asctec_mav_framework - problems running "fcu.launch"

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asctec_mav_framework - problems running "fcu.launch"

Ilan
Hi All,
I'm quite new to this framework, so every answer will help.

I'm using the FireFly, with the MasterMind, ROS version is groovy
I've downloaded the "asctec_mav_framework" package and the "ethzasl_sensor_fusion" package, and run catkin_make and it build find.
Then I've "cd" to /home/asctec/catkin_ws/src/asctec_mav_framework/asctec_hl_firmware and run "make".
I flushed the new main.hex (I tried it twice, the second time with main.bin) to the HLP with my JTAG connector and OpenOCD.
I changed: "fcu/serial_port:" to "/dev/ttyS2".

Now when I run "roslaunch asctec_hl_interface fcu.launch" I get the following:

---------------------------------------------------------------------------------------------------
started roslaunch server http://mastermind:45557/

SUMMARY
========

CLEAR PARAMETERS
 * /fcu/

PARAMETERS
 * /fcu/fcu/baudrate
 * /fcu/fcu/frame_id
 * /fcu/fcu/max_velocity_xy
 * /fcu/fcu/max_velocity_z
 * /fcu/fcu/packet_rate_ekf_state
 * /fcu/fcu/packet_rate_gps
 * /fcu/fcu/packet_rate_imu
 * /fcu/fcu/packet_rate_rc
 * /fcu/fcu/packet_rate_ssdk_debug
 * /fcu/fcu/position_control
 * /fcu/fcu/serial_port
 * /fcu/fcu/state_estimation
 * /fcu/ssdk/omega_0_xy
 * /fcu/ssdk/omega_0_z
 * /fcu/ssdk/p16
 * /fcu/ssdk/p17
 * /fcu/ssdk/p18
 * /fcu/ssdk/p20
 * /fcu/ssdk/p21
 * /fcu/ssdk/p22
 * /fcu/ssdk/p23
 * /fcu/ssdk/p24
 * /fcu/ssdk/p35
 * /fcu/ssdk/p36
 * /fcu/ssdk/p37
 * /fcu/ssdk/p38
 * /fcu/ssdk/p39
 * /fcu/ssdk/p40
 * /fcu/ssdk/p41
 * /fcu/ssdk/p42
 * /fcu/ssdk/p43
 * /fcu/ssdk/p45
 * /fcu/ssdk/p46
 * /fcu/ssdk/p48
 * /fcu/ssdk/p49
 * /fcu/ssdk/p9
 * /fcu/ssdk/tf_ref_frame_id
 * /fcu/ssdk/tf_tracked_frame_id
 * /fcu/ssdk/zeta_xy
 * /fcu/ssdk/zeta_z
 * /rosdistro
 * /rosversion

NODES
  /
    fcu (asctec_hl_interface/hl_node)

auto-starting new master
process[master]: started with pid [8466]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to e4990a04-971a-11e3-a530-000e8e3e52ec
process[rosout-1]: started with pid [8479]
started core service [/rosout]
process[fcu-2]: started with pid [8492]
[ INFO] [1392562756.676984408]: INFO: opened serial port /dev/ttyS2 with baudrate 460800
[ INFO] [1392562756.678000739]: configured serial port(s), checking connection ...
checksum error for packet 4 ,resyncing
checksum error for packet 1 ,resyncing
checksum error for packet 1 ,resyncing
checksum error for packet 1 ,resyncing
checksum error for packet 1 ,resyncing
checksum error for packet 1 ,resyncing
checksum error for packet 1 ,resyncing
checksum error for packet 1 ,resyncing
checksum error for packet 1 ,resyncing
waiting for acknowledged packet timed out
.
.
.
waiting for acknowledged packet timed out
checksum error for packet 1 ,resyncing
checksum error for packet 1 ,resyncing
waiting for acknowledged packet timed out
checksum error for packet 1 ,resyncing
checksum error for packet 1 ,resyncing
checksum error for packet 1 ,resyncing
checksum error for packet 1 ,resyncing
checksum error for packet 1 ,resyncing
checksum error for packet 1 ,resyncing
checksum error for packet 1 ,resyncing
waiting for acknowledged packet timed out
checksum error for packet 1 ,resyncing
[ INFO] [1392562758.780424443]: ok
checksum error for packet 1 ,resyncing
checksum error for packet 1 ,resyncing
checksum error for packet 1 ,resyncing
checksum error for packet 4 ,resyncing
checksum error for packet 1 ,resyncing
checksum error for packet 1 ,resyncing
checksum error for packet 17 ,resyncing
.
.
.
waiting for acknowledged packet timed out
checksum error for packet 1 ,resyncing
checksum error for packet 1 ,resyncing
[ERROR] [1392562761.120108985]: battery voltage critical - land now !!!: 0 V
checksum error for packet 1 ,resyncing
checksum error for packet 1 ,resyncing
.
.
.
checksum error for packet 1 ,resyncing
waiting for acknowledged packet timed out
[ERROR] [1392562766.636633745]: sending SSDK parameters failed, tried 5 times
[FATAL] [1392562766.636862754]: Could not send SSDK parameters to the HLP! Shutting down the node
checksum error for packet 1 ,resyncing
checksum error for packet 1 ,resyncing
checksum error for packet 1 ,resyncing
checksum error for packet 1 ,resyncing
checksum error for packet 1 ,resyncing
checksum error for packet 1 ,resyncing
checksum error for packet 1 ,resyncing
checksum error for packet 1 ,resyncing
checksum error for packet 1 ,resyncing
checksum error for packet 1 ,resyncing
checksum error for packet 1 ,resyncing
[fcu-2] process has finished cleanly
log file: /home/asctec/.ros/log/e4990a04-971a-11e3-a530-000e8e3e52ec/fcu-2*.log
--------------------------------------------------------------------------------------------------------------

I guess I'm missing something, did anyone encountered this problem?

And does anyone has an example of how to send commands and receive data in ROS with the mav_framework?

Thanks a lot, Ilan.
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Re: asctec_mav_framework - problems running "fcu.launch"

dwenhcil
have you enable the serial port via futaba?
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Re: asctec_mav_framework - problems running "fcu.launch"

MarkusAchtelik
Hi,

I don't think the problem is caused by enabling the serial port with the futaba or not.

Have you patched the kernel on the MasterMind, as described here: http://wiki.ros.org/asctec_mav_framework/Tutorials/onboard_computer_setup#MasterMind_Specific_Setup ?

Best, Markus
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Re: asctec_mav_framework - problems running "fcu.launch"

Ilan
Hi Markus,
I'm trying to patch the kernel but I'm having some problems.
I install the lest image from Asctec wiki, and when I run "uname -r" I get: "3.5.0-34-generic".
I tried to patch it with "serial_fifo_irq_4_kernel_3.2.patch" but it doesn't work.
is there another patch? or am I doing something wrong?

Thanks,
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Re: asctec_mav_framework - problems running "fcu.launch"

MarkusAchtelik
Hi Ilan,

It's a bit hard keeping up with every kernel version. I updated the manual for kernel compilation with the necessary changes that need to be made
http://wiki.ros.org/asctec_mav_framework/Tutorials/onboard_computer_setup#Using_the_Serial_Ports_for_Fast_Communication

If you have a working patch, I'm happy to put it on the tutorial page.

Hope that helps!

Markus

From: "Ilan [via asctec-users]" <[hidden email]<mailto:[hidden email]>>
Date: Monday 24 February 2014 7:45
To: Markus Achtelik <[hidden email]<mailto:[hidden email]>>
Subject: Re: asctec_mav_framework - problems running "fcu.launch"

Hi Markus,
I'm trying to patch the kernel but I'm having some problems.
I install the lest image from Asctec wiki, and when I run "uname -r" I get: "3.5.0-34-generic".
I tried to patch it with "serial_fifo_irq_4_kernel_3.2.patch" but it doesn't work.
is there another patch? or am I doing something wrong?

Thanks,

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Re: asctec_mav_framework - problems running "fcu.launch"

Ilan
Hi Markus,
Thanks for the help so far,
I looked at the change you've made to the tutorial and tried to follow them.
I can't find the file "8250.c" under serial/. But I found some files with smiler names:
./linux-lts-quantal-3.5.0/arch/mips/kernel/8250-platform.c
./linux-lts-quantal-3.5.0/arch/arm/include/asm/hardware/debug-8250.S
./linux-lts-quantal-3.5.0/include/linux/8250_pci.h
./linux-lts-quantal-3.5.0/include/linux/serial_8250.h

And if I look for the specific commands, I found them in these files:
"fcr  = UART_FCR_ENABLE_FIFO | UART_FCR_R_TRIG_10," in ./linux-lts-quantal-3.5.0/drivers/mmc/card/sdio_uart.c
and "baud = uart_get_baud_rate(port, termios, old," in ./linux-lts-quantal-3.5.0/arch/mn10300/kernel/mn10300-serial.c

Can you help me with a bit more guidance on how to create the relevant patch?

Thanks, Ilan.
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Re: asctec_mav_framework - problems running "fcu.launch"

MarkusAchtelik
Hi,

I haven't looked into the newer kernels recently. It seems that there have been quite some changes. Being optimistic, you could try skipping the kernel compilation stuff and just give it a try with configuring the speed of the serial chip only (step 5.2.1). If we're really lucky, it may even detect the new frequency of the serial chip ...

When you run hl_node and you get a lot of packet errors, then we need to have a look again into the driver, and especially where all these files are now located ...

Best, Markus

From: "Ilan [via asctec-users]" <[hidden email]<mailto:[hidden email]>>
Date: Thursday 6 March 2014 12:52
To: Markus Achtelik <[hidden email]<mailto:[hidden email]>>
Subject: Re: asctec_mav_framework - problems running "fcu.launch"

Hi Markus,
Thanks for the help so far,
I looked at the change you've made to the tutorial and tried to follow them.
I can't find the file "8250.c" under serial/. But I found some files with smiler names:
./linux-lts-quantal-3.5.0/arch/mips/kernel/8250-platform.c
./linux-lts-quantal-3.5.0/arch/arm/include/asm/hardware/debug-8250.S
./linux-lts-quantal-3.5.0/include/linux/8250_pci.h
./linux-lts-quantal-3.5.0/include/linux/serial_8250.h

And if I look for the specific commands, I found them in these files:
"fcr  = UART_FCR_ENABLE_FIFO | UART_FCR_R_TRIG_10," in ./linux-lts-quantal-3.5.0/drivers/mmc/card/sdio_uart.c
and "baud = uart_get_baud_rate(port, termios, old," in ./linux-lts-quantal-3.5.0/arch/mn10300/kernel/mn10300-serial.c

Can you help me with a bit more guidance on how to create the relevant patch?

Thanks, Ilan.


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