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DMarc8
Beginner
2,232 Views

PX4FLOW AND LEDDAR ONE ON TELEMETRY PORT

Hello,

I've connected both the LeddarOne and PX4flow on the telemetry port of Intel Aero drone.

I'm running Ubuntu 16.04 on the compute board.

I flashed the fpga with the version provided in https://www.instructables.com/id/Intel-Aero-Drone-Altitude-and-Position-Hold-Using-/ Intel Aero Drone - Altitude and Position Hold Using PX4Flow: 11 Steps (with Pictures) to enable the I2C on the telemetry port.

I downloaded the latest flight controller firmware 1.8 from intel repo. I added the line

drivers/px4flow

In the file nuttx_aerofc-v1_default.cmake. Then I compiled the firmware and uploaded in the flight controller.

However, when I connect the drone to QGroundControl, I'm not able to start the PX4flow with the command:

nsh px4flow start

Any suggestion?

Thank you in advance,

Daniele

0 Kudos
10 Replies
idata
Community Manager
198 Views

Hello daniele.marchetti,

 

 

Thank you for your interest in the Intel Aero Drone.

 

Could you please tell me the output of px4flow start?

 

 

Regards,

 

Alexandra
DMarc8
Beginner
198 Views

Command not found

idata
Community Manager
198 Views

Hi daniele.marchetti,

 

 

Did you connect both sensors at the same time?

 

Could you send me a picture of your set-up?

 

 

Regards,

 

Alexandra
DMarc8
Beginner
198 Views

Yes, I connected both sensors at the same port.

Using the latest firmware (px4 1.8 from intel repo), I'm able to get leddarone data correctly. Everything work apart from the PX4flow.

With the same hardware setup and using the firmware from instruction https://www.instructables.com/id/Intel-Aero-Drone-Altitude-and-Position-Hold-Using-/ https://www.instructables.com/id/Intel-Aero-Drone-Altitude-and-Position-Hold-Using-/

I'm able to get PX4flow readings but not the LeddarOne. In addition, it is an older firmware version.

Thus, I think the hardware setup is correct and the problem is on the PX4flow driver in the flight controller firmware

DMarc8
Beginner
198 Views

I'm sorry, the firmware version of the flight controller from Intel repo is 1.6.5 not 1.8.

DMarc8
Beginner
198 Views

I'll try to explain my issue in more details:

I'm running Ubuntu 16.04 on the Intel aero compute board. I flashed the latest BIOS and FPGA as explained in https://github.com/intel-aero/meta-intel-aero/wiki/90-(References)-OS-user-Installation 90 (References) OS user Installation · intel-aero/meta-intel-aero Wiki · GitHub

As for the flight controller, I followed the instruction on https://dev.px4.io/en/setup/building_px4.html https://dev.px4.io/en/setup/building_px4.html to build the latest release:

git clone https://github.com/PX4/Firmware https://github.com/PX4/Firmware

cd Firmware

make aerofc-v1_default

make aerofc-v1_default upload

I connected both the LeddarOne and Px4flow with sonar to the telemetry port of the Intel Aero drone. The LeddarOne with tx and rx and the PX4flow to SDA and SCL.

Then, I connected to QGroundControl, performed airframe reset and full calibration. Everything worked fine, and I could get readings from the LeddarOne if I set the parameter SENS_LEDDAR1_CFG to 101, but not from the Px4flow because I didn't added the driver in the file nuttx_aerofc-v1_default.cmake

Then, I added the line

drivers/px4flow

in the file nuttx_aerofc-v1_default.cmake and added the word AEROFC_V1 in the lines

#

if ver hwcmp PX4FMU_V2 PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2 PX4FMU_V5 OMNIBUS_F4SD AEROFC_V1

then

px4flow start &

fi

#

of the file /Firmware/ROMFS/px4fmu_common/init.d/rcS, I compiled the code again and uploaded on the flight controller.

I connected to QGroundControl, I performed an airframe reset. I got correct readings from LeddarOne and Px4flow. The problem is that I got error while calibrating the inertial sensor of the drone. It said that:

[cal] calibration started: 2 mag

Mag 0 (ID 12) no matching uORB devid

[cal] calibration failed: mag

Thus, I cannot perform the calibration procedure.

I tried those steps on previous versions of the flight controller, for example:

cd Firmware

git tag -l

git checkout -b tags/v1.7.4beta 

make aerofc-v1_default

make aerofc-v1_default upload 

But the problem is still, that is I cannot calibrate the compass.

Finally, I tried with the firmware version cloned from https://github.com/zehortigoza/PX4Firmware/tree/stable-leddar_one https://github.com/zehortigoza/PX4Firmware/tree/stable-leddar_one

I added the px4flow driver enabled the px4driver at startup as I did before.

I connected to QGroundControl and I was finally able to get correct readings from LeddarOne (setting the parameter SENS_EN_LEDDAR1 to 1) and PX4flow and also to correctly calibrate the drone. Everything works fine.

However, this firmware version is 1.5.0 and I would be able to get the same work with a newer version. Any suggestion?

Thank you in advance,

Daniele

DMarc8
Beginner
198 Views

Can anyone help me, please?

idata
Community Manager
198 Views

Hello daniele.marchetti,

 

 

Apologies for the delay. The stable-leddar_one (zehortigoza) has the changes made to version 1.6.5 to enable LeddarOne in a previous version of px4 that did not include the driver. The driver was included in v1.8.0 by px4. I would suggest opening a ticket on the PX4 github as there may be an issue with the latest firmware.

 

 

Regards,

 

Alexandra
DMarc8
Beginner
198 Views

Thank you for your response.

I solved the issue by using the px4 firmware version v1.8.0-beta1 instead of the master branch:

git clone --branch v1.8.0-beta1 https://github.com/PX4/Firmware.git https://github.com/PX4/Firmware.git

Than I added the line

drivers/px4flow

in the file nuttx_aerofc-v1_default.cmake and I added

#

if ver hwcmp AEROFC_V1

then

px4flow start &

fi

#

in the file /Firmware/ROMFS/px4fmu_common/init.d/rcS

Then, I compile and uploaded the firmware to the board.

Now I'm able to get values from LeddarOne and Px4flow and to calibrate the drone correctly. In addition, I'm able to fuse external vision estimates in the kalman filter correctly too.

idata
Community Manager
198 Views

Hello daniele.marchetti,

 

 

I am glad to hear that you managed to solve your issue.

 

Thank you for sharing your findings with the Community.

 

 

Regards,

 

Alexandra
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