ArduPilot/companion

darkratio

@darkratio

sorry I am not expert with working on tx2 so I am bit confused.

sorry for the silly question, will this work on connecttech carrier board or also on the tx2 development board?

Bo Shang

@cnpcshangbo

@darkratio Can you show a photo so we can have a look at your connection?

Clear-feng

@Clear-feng

Hello,Can I use the TX2 not the Auvidea J120 board to connect to the PIXHAWK?

Clear-feng

@Clear-feng

I solve this problem now.

Bo Shang

@cnpcshangbo

@darkratio Have you checked this page? https://forums.developer.nvidia.com/t/what-do-the-uart-of-j21-j17-and-j10-of-tx2-dev-kit-use-for-respectively/83577

@Clear-feng Are you using tx2 development board?

darkratio

@darkratio

@cnpcshangbo I followed this https://github.com/DiegoHerrera1890/Pixhawk-connected-to-Jetson-Tx2-devkit to set up my connection but it didn't work out for me .

darkratio

@darkratio

@jmachuca77 I tried step by step according to the link you provided but still, I am not able to establish a connection between tx2 dev board and pixhawk telem2 port. please help me out in this. thanks!!

Jaime Machuca

@jmachuca77

What’s the output of ‘screen -list’ and ‘ps -e | grow tty’? Also what are the parameters on the flight controller for SERIAL2? Have you tried connecting MAVproxy directly? ‘mavproxy.py --master /dev/tryTHS1,921600’?

It’s “ps -e | grep tty”

Bo Shang

@cnpcshangbo

@darkratio It seems your baud rate of telem2 is not set to 921600.

Clear-feng

@Clear-feng

@Bo Shang hello, I’am using tx2 development board,but I didn't install APSync .According to the https://ardupilot.org/dev/docs/apsync-intro.html#apsync-intro , APSync is so important.
@darkratio helllo,I share my connection methods,hope to help you.Firstly,conenct the telem2 port to TX2's J17 UART by cable directly(Gnd to Gnd,RX to Tx,Tx to RX ).Secondly, git clone mavros https://github.com/Clear-feng/mavros to your TX2. Thirdly,conect pixhawk to computer by USB,open the mission planner,set the paramter SERIAL2_PROTOCOL = 1 SERIAL2_BAUD = 57 .At last , open the
TX2's terminal, one terminal typing : roscore; two terminal typing :roslaunch mavros apm.launch fcu_url:=/dev/ttyTHS2:57600.

The baud rate 57600 is consistent to your paramter of SERIAL2_BAUD in the MP

Clear-feng

@Clear-feng

You can consult this address https://ardupilot.org/dev/docs/ros-connecting.html

Bo Shang

@cnpcshangbo

@Clear-feng I did not install APSYNC either.

Bo Shang

@cnpcshangbo

@darkratio Have you solved the connection issue?

darkratio

@darkratio

@cnpcshangbo I tried the above method suggested by @Clear-feng but when I try to check for the mavlink its just blank, not able to detect whether the connection is established or not.

can anyone please help me with some viable solution for the tx2 dev board connection with pixhawk using mavlink, it's been weeks I am stuck with the same issue not able to find any workable solution, please any suggestion or help with be appreciated thanks .

@Clear-feng I am using QGC with px4 firmware, mainly the solution I find is related to ardupilot which tends to not work in my case .

Chris Schneider

@cschneid

Can somebody help detangle all the pieces and help me understand how to setup my project? My partner & I have a self-built drone, controllable via a radio & connected to groundstation software on a laptop. It's running a RaspPi 4 and a Navio2 board.

My goal is to do local computation on the RaspPi (vision w/ a camera attached), and control the drone entirely locally. But I'd like to be able to override or otherwise control it from the ground. Ideally some groundstation software that can let me watch telemetry and location on a map and so on.

How do those components all fit together? Is there a guide or magic word I need to search on to show me how the data flow happens, and how to have autopilot local on the companion computer that can be overriden by a ground station?

YuryArnold

@YuryArnold

I used companion pymavproxy for sending gps data, my configuration are like

YuryArnold

@YuryArnold

--master=/dev/autopilot,115200
--out udpin:localhost:5050
--load-module='GPSInput,DepthOutput'
--source-system=200
--cmd="set heartbeat 0"
--out udpin:localhost:9000
--out udpout:localhost:9002
--out udpin:0.0.0.0:14660
--out udpbcast:192.168.2.255:14550
--out udpbcast:192.168.2.255:14560
--mav20
--aircraft telemetry
--streamrate 10

I want to admit, that for my pixhawk, there are no any connections, pixhawk are only connected with companion. I rub mavproxy from the host computer, and try to find, maybe my message are not passed to pixhawk, it passed correctly, but when I want to receive data from pixhawk, I receive only zeros. Scripts are below, maybe someone could show me some working scripts

YuryArnold

@YuryArnold

  import time
  # Import mavutil
  from pymavlink import mavutil

  # Create the connection
  master = mavutil.mavlink_connection('udpin:127.0.0.1:14550')
  # Wait a heartbeat before sending commands
  master.wait_heartbeat()

 cnt = 1
# GPS_TYPE need to be MAV
 while True:
    time.sleep(0.2)
    master.mav.gps_input_send(
    0,  # Timestamp (micros since boot or Unix epoch)
    0,  # ID of the GPS for multiple GPS inputs
    # Flags indicating which fields to ignore (see GPS_INPUT_IGNORE_FLAGS enum).
    # All other fields must be provided.
    8 | 16 | 32,
    0,  # GPS time (milliseconds from start of GPS week)
    0,  # GPS week number
    3,  # 0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK
    int(47.3977*1e7),  # Latitude (WGS84), in degrees * 1E7
    int(8.5456*1e7),  # Longitude (WGS84), in degrees * 1E7
    -200,  # Altitude (AMSL, not WGS84), in m (positive for up)
    1,  # GPS HDOP horizontal dilution of position in m
    1,  # GPS VDOP vertical dilution of position in m
    0,  # GPS velocity in m/s in NORTH direction in earth-fixed NED frame
    0,  # GPS velocity in m/s in EAST direction in earth-fixed NED frame
    0,  # GPS velocity in m/s in DOWN direction in earth-fixed NED frame
    0,  # GPS speed accuracy in m/s
    0,  # GPS horizontal accuracy in m
    0,  # GPS vertical accuracy in m
    7   # Number of satellites visible.
)
print("Data was send ",cnt)
cnt = cnt+1

YuryArnold

@YuryArnold

And for receive

import time
#Import mavutil
from pymavlink import mavutil

master = mavutil.mavlink_connection('udpin:127.0.0.1:14560')
#Why I need this?
master.wait_heartbeat()
# Get some information !
while True:
    master.recv_msg()
     try:
        altitude = master.messages['GLOBAL_POSITION_INT'].lat  # Note, you can access message fields as attributes!
        timestamp = master.time_since('GLOBAL_POSITION_INT')
        print(altitude)
    except:
        print('No GPS_RAW_INT message received')
   time.sleep(0.05)

I have raspberry pi, ardusub with pixhawk

YuryArnold

@YuryArnold

instead 127.0.0.1 i use 0.0.0.0

chaqing

@chaqing

I use TX2+cartongrapher+ap_nav for navigation (follow this tutorial: https://ardupilot.org/dev/docs/ros-object-avoidance.html, but I did not install APSync). There is output on cmd_vel topic, and path planning on rviz, but I can’t enter guided mode and the motor doesn’t rotate. Does anyone know what might be the reason? Any suggestions are greatly appreciated！

Ryan Johnston

@ryanjAA

I'm just posted this in general but thought this might also be a good spot. I'd like to put out a bounty for real-time geotagging from a companion (pi) computer for Sony cams. $1,000 to get it done and then we’ll open source it for all. Ping me for more info (a few specifics to do) but I’d like to have something similar to the drotagx and event38 companion computer made and kept open sourced (both are no longer sold/made by them) so this would be great to get out to people. It's just GPS_RAW_INT and GLOBAL_POSITION_INT read via mavlink and depending on the camera (we have been using the Sony R10c; the necessary exif data can be written to the files in near real-time). The R10c is no longer made but has an extensive API and triggering over USB has worked perfectly.

Jaime Machuca

@jmachuca77

It’s already done I wrote this a long time ago for MAVproxy

Though it’s not for the rc10 it’s for the commercial model

QX1 and A6xxx

Basically it uses the WiFi api. Because the USB API was not public

Send me the API details and I’m sure I can get it done for the R10c

chaqing

@chaqing

Can anyone help me?

YuryArnold

@YuryArnold

Hi everyone! I saw bluerobotics Rov control via acoustick channel, I want to work waypoint mission with it. So I can load mission from qgc, but arm vehicle with pymavlink. But , for waypoint missoin pass through, I have transfer data for ROV. I don't know which data I should provide for waypoint mission passing through.

ardugitter

@ardugitter

Hi guys

@YuryArnold I would look at Dataflash logs and copy what Mission Planner does

YuryArnold

@YuryArnold

Thank you

Nour Helal

@pirate-lofy

Hi, I’m trying to make a drone fly in mission mode with pixhawk controller, jetson tx2 module + j120 carrier board and realsense camera… but I am a complete beginner so forgive my shortage of information and poor English.

The real problem is that I want it to do big missions in which I am not involved. My desire is to send the drone the waypoint that I want it to go to before it takes off then it goes to that waypoint doing obstacle avoidance using px4/avoidance.

My current situation is as following…

I connected the pixhawk controllet to a pc and updated the firmware and callibarated default sensors (compass and etc.)
I inatalled px4/avoidance on a jetson tx2 with j120
My question are

Can this project be done or not?
If it can, what to do next?
Is it possible to save the missions on the jetson and make the drone follow this mission without being connect to it via wifi?
When I connected the pixhawk to the jetson via usb it read it and I managed to test it via mavros, but when I unplugged the usb and connected using telem1 connection it couldn’t read it. Is that ordinary or there is something wrong?
Please, if you can provide me with any advice I will really appreaciate it.

Jaime Machuca

@jmachuca77

If you are trying to use PX4 this is the wrong channel for that. You need to head over to the PX4 support channels https://dev.px4.io/v1.9.0/en/contribute/support.html

holly918

@holly918

Hello, my name is Bastiaan. i hope everyone is doing good and having a good christmas time.
I just started a week ago using a companion computer, so please forgive any ignorance.
Anyway, i'm having a problem with a module for mavproxy called nmea.py ( https://github.com/CanberraUAV/cuav/blob/master/cuav/modules/nmea.py ) and because i've read something about this module in this chatroom so i thought; i'll ask the people here if they could possibly help me.

So i added the python code for the module to mavproxy_nmea.py inside the modules directory and ran setup.py to add the module.
But when i try to load the nmea module i'm getting a syntax error.

Does someone here maybe have any thoughts to this? I'd really appreciate any help.

When i call for mavproxy.py --master=/dev/ttyACM0 --baudrate 115200 --load-module nmea --aircraft MyRover it will throw
ERROR in command ['load', 'nmea']: invalid syntax (mavproxy_nmea.py, line 2) Traceback (most recent call last): File "/home/pi/.local/lib/python2.7/site-packages/MAVProxy-1.8.29-py2.7.egg/EGG-INFO/scripts/mavproxy.py", line 739, in process_stdin File "/home/pi/.local/lib/python2.7/site-packages/MAVProxy-1.8.29-py2.7.egg/EGG-INFO/scripts/mavproxy.py", line 551, in cmd_module File "/home/pi/.local/lib/python2.7/site-packages/MAVProxy-1.8.29-py2.7.egg/EGG-INFO/scripts/mavproxy.py", line 487, in load_module File "/home/pi/.local/lib/python2.7/site-packages/MAVProxy-1.8.29-py2.7.egg/EGG-INFO/scripts/mavproxy.py", line 641, in import_package File "/home/pi/.local/lib/python2.7/site-packages/MAVProxy-1.8.29-py2.7.egg/MAVProxy/modules/mavproxy_nmea.py", line 2 import math import os import serial import socket import subprocess import sys import time from MAVProxy.modules.lib import mp_module from ^ SyntaxError: invalid syntax

rafamrtq

@rafamrtq

hi @darkratio could you solve the problem with tx2 and pixhawk

Mathew Wright

@mwrightE38

@ryanjAA @ryanjAA

Jaime Machuca

@jmachuca77

@holly918 you should not need to modify the code to add that module since there is already a module that outputs nmea called nmeaout the correct way to load a module for Mavproxy is to start mavproxy and once it’s up type ‘module load <module_name>’

Btw, A better place to ask questions is on the discord mavproxy channel

AMIT RAUSHAN

@amitraushan

Hi, I was flying my copter with version 3.6.12 in guided mode using rpi as companion computer. While it was in mission GPS GLITCH occurred and failsafe triggered . As FS_EKF_ACTION was set to 2(ALT_HOLD), it switched to ALT_HOLD but it didn't hold the same altitude and gradually came to ground. Note: Mission was completely autonomous and not using any RC control.

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