PX4Flow BeagleBoneBlue Issue

shreks7 · July 11, 2018, 6:13pm

Hi,

I’m trying to setup PX4Flow with BeagleBone Blue. I am running the Arducopter build for BBBlue.

I can detect the sensor using i2cdetect -r 1 and also via the @ppoirier’s PX4Flow-Python-Test (Github Repo).

32%20AM

58%20AM

However, I can’t see opt_m_x and opt_m_y changing in Mission Planner.
I have changed FLOW_ADD to 1 to match the i2c line, but not sure how the mapping works.

The PX4Flow is being powered by the PDB directly.

Thank you

ppoirier · July 11, 2018, 6:59pm

The adress should be default (0x42) and the bus is 1 , as defined correctly in linux board

github.com

ArduPilot/ardupilot/blob/master/libraries/AP_HAL/board/linux.h#L223


#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
#define HAL_BARO_DEFAULT HAL_BARO_BMP280_I2C
#define HAL_BARO_BMP280_BUS 2
#define HAL_BARO_BMP280_I2C_ADDR 0x76
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250_I2C
#define HAL_COMPASS_AK8963_I2C_BUS 2
#define HAL_COMPASS_AK8963_I2C_ADDR 0x0C
/* HMC5843 can be an external compass */
#define HAL_COMPASS_HMC5843_I2C_BUS 1
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 1
#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 1
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
#define HAL_GPIO_A_LED_PIN 59
#define HAL_GPIO_B_LED_PIN 58
#define HAL_GPIO_C_LED_PIN 57
#define HAL_GPIO_LED_ON    HIGH
#define HAL_GPIO_LED_OFF   LOW
#define HAL_BUZZER_PIN 28
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
#define HAL_INS_MPU9250_NAME "mpu9250"

Do you have a rangefinder ? This is necessary in order to get the OpticalFlow working

shreks7 · July 11, 2018, 7:13pm

Changing the FLOW_ADD to default 0 doesn’t work.
Still no change in opt_m_x and opt_m_y.

I have a TFMini Range Sensor connected to serial and it works. I can see the range sensor working in Mission Planner but not the PX4Flow.

ppoirier · July 11, 2018, 7:35pm

Just to make sure, you use the good connector and pins

shreks7 · July 11, 2018, 7:42pm

The connectors look okay since the BBBlue can detect the PX4Flow on I2C and your python script is reading the values.

https://discuss.ardupilot.org/uploads/default/original/3X/2/9/29ddbe125651dee1b95bc51198861162a80b9b60.png

I have a feeling the mapping from BBBlue I2C-1 is not same as HAL_OPTFLOW_PX4FLOW_I2C_BUS 1

What do you think?

ppoirier · July 11, 2018, 7:45pm

Yeah , thats right the test works…
I will give it a try later this week

shreks7 · July 14, 2018, 4:33pm

Any luck with PX4FLow with BeagleBone Blue?

I found this for BBBlack -

I2C0: used for some on-board components (HDMI, EEPROM, power mgmt). Not brought out to any connector/header

I2C1: entirely free to use, but doesn't seem to be enabled

I2C2: entirely free to use, and works

NOTE: In software, the busses are numbered differently; I2C2 is identified as 1. I2C0 is identified as 0.

Do you think this is the case with BBBlue too? Maybe the I2C-1 is identified as 2.

ppoirier · July 14, 2018, 6:58pm

The exposed I2C is BUS 1, but it seems that it cannot map within ardupilot even if the definitions is good. Looks like a Bug, I will dig deeper.

ppoirier · July 15, 2018, 2:23pm

OK I just builded a Blue from master, and it works
.

This is release ArduCopter V3.6-dev (13b56d58)

shreks7 · July 17, 2018, 6:46pm

I compiled Blue from Copter-3.6 branch and I can confirm it works. Thank you for the help.