Configuring Zubax with Pixhawk


#1

Hey Guys,

Print out after nsh status command:
Sensor ‘gnss’:
RX errors: 0, receiver node id: N/A
Why???

Thanks!
Joey


(Pavel Kirienko) #2

Hi Joey,

I’m assuming you’re using PX4, not APM.

Make sure that the config parameter UAVCAN_ENABLE is set to 2, and that your Zubax GNSS is running the latest firmware (you may need to update it using these instructions: zubax.com/news/zubax-gnss-firmware-update-v20).

If this still doesn’t help, execute “uavcan status fw” and post the output here.

Pavel.


#3

Yes, I am using PX4,and UAVCAN_ENABLE are set to 2,and I use zubax_gnss_fw_v2. Bin firmware.
After execution “uavcan status fw” shows “the Firmware Server is Running”
I want to know Zubax GNSS module need through assisted to configure a serial port?
Need to stop the GPS driver?How to configure?
I only use the CAN1, besides UAVCAN_ENABLE set to 2 still need to set up other?
Thank you.


(Pavel Kirienko) #4
  1. Did the firmware update utility report success upon completion? If not sure, please update again and pay particular attention to the message box it pops up in the end.
  2. Make sure Zubax GNSS is blinking CAN1 while running. If it doesn’t, your CAN cable is probably damaged.
  3. Use PX4 release version or the stable branch. PX4 master is often broken.
  4. If you have a CAN adapter or a scope, you could dump the bus exchange over a second and post it here for analysis.

Regarding your questions:

It is not necessary with PX4, the module will be auto-configured. Did you change any of configuration parameters from defaults?

This is not related to your problem.

No, using only CAN1 is fine.


#5

Hi Pavel,

I am sorry that I reply is slow,

I’m sure zubax_gnss_fw_v2. Bin firmware has been updated successfully,and I use a PX4 stable version

I have not any change zubax_gnss module configuration parameters

CAN adapter to print information is as follows:
ID Da0 Da1 Da2 Da3 Da4 Da5 Da6 Da7 Len Fmt Typ
0x10015501 0x00 0x00 0x00 0x00 0x08 0x00 0x00 0xc0 0x08 Extended Data
0x10015501 0x01 0x00 0x00 0x00 0x00 0x00 0x00 0xc1 0x08 Extended Data
0x10015501 0x02 0x00 0x00 0x00 0x00 0x00 0x00 0xc2 0x08 Extended Data
0x10015501 0x03 0x00 0x00 0x00 0x00 0x00 0x00 0xc3 0x08 Extended Data

CAN adapter have data that CAN baud rate is good, I felt as if is a problem of node id

thanks!
Joey


(Pavel Kirienko) #6

The dump you posted shows that there’s only Pixhawk talking, and there’s no sign of Zubax GNSS. Possible reasons:

  1. Cable is damaged. See:
  1. PX4 is not running the Dynamic Node ID Allocation server. Possible reasons for that:
    2.1. The parameter UAVCAN_ENABLE is not set to 2, please triple check.
    2.2. Your setup is using too much memory and the UAVCAN driver cannot start properly. I recommend to open NSH and execute ‘uavcan status fw’ to see whether the allocator is running.

  2. Configuration of Zubax GNSS differs from default.


#7

Hi Pavel,
CAN adapter with different data:
ID Da0 Da1 Da2 Da3 Da4 Da5 Da6 Da7 Len Fmt Typ
0x10015501 0x00 0x00 0x00 0x00 0x08 0x00 0x00 0xc0 0x08 Extended Data
0x10015501 0x01 0x00 0x00 0x00 0x00 0x00 0x00 0xc1 0x08 Extended Data
0x1edb2d00 0x01 0x36 0xff 0xd7 0x05 0x43 0x43 0xc0 0x08 Extended Data
0x10015501 0x02 0x00 0x00 0x00 0x00 0x00 0x00 0xc2 0x08 Extended Data
0x1edb2d00 0x01 0x36 0xff 0xd7 0x05 0x43 0x43 0xc1 0x08 Extended Data
0x10015501 0x03 0x00 0x00 0x00 0x00 0x00 0x00 0xc3 0x08 Extended Data
0x10015501 0x04 0x00 0x00 0x00 0x00 0x00 0x00 0xc4 0x08 Extended Data
0x1edb2d00 0x01 0x36 0xff 0xd7 0x05 0x43 0x43 0xc2 0x08 Extended Data
0x10015501 0x05 0x00 0x00 0x00 0x00 0x00 0x00 0xc5 0x08 Extended Data
0x1edb2d00 0x01 0x36 0xff 0xd7 0x05 0x43 0x43 0xc3 0x08 Extended Data
0x10015501 0x06 0x00 0x00 0x00 0x00 0x00 0x00 0xc6 0x08 Extended Data
0x1e000101 0x00 0x36 0xff 0xd7 0x05 0x43 0x43 0xc0 0x08 Extended Data
0x1e000101 0x00 0x36 0xff 0xd7 0x05 0x43 0x43 0xc1 0x08 Extended Data
0x1e000101 0x00 0x36 0xff 0xd7 0x05 0x43 0x43 0xc2 0x08 Extended Data
0x1e000101 0x00 0x36 0xff 0xd7 0x05 0x43 0x43 0xc3 0x08 Extended Data
0x10015501 0x07 0x00 0x00 0x00 0x00 0x00 0x00 0xc7 0x08 Extended Data
0x1edb2d00 0x01 0x36 0xff 0xd7 0x05 0x43 0x43 0xc4 0x08 Extended Data
0x1e000101 0x00 0x36 0xff 0xd7 0x05 0x43 0x43 0xc4 0x08 Extended Data
0x1edb2d00 0x00 0x31 0x34 0x49 0x44 0x05 0x43 0xc5 0x08 Extended Data
0x1e000101 0x42 0x22 0x00 0x36 0xff 0xd7 0x05 0x85 0x08 Extended Data
0x1e000101 0x43 0x43 0x31 0x34 0x49 0x44 0x05 0x25 0x08 Extended Data
0x1e000101 0x43 0x45 0x00 0x00 0x00 0x00 0x00 0x00 0x02 Extended Data
0x1edb2d00 0x00 0x00 0x00 0x00 0x00 0xc6 0x00 0x00 0x06 Extended Data
0x10015501 0x08 0x00 0x00 0x00 0x00 0x00 0x00 0xc8 0x08 Extended Data
0x1e000101 0x65 0xae 0x64 0x36 0xff 0xd7 0x05 0x86 0x08 Extended Data
0x1e000101 0x43 0x43 0x31 0x34 0x49 0x44 0x05 0x26 0x08 Extended Data
0x1e000101 0x43 0x00 0x00 0x00 0x00 0x46 0x00 0x00 0x06 Extended Data
0x1e015532 0x01 0x00 0x00 0x00 0x08 0x00 0x00 0xc0 0x08 Extended Data
0x1e01b281 0xc0 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x01 Extended Data
0x10015501 0x09 0x00 0x00 0x00 0x00 0x00 0x00 0xc9 0x08 Extended Data
0x1e0101b2 0x35 0xb8 0x01 0x00 0x00 0x00 0x08 0x80 0x08 Extended Data
0x1e0101b2 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x20 0x08 Extended Data
0x1e0101b2 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x08 Extended Data
0x1e0101b2 0x00 0x00 0x00 0x01 0x00 0x36 0xff 0x20 0x08 Extended Data
0x1e0101b2 0xd7 0x05 0x43 0x43 0x31 0x34 0x49 0x00 0x08 Extended Data
0x1e0101b2 0x44 0x05 0x43 0x00 0x00 0x00 0x00 0x20 0x08 Extended Data
0x1e0101b2 0x00 0x63 0x6f 0x6d 0x2e 0x7a 0x75 0x00 0x08 Extended Data
0x1e0101b2 0x62 0x61 0x78 0x2e 0x67 0x6e 0x73 0x20 0x08 Extended Data
0x1e0101b2 0x73 0x40 0x00 0x00 0x00 0x00 0x00 0x00 0x02 Extended Data
0x1e015532 0x02 0x00 0x00 0x00 0x08 0x00 0x00 0xc1 0x08 Extended Data
0x10015501 0x0a 0x00 0x00 0x00 0x00 0x00 0x00 0xca 0x08 Extended Data
0x1e015532 0x03 0x00 0x00 0x00 0x08 0x00 0x00 0xc2 0x08 Extended Data


(Pavel Kirienko) #8

Dynamic node ID allocator does not work. It can be seen that Zubax GNSS is publishing allocation requests, but they remain unanswered by PX4:

Please see my previous answer for instructions.


#9

Oh, I find the problem, thanks!