Connecting to Crius AIOP directly via Bluetooth

cgcrute · September 28, 2013, 7:39pm

I’ve been in direct contact with Arthur who has asked me to move the discussion here:

I have a Crius AIOP V2 which I am trying to connect Droidplanner to via a direct bluetooth connection (using this http://www.rctimer.com/product_764.html). Arthur has asked me to compile the software myself and run a debug to see what happens. Below is the output:

09-28 20:31:55.395: D/BLUETOOTH(18222): Conenct 09-28 20:31:55.405: D/BLUETOOTH(18222): PLT_BB903+ #00:1C:EF:DB:72:A1# 09-28 20:31:55.405: D/BLUETOOTH(18222): id:00001108-0000-1000-8000-00805f9b34fb 09-28 20:31:55.410: D/BLUETOOTH(18222): id:0000110b-0000-1000-8000-00805f9b34fb 09-28 20:31:55.410: D/BLUETOOTH(18222): id:0000110e-0000-1000-8000-00805f9b34fb 09-28 20:31:55.410: D/BLUETOOTH(18222): id:0000111e-0000-1000-8000-00805f9b34fb 09-28 20:31:55.410: D/BLUETOOTH(18222): SKODA_BT #90:03:B7:42:F0:58# 09-28 20:31:55.420: D/BLUETOOTH(18222): id:00001101-0000-1000-8000-00805f9b34fb 09-28 20:31:55.655: D/BluetoothUtils(18222): isSocketAllowedBySecurityPolicy start : device null 09-28 20:31:55.780: E/Google Maps Android API(18222): Failed to load map. Error contacting Google servers. This is probably an authentication issue (but could be due to network errors). 09-28 20:32:00.960: W/System.err(18222): java.io.IOException: Service discovery failed 09-28 20:32:00.970: W/System.err(18222): at android.bluetooth.BluetoothSocket$SdpHelper.doSdp(BluetoothSocket.java:462) 09-28 20:32:00.970: W/System.err(18222): at android.bluetooth.BluetoothSocket.connect(BluetoothSocket.java:240) 09-28 20:32:00.975: W/System.err(18222): at com.droidplanner.connection.BluetoothConnection.openConnection(BluetoothConnection.java:43) 09-28 20:32:00.975: W/System.err(18222): at com.droidplanner.connection.MAVLinkConnection.run(MAVLinkConnection.java:66)

Both devices list are NOT my Quad’s bluetooth adapter.

Hope this helps, looking forward to a solution!

arthur · September 28, 2013, 8:58pm

That looks like an nice module, if we make it work I’ll start recommending it to people.

Now about making it work:

It’s great that you where able to compile the code, and also found the debug stream! This will be very helpful. About this line:

It isn’t necessary to make the communication work, and it happens just because you don’t have a Maps_Api. IF you want to be able to have the map follow the guide in the wiki (or send me your debug SHA1 fingerprint)

Have you paired your device using android settings>Bluetooth?
When you say: [quote]Both devices list are NOT my Quad’s bluetooth adapter.[/quote] how you are so sure? Do you have other bluetooth stuff paired with your android device?
The lines you saw on the log are created by the following code:
github.com/arthurbenemann/droid … cc#L57-L66

Looking at that I think your device is this:

09-28 20:31:55.410: D/BLUETOOTH(18222): SKODA_BT #90:03:B7:42:F0:58# 09-28 20:31:55.420: D/BLUETOOTH(18222): id:00001101-0000-1000-8000-00805f9b34fb

Can you try to get the log stream when hitting connected with your device paired (which is what you posted I think), and without the device?
Maybe this is our problem:

cgcrute · September 28, 2013, 9:44pm

[quote=“arthur”]

It’s great that you where able to compile the code, and also found the debug stream! This will be very helpful. About this line:

E/Google Maps Android API(18222): Failed to load map. E

It isn’t necessary to make the communication work, and it happens just because you don’t have a Maps_Api. IF you want to be able to have the map follow the guide in the wiki (or send me your debug SHA1 fingerprint)[/quote]
You very kindly included the reference to the maps at the bottom of the instructions so I didn’t worry about that bit!

Yes it’s paired.

Yes, I have two. The PLT one is a stereo headset and the Skoda one is my car’s inbuilt bluetooth.

I’m afraid that’s my car’s bluetooth.

I’ll give it a go, the one I posted IS with the Quad’s BT on and paired.

[quote=“arthur”]
6. Maybe this is our problem:

isSocketAllowedBySecurityPolicy start : device null

I can’t help you there, I exhausted my expertise in this field loading it into Eclipse and debugging it!

Thanks for looking into this, it’s great when a developer is responsive like this!

cgcrute · September 28, 2013, 9:57pm

Here you go, I unpaired the Quad and ran it again! Looks pretty similar to me, the Crius bluetooth (named CRIUS_BT) still isn’t listed.

09-28 22:51:53.165: D/BLUETOOTH(618): Conenct 09-28 22:51:53.175: D/BLUETOOTH(618): PLT_BB903+ #00:1C:EF:DB:72:A1# 09-28 22:51:53.180: D/BLUETOOTH(618): id:00001108-0000-1000-8000-00805f9b34fb 09-28 22:51:53.185: D/BLUETOOTH(618): id:0000110b-0000-1000-8000-00805f9b34fb 09-28 22:51:53.185: D/BLUETOOTH(618): id:0000110e-0000-1000-8000-00805f9b34fb 09-28 22:51:53.190: D/BLUETOOTH(618): id:0000111e-0000-1000-8000-00805f9b34fb 09-28 22:51:53.190: D/BLUETOOTH(618): SKODA_BT #90:03:B7:42:F0:58# 09-28 22:51:53.195: D/BLUETOOTH(618): id:00001101-0000-1000-8000-00805f9b34fb 09-28 22:51:53.205: V/BluetoothSocket.cpp(618): initSocketNative 09-28 22:51:53.205: V/BluetoothSocket.cpp(618): ...fd 95 created (RFCOMM, lm = 26) 09-28 22:51:53.205: V/BluetoothSocket.cpp(618): initSocketFromFdNative 09-28 22:51:53.275: D/BluetoothUtils(618): isSocketAllowedBySecurityPolicy start : device null 09-28 22:51:58.425: W/System.err(618): java.io.IOException: Service discovery failed 09-28 22:51:58.470: W/System.err(618): at android.bluetooth.BluetoothSocket$SdpHelper.doSdp(BluetoothSocket.java:462) 09-28 22:51:58.470: W/System.err(618): at android.bluetooth.BluetoothSocket.connect(BluetoothSocket.java:240) 09-28 22:51:58.475: W/System.err(618): at com.droidplanner.connection.BluetoothConnection.openConnection(BluetoothConnection.java:43) 09-28 22:51:58.475: W/System.err(618): at com.droidplanner.connection.MAVLinkConnection.run(MAVLinkConnection.java:66)

cgcrute · September 28, 2013, 10:15pm

Here’s my Bluetooth devices list (in case it helps). I’ve blanked out the bottom one as it’s my neighbor’s laptop (quite why it’s discoverable and has the range to reach my house I don’t know!).

arthur · September 28, 2013, 11:02pm

These lines doesn’t look to good:

09-28 20:31:55.655: D/BluetoothUtils(18222): isSocketAllowedBySecurityPolicy start : device null

It’s just a hunch, but could you try the bluetooth thing with just the Serial Adapter connected?

Does Andropilot work’s with your device (I could ask Kevin some help then)?

Have you been able to use the bluetooth module via your computer?

The last resort will be for me to buy one module. They say free-shipping, but I don’t know if that’s valid for Brazil.

arthur · September 29, 2013, 1:44am

I was thinking about your problem and now I have a good guess of the culprit.

When DP is connecting it goes through the bluetooth devices paired with your phone/tablet. It uses the first device with the UUID as “00001101-0000-1000-8000-00805F9B34FB” which is the UUID for serial devices.

Since your “car’s bluetooth” has that UUID it tried to connect to it, and for some good reason there was a security exception.

Could you try to do the connection without having your car paired to the android device?

cgcrute · September 29, 2013, 7:09am

Well done, that made it connect! It even announces ‘Stabalise’.

Unfortunately (and this may be the baud rate issue) nothing seems to work, the hud doesn’t reflect the orientation of the Quad and there is nothing in the drop down other than ‘WP’ (I’m assuming that’s where you select the different functions).

Here’s the new logs:

09-29 07:55:09.350: D/BLUETOOTH(12334): Conenct 09-29 07:55:09.350: D/BLUETOOTH(12334): PLT_BB903+ #00:1C:EF:DB:72:A1# 09-29 07:55:09.355: D/BLUETOOTH(12334): id:00001108-0000-1000-8000-00805f9b34fb 09-29 07:55:09.355: D/BLUETOOTH(12334): id:0000110b-0000-1000-8000-00805f9b34fb 09-29 07:55:09.355: D/BLUETOOTH(12334): id:0000110e-0000-1000-8000-00805f9b34fb 09-29 07:55:09.360: D/BLUETOOTH(12334): id:0000111e-0000-1000-8000-00805f9b34fb 09-29 07:55:09.360: D/BLUETOOTH(12334): CRIUS_BT #00:13:04:08:15:94# 09-29 07:55:09.360: D/BLUETOOTH(12334): id:00001101-0000-1000-8000-00805f9b34fb 09-29 07:55:09.365: V/BluetoothSocket.cpp(12334): initSocketNative 09-29 07:55:09.365: V/BluetoothSocket.cpp(12334): ...fd 44 created (RFCOMM, lm = 26) 09-29 07:55:09.365: V/BluetoothSocket.cpp(12334): initSocketFromFdNative 09-29 07:55:09.390: D/BluetoothUtils(12334): isSocketAllowedBySecurityPolicy start : device null 09-29 07:55:10.830: V/BluetoothSocket.cpp(12334): connectNative 09-29 07:55:11.325: V/BluetoothSocket.cpp(12334): ...connect(44, RFCOMM) = 0 (errno 115) 09-29 07:55:11.365: V/BluetoothSocket.cpp(12334): readNative 09-29 07:55:12.420: V/BluetoothSocket.cpp(12334): readNative 09-29 07:55:12.430: V/BluetoothSocket.cpp(12334): readNative 09-29 07:55:12.445: D/DRONE(12334): Drone type changed 09-29 07:55:12.560: D/dalvikvm(12334): GC_CONCURRENT freed 1636K, 12% free 19021K/21575K, paused 13ms+4ms, total 48ms 09-29 07:55:12.560: D/dalvikvm(12334): WAIT_FOR_CONCURRENT_GC blocked 25ms 09-29 07:55:12.655: D/dalvikvm(12334): GC_FOR_ALLOC freed 570K, 13% free 19148K/21959K, paused 39ms, total 39ms 09-29 07:55:12.715: D/dalvikvm(12334): GC_FOR_ALLOC freed 568K, 12% free 19516K/22151K, paused 20ms, total 20ms 09-29 07:55:12.780: D/dalvikvm(12334): GC_FOR_ALLOC freed 819K, 12% free 19949K/22471K, paused 19ms, total 19ms 09-29 07:55:12.810: E/Google Maps Android API(12334): Failed to load map. Error contacting Google servers. This is probably an authentication issue (but could be due to network errors). 09-29 07:55:12.835: D/dalvikvm(12334): GC_FOR_ALLOC freed 451K, 12% free 20213K/22855K, paused 19ms, total 19ms 09-29 07:55:12.895: D/dalvikvm(12334): GC_FOR_ALLOC freed 825K, 12% free 20605K/23175K, paused 19ms, total 19ms 09-29 07:55:12.955: D/dalvikvm(12334): GC_FOR_ALLOC freed 648K, 11% free 20964K/23495K, paused 19ms, total 19ms 09-29 07:55:12.970: D/dalvikvm(12334): WAIT_FOR_CONCURRENT_GC blocked 0ms 09-29 07:55:13.010: D/dalvikvm(12334): GC_EXPLICIT freed 231K, 11% free 21220K/23751K, paused 12ms+4ms, total 41ms 09-29 07:55:13.085: D/dalvikvm(12334): GC_FOR_ALLOC freed 768K, 11% free 21598K/24199K, paused 19ms, total 19ms 09-29 07:55:13.145: D/dalvikvm(12334): GC_FOR_ALLOC freed 720K, 11% free 21916K/24583K, paused 19ms, total 19ms 09-29 07:55:13.195: D/dalvikvm(12334): GC_FOR_ALLOC freed 438K, 11% free 22245K/24839K, paused 19ms, total 19ms 09-29 07:55:13.245: D/dalvikvm(12334): GC_FOR_ALLOC freed 549K, 11% free 22563K/25223K, paused 19ms, total 19ms 09-29 07:55:13.270: I/Choreographer(12334): Skipped 49 frames! The application may be doing too much work on its main thread. 09-29 07:55:13.425: V/BluetoothSocket.cpp(12334): readNative 09-29 07:55:13.430: V/BluetoothSocket.cpp(12334): readNative 09-29 07:55:14.420: V/BluetoothSocket.cpp(12334): readNative 09-29 07:55:14.435: V/BluetoothSocket.cpp(12334): readNative 09-29 07:55:15.440: V/BluetoothSocket.cpp(12334): readNative 09-29 07:55:15.455: V/BluetoothSocket.cpp(12334): readNative 09-29 07:55:16.430: V/BluetoothSocket.cpp(12334): readNative 09-29 07:55:16.460: V/BluetoothSocket.cpp(12334): readNative 09-29 07:55:17.450: V/BluetoothSocket.cpp(12334): readNative 09-29 07:55:17.485: V/BluetoothSocket.cpp(12334): readNative 09-29 07:55:18.450: V/BluetoothSocket.cpp(12334): readNative 09-29 07:55:18.455: V/BluetoothSocket.cpp(12334): readNative 09-29 07:55:19.445: V/BluetoothSocket.cpp(12334): readNative 09-29 07:55:19.455: V/BluetoothSocket.cpp(12334): readNative 09-29 07:55:20.440: V/BluetoothSocket.cpp(12334): readNative 09-29 07:55:20.490: 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W/InputEventReceiver(12334): Attempted to finish an input event but the input event receiver has already been disposed. 09-29 07:58:00.945: V/BluetoothSocket.cpp(12334): readNative 09-29 07:58:00.990: V/BluetoothSocket.cpp(12334): readNative 09-29 07:58:01.965: V/BluetoothSocket.cpp(12334): readNative 09-29 07:58:01.975: V/BluetoothSocket.cpp(12334): readNative 09-29 07:58:02.585: D/AbsListView(12334): Get MotionRecognitionManager 09-29 07:58:02.955: V/BluetoothSocket.cpp(12334): readNative 09-29 07:58:02.960: V/BluetoothSocket.cpp(12334): readNative 09-29 07:58:03.955: V/BluetoothSocket.cpp(12334): readNative 09-29 07:58:03.995: V/BluetoothSocket.cpp(12334): readNative 09-29 07:58:04.285: W/InputEventReceiver(12334): Attempted to finish an input event but the input event receiver has already been disposed. 09-29 07:58:04.285: W/InputEventReceiver(12334): Attempted to finish an input event but the input event receiver has already been disposed.

I ended up ordering a FTDI cable last night but it may be a couple of weeks before it arrives.

I have Andropilot installed but cannot see how to switch it to Bluetooth mode. The only app I have working is CopterGCS, but this is one modified to work with the S3 for some reason - possibly Android version (code.google.com/r/xcl0100-copter-gcs/).

I can connect it to my PC but MissionPlanner doesn’t like it very much, as it times out unless I only plug the bluetooth into the Quad at the point it says ‘Mavlink connecting’.

On a seperate note I purchased your Donation app last night but then got a refund email from Google for no reason. I looked this morning and it’s still listed as ‘Purchased’ in Play!!! Any ideas?

Many thanks for working on this!

cgcrute · September 29, 2013, 8:07am

Found the button on Andropilot… how did I miss it??? I’m at work and the Quad isn’t though, I’ll check later!

cgcrute · September 29, 2013, 2:04pm

Andropilot does the same. Connects then does appear to get any data.

I’ve also re-paired my car with the phone and can still connect with Droidplanner. I guess my Quad is now above it in the list!

cgcrute · September 29, 2013, 2:37pm

[quote=“cgcrute”]Andropilot does the same. Connects then does appear to get any data.

I’ve also re-paired my car with the phone and can still connect with Droidplanner. I guess my Quad is now above it in the list![/quote]

Connects the Doesn’t appear to get any data.

Apologies.

arthur · September 29, 2013, 2:41pm

It’s great that you made it work!

It seams that the problem is what I described in the last post: " your car serial port was being connected instead of the Bluetooth module". I don’t know how we could make a fix for that, unless we hard-coded the hardware ID.

Another user ( João Victor Fortes Carvalho) had the same problem in DIYDRONES, our post resolved his issue
http://diydrones.com/profiles/blogs/update-droidplanner-v1-0-0-1?commentId=705844%3AComment%3A1421535&xg_source=msg_com_blogpost

The problem you have now is mostly likely the baudrate difference of the 3DR telemetry module and the bluetooth module (I’m assuming you are doing a APM<->Telemetry<->bluetooth<->android bridge instead of a APM<->Bluetooth<->android connection). I have one possible solution, but you must be careful to not brick your telemetry module:

Do you know what is the baud-rate of your bluetooth module? For this to work it needs to be 115200 or higher than 57600.
The Telemetry module probably is set to 57600. Change that to the same baud-rate as the bluetooth module (115200), you can do that via the Mission Planner interface. Important note do not change the “air data rate”, just the baud rate.

This is how your setup will be at the end (data rates written in the links):
APM<-57600->Telemetry<-115200->bluetooth<-???->android

This is how they look now (and why they don’t work):
APM<57600–57600>Telemetry<57600–115200->bluetooth<-???->android

cgcrute · September 29, 2013, 2:49pm

[quote=“arthur”]It’s great that you made it work!

It seams that the problem is what I described in the last post: " your car serial port was being connected instead of the Bluetooth module". I don’t know how we could make a fix for that, unless we hard-coded the hardware ID.

Another user ( João Victor Fortes Carvalho) had the same problem in DIYDRONES, our post resolved his issue
http://diydrones.com/profiles/blogs/update-droidplanner-v1-0-0-1?commentId=705844%3AComment%3A1421535&xg_source=msg_com_blogpost

The problem you have now is mostly likely the baudrate difference of the 3DR telemetry module and the bluetooth module (I’m assuming you are doing a APM<->Telemetry<->bluetooth<->android bridge instead of a APM<->Bluetooth<->android connection). I have one possible solution, but you must be careful to not brick your telemetry module:

Do you know what is the baud-rate of your bluetooth module? For this to work it needs to be 115200 or higher than 57600.
The Telemetry module probably is set to 57600. Change that to the same baud-rate as the bluetooth module (115200), you can do that via the Mission Planner interface. Important note do not change the “air data rate”, just the baud rate.

This is how your setup will be at the end (data rates written in the links):
APM<-57600->Telemetry<-115200->bluetooth<-???->android

This is how they look now (and why they don’t work):
APM<57600–57600>Telemetry<57600–115200->bluetooth<-???->android[/quote]

It does connect, but then doesn’t do anything.

I’m trying to get it to work directly Phone>Crius Bluetooth>Crius AIOP without a telemetry module. According to RCTimer it runs at 115200 by default.

I’m glad our tinkering helped João!

arthur · September 29, 2013, 2:55pm

I don’t know that Crius AIOP controller, but if it’s running ArduPilot software you should have no problem.

One thing is that on Ardupilot the telemetry port defaults to 57600 as it’s baud-rate. So you should match the bluetooth module to that, or the ardupilot code to output at 115200 (the telemetry serial port baud-rate is set by a parameters on ardupilot)

cgcrute · September 29, 2013, 3:03pm

[quote=“arthur”]I don’t know that Crius AIOP controller, but if it’s running ArduPilot software you should have no problem.

One thing is that on Ardupilot the telemetry port defaults to 57600 as it’s baud-rate. So you should match the bluetooth module to that, or the ardupilot code to output at 115200 (the telemetry serial port baud-rate is set by a parameters on ardupilot)[/quote]

It’s running MegapirateNG which is Ardupilot based, it’s already set to 115200.

I feel like we are so close to fixing this, very frustrating!

arthur · September 29, 2013, 3:07pm

If both the ardupilot and the bluetooth are set to 115200 I don’t know what may be happening

cgcrute · September 29, 2013, 3:40pm

OK, so now it doesn’t even work with CopterGCS… it did yesterday but I don’t think anything I’ve done diagnosing Droidplanner can have messed it up.

I guess I should start trying to find a 433mhz telemetry module (struggling to find one that doesn’t review badly for range)…

Thanks for all you help, at least we resolved someone elses issue!

cgcrute · September 29, 2013, 4:18pm

Progress!

MissionPlanner on the PC was hanging on the 1st parameter so in frustration I reflashed the board and it connects and the HUD and map work. So it looks like there were 2 problems, my car bluetooth then this, although I don’t know how what I’ve done in the last 24hrs has corrupted it!

I can’t get any of the other screen to display though. I only have WP as an option. I tried Andropilot and that did show the other screens but took a long time to load the parameters. Any idea why I can’t get to the other screens to list?

As an aside, what turns out to be the ‘arm’ button on my screen is half off the screen and I accidentally pressed it. Quad fired up and I ended up with a couple of cuts in my arm. Lesson learned, rotors removed. Any idea why it fired up?

arthur · September 29, 2013, 5:08pm

What do you mean by this?

To load the other screens just click on the spinner on the top left, next to the app icon. Having the drone connected or not shouldn’t matter.

I’m sorry to hear about your problem with the arm button, I’ll move that to the overflow menu so we have more safety. It did a takeoff because you didn’t had your radio with the throttle at a minimum, so it armed and powered the propellers. On newer versions of ArduCopter firmware this has been fixed, so it only allows a “arm” when your throttle is at a minimum (even if it’s the GCS that does the arming).

cgcrute · September 29, 2013, 5:35pm

Correction. I’m a dummy.

It appears the screen on the S3 doesn’t display everything in portrait mode I found the menu I needed when in portrait mode.