator_status
INFO [uORB] Marking DeviceNode(control_allocator_status) as advertised in process_remote_topic
INFO [uORB] Advertising remote topic actuator_motors
INFO [uORB] Advertising remote topic actuator_servos
INFO [uORB] Advertising remote topic actuator_servos_trim
INFO [muorb] SLPI: Ok executing command: control_allocator start
INFO [qshell] qshell return value timestamp: 816195197, local time: 816196869
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: rc_update start
INFO [muorb] SLPI: arg0 = 'rc_update'
INFO [muorb] SLPI: arg1 = 'start'
INFO [qshell] Send cmd: 'rc_update start'
INFO [muorb] SLPI: Ok executing command: rc_update start
INFO [qshell] qshell return value timestamp: 816521809, local time: 816523074
INFO [qshell] Send cmd: 'commander start -h'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: commander start -h
INFO [muorb] SLPI: arg0 = 'commander'
INFO [muorb] SLPI: arg1 = 'start'
INFO [muorb] SLPI: arg2 = '-h'
INFO [muorb] SLPI: Creating pthread commander
INFO [muorb] SLPI: Successfully created px4 task PX4_commander with tid 2097647
INFO [uORB] Advertising remote topic led_control
INFO [muorb] SLPI: LED: open /dev/led0 failed (22)
INFO [uORB] Advertising remote topic tune_control
INFO [muorb] SLPI: Ok executing command: commander start -h
INFO [qshell] qshell return value timestamp: 816759292, local time: 816761239
INFO [muorb] SLPI: orb_advertise_multi: failed to set queue size
INFO [muorb] SLPI: Preflight Fail: Accel Sensor 0 missing
INFO [muorb] SLPI: Preflight Fail: barometer 0 missing
INFO [muorb] SLPI: Preflight Fail: ekf2 missing data
INFO [muorb] SLPI: Preflight Fail: Gyro Sensor 0 missing
INFO [uORB] Advertising remote topic health_report
INFO [uORB] Advertising remote topic failsafe_flags
INFO [uORB] Advertising remote topic actuator_armed
INFO [uORB] Advertising remote topic vehicle_control_mode
INFO [uORB] Advertising remote topic vehicle_status
INFO [uORB] Advertising remote topic failure_detector_status
INFO [qshell] Send cmd: 'commander mode posctl'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: commander mode posctl
INFO [muorb] SLPI: arg0 = 'commander'
INFO [muorb] SLPI: arg1 = 'mode'
INFO [muorb] SLPI: arg2 = 'posctl'
INFO [uORB] Advertising remote topic vehicle_command
INFO [muorb] SLPI: Ok executing command: commander mode posctl
INFO [qshell] qshell return value timestamp: 816809125, local time: 816812053
INFO [uORB] Advertising remote topic vehicle_command_ack
INFO [qshell] Send cmd: 'param_set_selector start'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: param_set_selector start
INFO [muorb] SLPI: arg0 = 'param_set_selector'
INFO [muorb] SLPI: arg1 = 'start'
INFO [muorb] SLPI: Ok executing command: param_set_selector start
INFO [qshell] qshell return value timestamp: 816848368, local time: 816850576
INFO [qshell] Send cmd: 'flight_mode_manager start'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: flight_mode_manager start
INFO [muorb] SLPI: arg0 = 'flight_mode_manager'
INFO [muorb] SLPI: arg1 = 'start'
INFO [uORB] Marking DeviceNode(vehicle_command) as advertised in process_remote_topic
INFO [muorb] SLPI: Ok executing command: flight_mode_manager start
INFO [qshell] qshell return value timestamp: 816974943, local time: 816976246
INFO [dataman] data manager file '/data/px4/dataman' size is 7866640 bytes
INFO [muorb] SLPI: Advertising remote topic transponder_report
INFO [muorb] SLPI: Advertising remote topic rtl_time_estimate
INFO [muorb] SLPI: Advertising remote topic position_setpoint_triplet
INFO [qshell] Send cmd: 'pwm_out_sim start -m hil'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: pwm_out_sim start -m hil
INFO [muorb] SLPI: arg0 = 'pwm_out_sim'
INFO [muorb] SLPI: arg1 = 'start'
INFO [muorb] SLPI: arg2 = '-m'
INFO [muorb] SLPI: arg3 = 'hil'
INFO [uORB] Advertising remote topic actuator_outputs
INFO [muorb] SLPI: Ok executing command: pwm_out_sim start -m hil
INFO [uORB] Advertising remote topic actuator_outputs_sim
INFO [qshell] qshell return value timestamp: 818185249, local time: 818187816
INFO [qshell] Send cmd: 'dsp_hitl start'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: dsp_hitl start
INFO [muorb] SLPI: arg0 = 'dsp_hitl'
INFO [muorb] SLPI: arg1 = 'start'
INFO [muorb] SLPI: Creating pthread dsp_hitl__main
INFO [muorb] SLPI: Successfully created px4 task PX4_dsp_hitl__main with tid 2097645
INFO [muorb] SLPI: Ok executing command: dsp_hitl start
**ERROR [muorb] SLPI: Port is open: 0**
INFO [uORB] Advertising remote topic sensor_accel
INFO [uORB] Advertising remote topic sensor_gyro
INFO [muorb] SLPI: Got 5 from orb_subscribe
INFO [qshell] qshell return value timestamp: 818227135, local time: 818228965
INFO [uORB] Advertising remote topic esc_status
INFO [mavlink] mode: Onboard, data rate: 100000 B/s on udp port 14556 remote port 14557
INFO [muorb] SLPI: Advertising remote topic telemetry_status
INFO [mavlink] partner IP: 127.0.0.1
INFO [muorb] SLPI: Advertising remote topic timesync_status
INFO [mavlink] mode: Normal, data rate: 100000 B/s on udp port 14558 remote port 14559
INFO [muorb] SLPI: Marking DeviceNode(telemetry_status) as advertised in process_remote_topic
INFO [uORB] Advertising remote topic vehicle_imu
INFO [uORB] Advertising remote topic vehicle_imu_status
INFO [muorb] SLPI: Preflight Fail: No valid data from Accel 0
INFO [muorb] SLPI: Preflight Fail: barometer 0 missing
INFO [muorb] SLPI: Preflight Fail: ekf2 missing data
INFO [muorb] SLPI: Preflight Fail: No valid data from Gyro 0
INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO [px4] Startup script returned successfully
pxh>
the only thing I find suspicious about this is:
ERROR [muorb] SLPI: Port is open: 0
any hint on what could be wrong?
thank you,
@Eric-Katzfey thank you Eric!
I figured out during our time-zone difference!
I was actually able to use the pins reserved for the mag
so I built the docker, added the driver, modified the start on the correct bus but now I am unsure: where are these values published? lol
========== Starting ads1115 ADC ===========
INFO [qshell] Send cmd: 'ads1115 start -X -b 1'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: ads1115 start -X -b 1
INFO [muorb] SLPI: arg0 = 'ads1115'
INFO [muorb] SLPI: arg1 = 'start'
INFO [muorb] SLPI: arg2 = '-X'
INFO [muorb] SLPI: arg3 = '-b'
INFO [muorb] SLPI: arg4 = '1'
INFO [muorb] SLPI: *** I2C Device ID 0x904809 9455625
INFO [muorb] SLPI: ads1115 #0 on I2C bus 1
INFO [muorb] SLPI: (external)
INFO [muorb] SLPI: address 0x48
INFO [muorb] SLPI:
INFO [muorb] SLPI: Ok executing command: ads1115 start -X -b 1
INFO [qshell] qshell return value timestamp: 791748467, local time: 791750038
INFO [uORB] Advertising remote topic sensor_baro
INFO [qshell] Send cmd: 'sensors start'
INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO [muorb] SLPI: qshell gotten: sensors start
INFO [muorb] SLPI: arg0 = 'sensors'
INFO [muorb] SLPI: arg1 = 'start'
could be this one?
INFO [uORB] Advertising remote topic adc_report
@Moderator
so I am able to correctly read 2 flex sensors using a python library.
But is it possible to achieve the same via the px4 driver itself? if yes, where should I look into?
should I rebuild the voxl-px4 image enabling the ads1115 driver?
I believe it is disabled by default, if I understood correctly
just to give some context:
let's say the arms of my quad are able to passively flex and I read the 4 deflection angles via this ADC.
the ultimate goal I am trying to achieve is to send this analog information to the control actuator matrix and adapt it real time, taking into account the deflection
Any help is highly appreciated thanks