Beagle Bone Black, Dune and Pixhawk mini communication

[Onur GUZEL]

Hello,

Regarding "Integration of RTK GPS and IMU for Accurate UAV Positioning" documentation by "Bjørn Amstrup Spockeli", we are tyring to use Beagle Bone Black, Dune and Pixhawk mini. We also use the ntnu/x8-06.ini for our vehicle configuration. Successfully we communicate with dune through neptus and can send plans to dune on beaglebone. Those parts seem ok, but I have a problem about Pixhawk mini communication, I dont get any gps or imu information. We added capemgr_enable settings inside /boot/uboot/uEnv.txt which is described on the documentation.

1. Which configuration should we use for pixhawk mini ( is ntnu/x8-06.ini ok for this )?

2. How can we test pixhawk mini and beaglebone communication? (/dev/ttyO1 or /dev/ttyO2, or anyother)

3. Do we need to add some custom configurations for dune, glued and pixhawk communication?

Regards

[João Fortuna]

Hi Onur,

I would check the following things:

1. Is the Pixhawk running the APM stack? The task in DUNE only supports MAVLink communication with the APM firmware. (Pixhawk supports both PX4 and APM stacks).
2. Is the port on the Pixhawk correctly configured? Check this example: http://ardupilot.org/dev/docs/raspberry-pi-via-mavlink.html (this is for Ras-pi, but it should be very similar for you case)
1. Most important settings: 
2. SERIAL2_PROTOCOL = 1 (the default) to enable MAVLink on the serial port.
3. SERIAL2_BAUD = 921 so the Pixhawk can communicate with the RPi at 921600 baud (or whatever baud you choose, just make sure it is the same in DUNE and Pixhawk).
3. Do you know which pins correspond to which port? Try connecting the RX-TX pins of the same port and then use minicom/microcom and try to write/read from it.

I don't know what this capemgr_enable you mentioned. Did you make a BBB cape like the one we have?

Regards,

João

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[Onur GUZEL]

Hello Joao,

Thanks for the reply, we added uart to capemgr, as described in the documentation ( "Integration of RTK GPS and IMU for Accurate UAV Positioning" by "Bjørn Amstrup Spockeli") by adding

#/boot/uboot/uEnv.txt

cape_enable=capemgr.enable_partno=BB-UART1

to uEnv.txt file.

I am going to check the link that you sent.

Thanks

Regards

6 Şubat 2017 Pazartesi 16:39:34 UTC+3 tarihinde João Fortuna yazdı:

Hi Onur,

I would check the following things:

1. Is the Pixhawk running the APM stack? The task in DUNE only supports MAVLink communication with the APM firmware. (Pixhawk supports both PX4 and APM stacks).
2. Is the port on the Pixhawk correctly configured? Check this example: http://ardupilot.org/dev/docs/raspberry-pi-via-mavlink.html (this is for Ras-pi, but it should be very similar for you case)
1. Most important settings: 
2. SERIAL2_PROTOCOL = 1 (the default) to enable MAVLink on the serial port.
3. SERIAL2_BAUD = 921 so the Pixhawk can communicate with the RPi at 921600 baud (or whatever baud you choose, just make sure it is the same in DUNE and Pixhawk).
3. Do you know which pins correspond to which port? Try connecting the RX-TX pins of the same port and then use minicom/microcom and try to write/read from it.

I don't know what this capemgr_enable you mentioned. Did you make a BBB cape like the one we have?

Regards,

João

On 4 February 2017 at 13:29, Onur GUZEL <on...@onurguzel.net> wrote:

Hello,

Regarding "Integration of RTK GPS and IMU for Accurate UAV Positioning" documentation by "Bjørn Amstrup Spockeli", we are tyring to use Beagle Bone Black, Dune and Pixhawk mini. We also use the ntnu/x8-06.ini for our vehicle configuration. Successfully we communicate with dune through neptus and can send plans to dune on beaglebone. Those parts seem ok, but I have a problem about Pixhawk mini communication, I dont get any gps or imu information. We added capemgr_enable settings inside /boot/uboot/uEnv.txt which is described on the documentation.

1. Which configuration should we use for pixhawk mini ( is ntnu/x8-06.ini ok for this )?

2. How can we test pixhawk mini and beaglebone communication? (/dev/ttyO1 or /dev/ttyO2, or anyother)

3. Do we need to add some custom configurations for dune, glued and pixhawk communication?

Regards

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