Hi guys!
So I am working on making an autonomous, electric offroad Go-Kart for a project in which it will follow a fence line autonomously. For this project I am using:
- The CubePilot’s Orange Cube: as flight controller
- QGroundControl: as ground control station
- PX4 Firmware version 1.14.0
- Airframe type: Rover
- Vehicle: Generic Ground Vehicle (Ackermann)
- pymavlink.mavutil for communication between the cube and the companion computer
- PX4_sitl with gazebo-classic_rover as testing platform (gazebo11)
Currently, a (very) simple version of my vehicle is working in the PX4_sitl where it can do an autonomous mission. Now I need to test this on the real vehicle, however, when I connect my Orange Cube to my QGC, I can’t seem to find the parameters of “Rover Position Control” in which I should tune the vehicle’s dynamics.
I have already tried the following:
-
Update firmware via QGC
-
Tried to read one of the parameters (“GND_L1_DAMPING”) via:
master.mav.param_request_read_send(
master.target_system, master.target_component,
b'GND_L1_DAMPING',
-1
)
message = master.recv_match(type='PARAM_VALUE', blocking=True).to_dict()
print('name: %s\tvalue: %d' %
(message['param_id'].decode("utf-8"), message['param_value']))
Which gave no print statements. (Might be that the code is also faulty, sorry, it was a quick chatgpt way to try to read this param)
- Tried to upload new firmware
make cubepilot_cubeorange_default(andmake_cubepilot_cubeorange). This however gave the following error:
-- PX4 version: v1.15.0-alpha1-753-g64505b4b9c (1.15.0)
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3")
-- PX4 config file: /home/jurjen/PX4-Autopilot/boards/cubepilot/cubeorange/default.px4board
-- PLATFORM nuttx
-- TOOLCHAIN arm-none-eabi
-- ARCHITECTURE cortex-m7
-- ROMFSROOT px4fmu_common
-- IO cubepilot_io-v2_default
-- SERIAL_GPS1 /dev/ttyS2
-- SERIAL_GPS2 /dev/ttyS5
-- SERIAL_TEL1 /dev/ttyS0
-- SERIAL_TEL2 /dev/ttyS1
-- UAVCAN_INTERFACES 2
-- PX4 config: cubepilot_cubeorange_default
-- PX4 platform: nuttx
-- The CXX compiler identification is unknown
-- The C compiler identification is unknown
-- The ASM compiler identification is unknown
-- Found assembler: arm-none-eabi-gcc
CMake Error at CMakeLists.txt:220 (project):
The CMAKE_CXX_COMPILER:
arm-none-eabi-g++
is not a full path and was not found in the PATH.
Tell CMake where to find the compiler by setting either the environment
variable "CXX" or the CMake cache entry CMAKE_CXX_COMPILER to the full path
to the compiler, or to the compiler name if it is in the PATH.
CMake Error at CMakeLists.txt:220 (project):
The CMAKE_C_COMPILER:
arm-none-eabi-gcc
is not a full path and was not found in the PATH.
Tell CMake where to find the compiler by setting either the environment
variable "CC" or the CMake cache entry CMAKE_C_COMPILER to the full path to
the compiler, or to the compiler name if it is in the PATH.
-- Enabling double FP precision hardware instructions
CMake Error at CMakeLists.txt:220 (project):
The CMAKE_ASM_COMPILER:
arm-none-eabi-gcc
is not a full path and was not found in the PATH.
Tell CMake where to find the compiler by setting either the environment
variable "ASM" or the CMake cache entry CMAKE_ASM_COMPILER to the full path
to the compiler, or to the compiler name if it is in the PATH.
-- Warning: Did not find file Compiler/-ASM
-- Enabling double FP precision hardware instructions
-- Configuring incomplete, errors occurred!
See also "/home/jurjen/PX4-Autopilot/build/cubepilot_cubeorange_default/CMakeFiles/CMakeOutput.log".
See also "/home/jurjen/PX4-Autopilot/build/cubepilot_cubeorange_default/CMakeFiles/CMakeError.log".
Error: /home/jurjen/PX4-Autopilot/build/cubepilot_cubeorange_default is not a directory
make: *** [Makefile:227: cubepilot_cubeorange_default] Error 1
Does anyone know how I can add these Rover Position Control parameters on my Orange Cube? Or if there is another way for my Orange Cube to be tuned so it can work with my Go-Kart?
Thank you in advance!
With kind regards,
Jurjen