The way I am using the Pixhawk is that I connect the Telem1 to the jetson TX2 and then via wifi to the laptop. I use ubunto 16.04 in the Jetson and also ROS.
I want to be able to connect qgroundcontrol station to the pixhawk 4 mini avoiding the Jetson TX2.
In other words, I would like to run JetsonTX2 as the main source and have a direct connection from pixhawk to the qgroundcontrol station directly as a safety.
Hi,
for USB connection you just connect Pixhawk and Jetson and type in the USB Device that shows up in linux for the connection link. Should be a serial link on /dev/ttyACM0 or something similiar. There is not much documentation for that.
Thank you for the answer, however I do have few questions
1.- If you take a look at the following link, the number 13 correspond to a USB, even though it does not look as a USB input. And, the number 12 correspond to a micro USB, this input shall not be used.
I guess the number 12 (USB) Pixhawk shall be connected to the USB of Jetson, right. And, in the sdcard/etc/extras.txt of the pixhawk I shall write something like this, right?
2.- Well, in order to change the input 2 of the PixHawk that correspond to UART&I2C B to a telemetry port. What shall I change in the Qgroundcontrol?. My best guess is to change MAV_0_CONFIG and then I have several options, like: UART 6, TELEM 1, TELEM 2, TELEM 3, TELEM/SERIAL 4. Which option to use?
Or maybe I am mistaken, how it shall be done in order to change UART&I2C B to a telemetry port.
Note: I am using MAV_1_CONFIG set to TELEMTRY2 for the pin 3 of the PIXHAWK that correspond to telemetry1
1- I am running successfully UART&I2C B to a telemetry4 for a companion computer as JetsonTX2
2.- I have setup in Qgroundcontrol the following for the Pixhawk TELEM1: MAV_1_CONFIG TELEM1 MAV_1_MODE Normal MAV_1_RATE 120 MAV_1_FORWARD Enabled SER_TEL1_BAUD 57600N1
4.- I just connected one holybro radio to the TELEM1 of the Pixhawk 4 mini and the other holybro radio to the laptop where Qgroundcontrol station is installed.
The questions or issues are:
In the QGC station I can not see any holybro connected radio.
How can I verify that the radios are well connected by means of the QGC stations and it is interfacing with them in a proper manner.
Since I am using the companion computer to send mavilink protocol over a wifi. How can I set up that the first priority is the wifi and in case the wifi connection is lost the radio takes place.
In the sdcard/etc/extras.txt I have comment out everything so there is no communication between Telem4 and the Jetson. Then I power the pixhawk with one module connected and also the other module connected to the laptop where Qgroundcontrol station is running. Then communication is established, as it can be in the following picture
Also the green led must be solid and the red led must be blinking in both modules.
The only problem I have faced is that when I enable all the commands in the sdcard/etc/extras.txt the modules do not work just the communication between Telem4 and the Jetson.
Well, I do not know if this shall be like this, that when the drone is far away from the QGCS and loses connection over a wifi, then the telemetry modules will take place over the communication.