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README.md
PX4 on VOXL 2
VOXL 2 from ModalAI can be used as a companion computer to a flight control board but it can also run PX4 directly.
Overview
When running PX4 directly on the QRB5165 SoC it runs partially on the Sensor Low Power Island (SLPI) DSP (aka sdsp) and partially on the application processor (ARM64 / aarch64). The portion running on the DSP hosts the flight critical portions of PX4 such as the IMU, barometer, magnetometer, GPS, ESC, and power management drivers, and the state estimation. The DSP acts as the real time portion of the system. Non flight critical applications such as Mavlink, logging, and commander are running on the ARM CPU cluster (aka apps proc). The DSP and ARM CPU cluster communicate via a Qualcomm proprietary shared memory interface.
Build environment
In order to build for this platform both the Qualcomm Hexagon (DSP) toolchain and the Linaro ARM64 toolchain need to be installed. The (nearly) complete setup including the ARM64 toolchain is provided in the base Docker image provided by ModalAI, but since ModalAI is not allowed to redistribute the Qualcomm Hexagon DSP SDK this must be added by the end user.
The full instructions are available here:
Build overview
- Clone the repo (Don't forget to update and initialize all submodules)
- In the top level directory
px4$ boards/modalai/voxl2/scripts/run-docker.sh
root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/clean.sh
root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-apps.sh
root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-slpi.sh
root@9373fa1401b8:/usr/local/workspace# exit
Install and run on VOXL 2
Once the DSP and Linux images have been built they can be installed on a VOXL 2 board using ADB. There is a script to do this.
px4$ boards/modalai/voxl2/scripts/install-voxl.sh
Running PX4 on VOXL 2
After installing PX4 on the board, open a terminal on VOXL 2 using ADB shell. PX4 can be run using a start script.
root@m0054:/# voxl-px4
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.
______ __ __ ___
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| |_/ / \ V / / /| |
| __/ / \ / /_| |
| | / /^\ \ \___ |
\_| \/ \/ |_/
px4 starting.
INFO [px4] Calling startup script: /bin/sh /etc/modalai/voxl-px4.config 0
INFO [muorb] muorb protobuf initalize method succeeded
INFO [px4] Startup script returned successfully
pxh>
Notes
You cannot cleanly shutdown PX4 with the shutdown command on VOXL 2. You have to power cycle the board and restart everything.
Tips
Start with a VOXL 2 that only has the system image installed, not the SDK
Run the command voxl-px4 -s on target to run the self-test
In order to see DSP specific debug messages the mini-dm tool in the Hexagon SDK can be used:
modalai@modalai-XPS-15-9570:/local/mnt/workspace/Qualcomm/Hexagon_SDK/4.1.0.4/tools/debug/mini-dm/Ubuntu18$ sudo ./mini-dm
[sudo] password for modalai:
Running mini-dm version: 3.2
Completed processing command line ---
Connecting to the only usbport connected
mini-dm is waiting for a DMSS connection...
DMSS is connected. Running mini-dm...
------------Mini-dm is ready to log-------------
[08500/02] 06:21.030 0069:01: SDSP: Creating new instance. 0355 sns_flight_controller_sensor.
[08500/02] 06:21.030 0069:01: SDSP: Creating data streams 0292 sns_flight_controller_sensor_
[08500/02] 06:21.030 0069:01: SDSP: Configuring devices 0305 sns_flight_controller_sensor_
[08500/02] 06:21.030 0069:01: SDSP: Flight controller sensor instance initialized 0344 sns_flight_controller_sensor_
[08500/01] 06:21.092 0069:01: SDSP: Hello, world! 0000 test
[08500/02] 06:21.092 006a:01: SDSP: CPU Utilization: 0.04, wait percentage 99.94 0162 sns_flight_controller_sensor.
[08500/02] 06:21.092 006a:01: SDSP: Got interrupt registered event 0082 sns_flight_controller_sensor_