Posts made by will.huang.oksi

will.huang.oksi

@Alex-Kushleyev
Thank you so much for the detailed explanation!
I will keep you posted with the update shortly.

will.huang.oksi

Hello @Alex-Kushleyev and @Moderator ,
Thank you for the response!!!

As Alex pointed out, the baud rate seems to be the issue preventing the motors from spinning through the Actuator Testing feature in QGC. I have another ESC configured with a 2M baud rate, and it works as expected with Actuator Testing.

My question now is: how can I update the baud rate on the ESC?

In QGC, the baud rate is already set to 2M.

In https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/tree/master/voxl-esc-tools,
I came across the command:

./voxl-esc-upload-params.py --params-file ../params/esc_params_modalai_4_in_1.xml

However, I wasn’t able to locate this XML file on the VOXL.
Here's what I found in the VOXL:

In the repo I found is esc_params_modalai_4_in_1_revb_mn1804_2400kv_gemfan5040.xml
Should I upload this xml to /usr/share/modalai/voxl-esc-params/boards/, rename it to esc_params_modalai_4_in_1.xml, and use the python command above?

I also tried to manually change the baud rate to 2M in those XML files but it gets overwritten after a reboot.

Could you please provide more detailed instructions on how to properly update the ESC baud rate?

Thank you.

will.huang.oksi

To whom it may concern,

My VOXL2 Flight Deck is currently running the following SDK version:

The ESC Mini 4-in-1 is using the following firmware version:

I am able to successfully spin the motors using the command:

voxl-esc 3) spin

However, I am unable to spin the motors in QGroundControl using the Actuator Testing feature.
Could you advise if there are any steps I might have missed?

====

Additionally, I have connected the VOXL2 to a QGC instance running on an Ubuntu machine within the same network.
I noticed that the ESC PWM Minimum and Maximum Calibration in QGC requires a USB connection.

I attempted to connect the VOXL2 to the Ubuntu machine via the USB-C port labeled "U" in the VOXL2 datasheet, but it did not establish a connection.

Could you clarify which port should be used for this USB connection to ensure proper calibration support in QGC?

Thank you for your assistance and please let me know if you need more details.

will.huang.oksi

@Eric-Katzfey
Very sorry for the late response and thank you for pointing out the mavlink-router approach, https://github.com/mavlink-router/mavlink-router.
I will try it and keep you posted here.
Thank you for answering my quesiton.

will.huang.oksi

Hello @Nathan-Raras and @Nathan-Raras ,

I don't see any Qualcomm device with running "lsusb".
I also have confirmed that the USB-C cable is able to access another VOXL device.
So I have submitted the RMA

Please let me know if any questions or suggestions.
Thank you very much for supporting.

will.huang.oksi

Hello ModalAI Team,
Here is the HW and SDK info

ModalAI Flight Deck M0054
VOXL system image 1.8.02-M0054-14.1a-perf
VOXL suite 1.4.1

Thank you.

will.huang.oksi

Hello ModalAI Team,
If you need any additional information regarding the issue I’m currently experiencing, please don’t hesitate to let me know.
I appreciate your time and support on this matter.

will.huang.oksi

Hello,
if you need any other information for this question,
please don't hesitate to let me know.
Thank you for helping!

will.huang.oksi

To whom it may concern,

following this instruction to https://docs.modalai.com/voxl2-unbricking/

slide the SW2 switch into the ON position,

but in QDL Tool, it shows QDL device not connected.

I have confirmed that the USB-C cable works with other VOXL devices.

Any suggestions or anything I missed?

Thank you for your precious time on this.

will.huang.oksi

Re: MAVLink custom port to GCS

Hello @Eric-Katzfey ,
is there any plan for ModalAI to support this request?
I am also interested in having this feature.
Thank you for your precious time on this matter.
Best,

will.huang.oksi

@Eric-Katzfey

From other discussion,
I add

qshell gps start -d 7 -b 115200

and get the GPS now.

Here is my setting and please let me know if any questions.
Thank you for your precious time on this matter.

AIRFRAME=MULTICOPTER
GPS=AUTODETECT
RC=CRSF_RAW
ESC=VOXL_ESC
POWER_MANAGER=VOXLPM
AIRSPEED_SENSOR=NONE
DISTANCE_SENSOR=NONE
OSD=DISABLE
DAEMON_MODE=ENABLE
SENSOR_CAL=ACTUAL
ARTIFACT_MODE=DISABLE
EXTRA_STEPS=(
qshell gps start -d 7 -b 115200
)

will.huang.oksi

@will-huang-oksi said in SYS_AUTOSTART param missing, shown in QGC, after flashing the flight deck with voxl2_SDK_1.4.1:

@Eric-Katzfey

Thank you for the feedback.

Before your response, I added "-w" to re-flash the VOXL and resolved the SYS_AUTOSTART issue

./install.sh -w

Now I can calibrate the VOXL 2 flight deck.

If you need the flashing process log, let me know since I don't have privilege to upload any file yet.

NOW the remaining issue I have is no GPS fix.
The output from voxl-inspect-gps is

dt(ms) |fix type|Sats|Latitude(deg)|Longitude(deg)| Alt(m) |Vel(m/s)|HorErr(m)|AltErr(m)|
124.9 | NO GPS | 0 | 0.0000000 | 0.0000000 | -17.0 | 0.00 | 4294967.295 | 3794659.840 |^C

In voxl-px4.conf
I tried GPS=AUTODETECT and GPS=MRO, but none of them works.
I connect Taoglas GPS "Classic" M9N w/IST8308 - M10034 to the J19 port.

Here is the full configuration in the voxl-px4.conf

AIRFRAME=MULTICOPTER
GPS=AUTODETECT
RC=CRSF_RAW
ESC=VOXL_ESC
POWER_MANAGER=VOXLPM
AIRSPEED_SENSOR=NONE
DISTANCE_SENSOR=NONE
OSD=DISABLE
DAEMON_MODE=ENABLE
SENSOR_CAL=ACTUAL
ARTIFACT_MODE=DISABLE
EXTRA_STEPS=()

Also there is no output from
cat /dev/ttyHS0
cat /dev/ttyHS1
cat /dev/ttyHS2
cat /dev/ttyHS3

And this is what I have from journalctl -u voxl-px4 -n 100

-- Logs begin at Thu 2023-03-02 12:58:02 UTC, end at Thu 2023-03-02 13:35:18 UTC. --
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [uORB] Advertising remote topic takeoff_status
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [muorb] SLPI: Ok executing command: mc_pos_control start
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [muorb] SLPI: qshell gotten: mc_att_control start
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [muorb] SLPI: arg0 = 'mc_att_control'
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [muorb] SLPI: arg1 = 'start'
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [muorb] SLPI: Ok executing command: mc_att_control start
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [muorb] SLPI: qshell gotten: mc_rate_control start
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [muorb] SLPI: arg0 = 'mc_rate_controINFO [qshell] Send cmd: 'mc_rate_control start'
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [qshell] qshell return value timestamp: 2036903088, local time: 2036905841
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [qshell] Send cmd: 'mc_hover_thrust_estimator start'
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [qshell] qshell return value timestamp: 2036964219, local time: 2036966402
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [qshell] Send cmd: 'mc_autotune_attitude_control start'
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [qshell] qshell return value timestamp: 2037021853, local time: 2037025239
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [qshell] Send cmd: 'land_detector start multicopter'
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [qshell] qshell return value timestamp: 2037083571, local time: 2037085728
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [qshell] Send cmd: 'manual_control start'
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [qshell] qshell return value timestamp: 2037144972, local time: 2037146917

Any suggestions or any information you need?

Thank you for helping.

I found a mistake
Previously I select flight-deck when re-flash.
This time with -w I select voxl2 flight-deck
Sorry for confusion.

So the only issue I have now is the GPS issue.
Please let me know if any questions or suggestions.

will.huang.oksi

@Eric-Katzfey

Thank you for the feedback.

Before your response, I added "-w" to re-flash the VOXL and resolved the SYS_AUTOSTART issue

./install.sh -w

Now I can calibrate the VOXL 2 flight deck.

If you need the flashing process log, let me know since I don't have privilege to upload any file yet.

NOW the remaining issue I have is no GPS fix.
The output from voxl-inspect-gps is

dt(ms) |fix type|Sats|Latitude(deg)|Longitude(deg)| Alt(m) |Vel(m/s)|HorErr(m)|AltErr(m)|
124.9 | NO GPS | 0 | 0.0000000 | 0.0000000 | -17.0 | 0.00 | 4294967.295 | 3794659.840 |^C

In voxl-px4.conf
I tried GPS=AUTODETECT and GPS=MRO, but none of them works.
I connect Taoglas GPS "Classic" M9N w/IST8308 - M10034 to the J19 port.

Here is the full configuration in the voxl-px4.conf

AIRFRAME=MULTICOPTER
GPS=AUTODETECT
RC=CRSF_RAW
ESC=VOXL_ESC
POWER_MANAGER=VOXLPM
AIRSPEED_SENSOR=NONE
DISTANCE_SENSOR=NONE
OSD=DISABLE
DAEMON_MODE=ENABLE
SENSOR_CAL=ACTUAL
ARTIFACT_MODE=DISABLE
EXTRA_STEPS=()

Also there is no output from
cat /dev/ttyHS0
cat /dev/ttyHS1
cat /dev/ttyHS2
cat /dev/ttyHS3

And this is what I have from journalctl -u voxl-px4 -n 100

-- Logs begin at Thu 2023-03-02 12:58:02 UTC, end at Thu 2023-03-02 13:35:18 UTC. --
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [uORB] Advertising remote topic takeoff_status
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [muorb] SLPI: Ok executing command: mc_pos_control start
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [muorb] SLPI: qshell gotten: mc_att_control start
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [muorb] SLPI: arg0 = 'mc_att_control'
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [muorb] SLPI: arg1 = 'start'
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [muorb] SLPI: Ok executing command: mc_att_control start
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [muorb] SLPI: qshell gotten: mc_rate_control start
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [muorb] SLPI: arg0 = 'mc_rate_controINFO [qshell] Send cmd: 'mc_rate_control start'
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [qshell] qshell return value timestamp: 2036903088, local time: 2036905841
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [qshell] Send cmd: 'mc_hover_thrust_estimator start'
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [qshell] qshell return value timestamp: 2036964219, local time: 2036966402
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [qshell] Send cmd: 'mc_autotune_attitude_control start'
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [qshell] qshell return value timestamp: 2037021853, local time: 2037025239
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [qshell] Send cmd: 'land_detector start multicopter'
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [qshell] qshell return value timestamp: 2037083571, local time: 2037085728
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [qshell] Send cmd: 'manual_control start'
Mar 02 13:31:54 m0054 voxl-px4[4783]: INFO [qshell] qshell return value timestamp: 2037144972, local time: 2037146917

Any suggestions or any information you need?

Thank you for helping.

will.huang.oksi

@Eric-Katzfey

Because having the missing parameter issue and a lot of sections are in red,
the VOXL flight deck is never armed and therefore there is no px4 log.

Thank you for your precious time on this matter, and please let me know any other log/file will be helpful.

will.huang.oksi

@Eric-Katzfey

As shown below, many sections are in red.

Are they not related to the missing parameter?
If not, how to resolve this issue after updating to voxl2_SDK_1.4.1?

will.huang.oksi

To whom it may concern,

When flashing the flight deck with voxl2_SDK_1.4.1,
here are my steps

Step 1
PLEASE SELECT WHICH KERNEL TO FLASH

M0054-1 -> QRB5165M, Starling (D0005), Sentinel (D0006), FPV (D0008), D0010, PX4 Dev Kit (D0011)

Step 2
VOXL is not yet configured for a particular SKU.
Please select the new desired product family:
16) flight-deck

Step 3
4) voxl2

Step 4
If you would like to select a special camera config that differs
from the default for your product family, please select an option.
Simply hit ENTER to use the default
ENTER

family code: MDK-F0001 (flight-deck)
compute board: 4 (voxl2)
hw version: 1
cam config: 3
modem config: 0 (none)
tx config: 0 (none)
extras config: 0 (none)
SKU: MDK-F0001-4-V1-C3-T0-M0-X0

Step 5
Station mode is for connecting to a normal wifi network.

leave as-is

Step 6
To work with the Taoglas GPS "Classic" M9N w/IST8308 - M10034 which is connected to the J19 port,
and see the connection in the QGC,
I made the following changes:

in /etc/modalai/voxl-px4.conf,
GPS=AUTODETECT

in /etc/modalai/voxl-mavlink-server.conf,
"primary_static_gcs_ip": "192.168.110.205",
"primary_static_gcs_port": 14550,
"secondary_static_gcs_ip": "0.0.0.0",
"secondary_static_gcs_port": 14550,

==========
Then
1.
I saw

fix type is always NO GPS even in the outdoor condition in which GPS is 3D fixed before updating to voxl2_SDK_1.4.1

==========
Any suggestions to investigate/fix the issues above?

Thank you for your precious time on this matter.