Current Issue:
- Pixhawk 6C Flight controller board cannot make serial connection to companion computer over MAVLink nor UXRCE_DDS
My Setup:
- Setup 1 (Proved to be able to connect):
FC Board: Pixhawk 1, also known as pixhawk 2.4.8
Companion Computer: Orangepi 5 max dev board
Connection: Telem2 on FC board, UART pins on Orangepi dev board
Performed actions:
- MAVLink connection proved to be up, on serial port /dev/ttyS1 of Orangepi dev board;
- UXRCE connection proved to be up, MicroXRCEAgent have output showing topics were created;
- Can echo and post topic using ROS2
- Setup 2 (Proved to have issue):
FC Board: Pixhawk 6C or Pixhawk V6C
Companion Computer: Orangepi 5 max dev board
Connection: Telem2 on FC board, UART pins on Orangepi dev board
Performed actions:
- MAVLink connection down, double checked parameters MAV_1_CONFIG=102, UXRCE_DDS_CFG=0, SER_TEL2_BAUD=57600;
- UXRCE connection down, double checked parameters MAV_1_CONFIG=0, UXRCE_DDS_CFG=102, SER_TEL2_BAUD=921600.
Observation:
In MAVLink console I can see uxrce_dds_client is running but in default is on UDP mode.
When I manually start uxrce_dds_client on it’s telem2 port(/dev/ttyS3) it’s waiting for connection, but when I wire it up with Orangepi dev board and start mavproxy.py or MicroXRCEAgent both methods of connection have no reply.
Conclusion:
- I’m trying to use ROS2 on orangepi dev board, uxrce as middle ware, Pixhawk 6C as flight controller.
- Pixhawk 1 is able to establish ROS and MAVLink connections with Orangepi dev board, so the method should work, the problem should not be with the dev board.
- Assuming that I’ll need aome sort of logs to clear things up, or some tinkering on the 6c board if it’s a known issue, but have no clue.
Please advise