Serial Comms - Jetson Nano & PX4-6C/ Hardware Configuration Instructions - Serial Communication between Jetson Nano and PX4-6C flight controller

Mitch · June 10, 2023, 4:54pm

I’ve put together a step by step guide on using the PX4-6C flight controller with a Jetson Nano over the TELEM2 port using serial communication. The Jetson Nano is using ROS2 Foxy, and Fast-RTPS-Gen and the V6C is using firmware 1.13.3 with a semi-custom RTPS firmware file. Took me a while to figure out the correct way to get them talking so figured I’d share for anyone else interested/ stuck on the same problem.

Here is the link, let me know if it helped or if there’s something missing from the process. I tried to be as inclusive as possible.

github.com

MShkut/JetsonNano-ROS2-PX4-Holybro-X500-V2/blob/3f28189c21d102e2add8f19fbc2d26098dbbd087/Serial Comms - Jetson Nano & PX4-6C/ Hardware Configuration Instructions - Serial Communication between Jetson Nano and PX4-6C flight controller.md

These are instructions for setting up the PX4-6C Flight controller serial communications with the Jetson Nano over the GPIO pins 6,8,10. The Jetson nano runs a custom ubuntu kernel to operate on Ubuntu 20.04, this is to allow the installation of ROS2 Foxy, which is necessary for the desired autonomous control later in the project. Many commands are taken from https://docs.px4.io/v1.13/en/ros/ros2_comm.html, however I have simplified them for this specific application, including only what's necessary. 

## An overview of all the components used and on which devices throughout this process

Jetson Nano (Onboard Computer):
- Disable nvgetty
- Install ROS2 Foxy
- Install JDK 13
- Install Fast-RTPS-Gen
- Add usermod permissions
- Create ROS2 Workspace with ros_com & ros_msg

Your Personal Computer
- Install Balena Etcher
- Download Custom Ubuntu 20.04 Kernel & Flash to MicroSD
- Install PX4 Autopilot
- Install QGround Control
- Make Custom RTPS V6C Firmware

PX4-6C Flight Controller

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junwoo0914 · July 4, 2023, 11:07pm

Thanks a lot for sharing this guide!

huiyulhy · September 4, 2023, 7:47pm

Thanks for this useful reference!