Cube Orange communication error with Jetson Nano

Dario_Pedro · July 20, 2021, 8:58pm

Hi, we are currently working on integrating a Cube Orange (ArduCopter 4.0.7) as the fligh controller unit in our Hexacopter, featuring a custom carrier board (the UAV’s motherboard) where a Jetson Nano is also integrated (running Ubuntu 18.01).
The Cube Orange communicates with the Jetson Nano using the serial 1 (telem 1). The routing features level shifters to ensure the communication with the ROS Packege we developed via MavRos
Previously, we used The Cube Black and everything worked properly. However, when swapping to The Cube Orange, Mavros starts showing Warnings related to parameter recovery timeout as can be seen on the logs below.
On the same board, a Cube Black has no Warnings, and a Cube Orange displays the warnings/errors.
Furthermore, if the Cube Orange is connected to the Jetson Nano via USB link, Mavros has no warnings and everything runs smoothly.

Regarding the details of the connection:

/dev/ttyTHS1:921600 (all options starting from 57600 have been tested and all show the same warnings)
SERIAL0_BAUD: 921600
SERIAL0_PROTOCOL: MAVLINK2
SERIAL1_BAUD: 921600
SERIAL1_PROTOCOL: MAVLINK2
SERIAL2_BAUD: 57600
SERIAL2_PROTOCOL: MAVLINK2
SR1_ADSB: 0Hz
SR1_EXTRA1: 1Hz
SR1_EXTRA2: 1Hz
SR1_EXTRA3: 1Hz
SR1_EXT_STAT: 2Hz
SR1_PARAMS 10Hz
SR1_POSITION: 3Hz
SR1_RAW_CTRL: 0Hz
SR1_RAW_SENS: 2Hz
SR1_RC_CHAN: 2Hz

Mavros logs/errors:

heifu@heifu:~/orange_ws/src/heifu/control/control-bringup$ roslaunch control_bringup heifu_control.launch 
... logging to /home/heifu/.ros/log/313307e2-e980-11eb-830f-50e0851ccaff/roslaunch-heifu-6262.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://heifu:34243/

SUMMARY
========

CLEAR PARAMETERS
 * /heifu0/mavros/

PARAMETERS
 * /heifu0/mavros/cmd/use_comp_id_system_control: False
 * /heifu0/mavros/conn/heartbeat_mav_type: ONBOARD_CONTROLLER
 * /heifu0/mavros/conn/heartbeat_rate: 1.0
 * /heifu0/mavros/conn/system_time_rate: 1.0
 * /heifu0/mavros/conn/timeout: 10.0
 * /heifu0/mavros/conn/timesync_rate: 10.0
 * /heifu0/mavros/distance_sensor/rangefinder_pub/field_of_view: 0.0
 * /heifu0/mavros/distance_sensor/rangefinder_pub/frame_id: heifu0/lidar
 * /heifu0/mavros/distance_sensor/rangefinder_pub/id: 0
 * /heifu0/mavros/distance_sensor/rangefinder_pub/send_tf: False
 * /heifu0/mavros/distance_sensor/rangefinder_pub/sensor_position/x: 0.0
 * /heifu0/mavros/distance_sensor/rangefinder_pub/sensor_position/y: 0.0
 * /heifu0/mavros/distance_sensor/rangefinder_pub/sensor_position/z: -0.1
 * /heifu0/mavros/distance_sensor/rangefinder_sub/id: 1
 * /heifu0/mavros/distance_sensor/rangefinder_sub/orientation: PITCH_270
 * /heifu0/mavros/distance_sensor/rangefinder_sub/subscriber: True
 * /heifu0/mavros/fake_gps/eph: 2.0
 * /heifu0/mavros/fake_gps/epv: 2.0
 * /heifu0/mavros/fake_gps/fix_type: 3
 * /heifu0/mavros/fake_gps/geo_origin/alt: 408.0
 * /heifu0/mavros/fake_gps/geo_origin/lat: 47.3667
 * /heifu0/mavros/fake_gps/geo_origin/lon: 8.55
 * /heifu0/mavros/fake_gps/gps_id: 4
 * /heifu0/mavros/fake_gps/gps_rate: 5.0
 * /heifu0/mavros/fake_gps/horiz_accuracy: 0.5
 * /heifu0/mavros/fake_gps/mocap_transform: True
 * /heifu0/mavros/fake_gps/mocap_withcovariance: False
 * /heifu0/mavros/fake_gps/satellites_visible: 6
 * /heifu0/mavros/fake_gps/speed_accuracy: 0.0
 * /heifu0/mavros/fake_gps/tf/child_frame_id: heifu0/fix
 * /heifu0/mavros/fake_gps/tf/frame_id: heifu0/odom
 * /heifu0/mavros/fake_gps/tf/listen: False
 * /heifu0/mavros/fake_gps/tf/rate_limit: 10.0
 * /heifu0/mavros/fake_gps/tf/send: False
 * /heifu0/mavros/fake_gps/use_hil_gps: True
 * /heifu0/mavros/fake_gps/use_mocap: True
 * /heifu0/mavros/fake_gps/use_vision: False
 * /heifu0/mavros/fake_gps/vert_accuracy: 0.5
 * /heifu0/mavros/fcu_protocol: v2.0
 * /heifu0/mavros/fcu_url: /dev/ttyTHS1:115200
 * /heifu0/mavros/gcs_url: 
 * /heifu0/mavros/global_position/child_frame_id: heifu0/base_link
 * /heifu0/mavros/global_position/frame_id: heifu0/odom
 * /heifu0/mavros/global_position/gps_uere: 1.0
 * /heifu0/mavros/global_position/rot_covariance: 99999.0
 * /heifu0/mavros/global_position/tf/child_frame_id: heifu0/base_link
 * /heifu0/mavros/global_position/tf/frame_id: heifu0/odom
 * /heifu0/mavros/global_position/tf/global_frame_id: earth
 * /heifu0/mavros/global_position/tf/send: False
 * /heifu0/mavros/global_position/use_relative_alt: True
 * /heifu0/mavros/image/frame_id: heifu0/px4flow
 * /heifu0/mavros/imu/angular_velocity_stdev: (!degrees 0.02)
 * /heifu0/mavros/imu/frame_id: heifu0/base_link
 * /heifu0/mavros/imu/linear_acceleration_stdev: 0.0003
 * /heifu0/mavros/imu/magnetic_stdev: 0.0
 * /heifu0/mavros/imu/orientation_stdev: 1.0
 * /heifu0/mavros/local_position/frame_id: heifu0/odom
 * /heifu0/mavros/local_position/tf/child_frame_id: heifu0/base_link
 * /heifu0/mavros/local_position/tf/frame_id: heifu0/odom
 * /heifu0/mavros/local_position/tf/send: True
 * /heifu0/mavros/local_position/tf/send_fcu: True
 * /heifu0/mavros/mission/pull_after_gcs: True
 * /heifu0/mavros/mission/use_mission_item_int: True
 * /heifu0/mavros/mocap/use_pose: True
 * /heifu0/mavros/mocap/use_tf: False
 * /heifu0/mavros/odometry/estimator_type: 3
 * /heifu0/mavros/odometry/frame_tf/desired_frame: heifu0/ned
 * /heifu0/mavros/plugin_blacklist: ['actuator_contro...
 * /heifu0/mavros/plugin_whitelist: []
 * /heifu0/mavros/px4flow/frame_id: heifu0/px4flow
 * /heifu0/mavros/px4flow/ranger_fov: (!degrees 6.8)
 * /heifu0/mavros/px4flow/ranger_max_range: 5.0
 * /heifu0/mavros/px4flow/ranger_min_range: 0.3
 * /heifu0/mavros/safety_area/p1/x: 1.0
 * /heifu0/mavros/safety_area/p1/y: 1.0
 * /heifu0/mavros/safety_area/p1/z: 1.0
 * /heifu0/mavros/safety_area/p2/x: -1.0
 * /heifu0/mavros/safety_area/p2/y: -1.0
 * /heifu0/mavros/safety_area/p2/z: -1.0
 * /heifu0/mavros/setpoint_accel/send_force: False
 * /heifu0/mavros/setpoint_attitude/reverse_thrust: False
 * /heifu0/mavros/setpoint_attitude/tf/child_frame_id: heifu0/target_att...
 * /heifu0/mavros/setpoint_attitude/tf/frame_id: heifu0/odom
 * /heifu0/mavros/setpoint_attitude/tf/listen: False
 * /heifu0/mavros/setpoint_attitude/tf/rate_limit: 50.0
 * /heifu0/mavros/setpoint_attitude/use_quaternion: False
 * /heifu0/mavros/setpoint_position/mav_frame: LOCAL_NED
 * /heifu0/mavros/setpoint_position/tf/child_frame_id: heifu0/target_pos...
 * /heifu0/mavros/setpoint_position/tf/frame_id: heifu0/odom
 * /heifu0/mavros/setpoint_position/tf/listen: False
 * /heifu0/mavros/setpoint_position/tf/rate_limit: 50.0
 * /heifu0/mavros/setpoint_raw/thrust_scaling: 1.0
 * /heifu0/mavros/setpoint_velocity/mav_frame: LOCAL_NED
 * /heifu0/mavros/startup_px4_usb_quirk: False
 * /heifu0/mavros/sys/disable_diag: False
 * /heifu0/mavros/sys/min_voltage: 10.0
 * /heifu0/mavros/target_component_id: 1
 * /heifu0/mavros/target_system_id: 1
 * /heifu0/mavros/tdr_radio/low_rssi: 40
 * /heifu0/mavros/time/time_ref_source: fcu
 * /heifu0/mavros/time/timesync_avg_alpha: 0.6
 * /heifu0/mavros/time/timesync_mode: MAVLINK
 * /heifu0/mavros/vibration/frame_id: heifu0/base_link
 * /heifu0/mavros/vision_pose/tf/child_frame_id: heifu0/vision_est...
 * /heifu0/mavros/vision_pose/tf/frame_id: heifu0/odom
 * /heifu0/mavros/vision_pose/tf/listen: False
 * /heifu0/mavros/vision_pose/tf/rate_limit: 10.0
 * /heifu0/mavros/vision_speed/listen_twist: True
 * /heifu0/mavros/vision_speed/twist_cov: True
 * /heifu0/mavros/wheel_odometry/child_frame_id: heifu0/base_link
 * /heifu0/mavros/wheel_odometry/count: 2
 * /heifu0/mavros/wheel_odometry/frame_id: heifu0/odom
 * /heifu0/mavros/wheel_odometry/send_raw: True
 * /heifu0/mavros/wheel_odometry/send_twist: False
 * /heifu0/mavros/wheel_odometry/tf/child_frame_id: heifu0/base_link
 * /heifu0/mavros/wheel_odometry/tf/frame_id: heifu0/odom
 * /heifu0/mavros/wheel_odometry/tf/send: True
 * /heifu0/mavros/wheel_odometry/use_rpm: False
 * /heifu0/mavros/wheel_odometry/vel_error: 0.1
 * /heifu0/mavros/wheel_odometry/wheel0/radius: 0.05
 * /heifu0/mavros/wheel_odometry/wheel0/x: 0.0
 * /heifu0/mavros/wheel_odometry/wheel0/y: -0.15
 * /heifu0/mavros/wheel_odometry/wheel1/radius: 0.05
 * /heifu0/mavros/wheel_odometry/wheel1/x: 0.0
 * /heifu0/mavros/wheel_odometry/wheel1/y: 0.15
 * /heifu0/mavros_commands_node/paramNodeRate: 100.0
 * /heifu0/mavros_commands_node/paramPubTopicDiagLand: /diagnostic/land
 * /heifu0/mavros_commands_node/paramPubTopicDiagTakeoff: /diagnostic/takeoff
 * /heifu0/mavros_commands_node/paramSubTopicArm: /arm
 * /heifu0/mavros_commands_node/paramSubTopicAutoMode: /mode_auto
 * /heifu0/mavros_commands_node/paramSubTopicBrakeMode: /mode_brake
 * /heifu0/mavros_commands_node/paramSubTopicDisarm: /disarm
 * /heifu0/mavros_commands_node/paramSubTopicGuidedMode: /mode_guided
 * /heifu0/mavros_commands_node/paramSubTopicLand: /land
 * /heifu0/mavros_commands_node/paramSubTopicLoiter: /loiter
 * /heifu0/mavros_commands_node/paramSubTopicMissionStart: /mission/start
 * /heifu0/mavros_commands_node/paramSubTopicMissionStop: /mission/stop
 * /heifu0/mavros_commands_node/paramSubTopicRTL: /rtl
 * /heifu0/mavros_commands_node/paramSubTopicTakeoff: /takeoff
 * /heifu0/mavros_commands_node/paramSubTopicUAVPose: /mavros/local_pos...
 * /heifu0/mavros_commands_node/paramTakeOffAltitude: 5.0
 * /heifu0/mavros_commands_node/paramTakeOffThreshold: 0.3
 * /heifu0/navigation_controller_node/paramForceLinearSpeed: 0.04
 * /heifu0/navigation_controller_node/paramMaxAngularVelocity: 45.0
 * /heifu0/navigation_controller_node/paramMaxVelocity: 4.0
 * /heifu0/navigation_controller_node/paramNodeRate: 100.0
 * /heifu0/navigation_controller_node/paramPosError: 2.0
 * /heifu0/navigation_controller_node/paramReachDistance: 8.0
 * /heifu0/navigation_controller_node/paramSmoothFactor: 3.0
 * /heifu0/navigation_controller_node/paramYawError: 10.0
 * /heifu0/priority_manager_node/entries: [{'topic': '/heif...
 * /heifu0/priority_manager_node/paramNodeRate: 100.0
 * /heifu0/priority_manager_node/paramPubTopicSetpoint: /local_position
 * /heifu0/status_diagnostic_node/paramNodeRate: 5.0
 * /heifu0/status_diagnostic_node/paramPubTopicAutoPilotType: /vehicle/autopilo...
 * /heifu0/status_diagnostic_node/paramPubTopicGPSFixType: /g/f/m
 * /heifu0/status_diagnostic_node/paramPubTopicVehicleType: /vehicle/type
 * /heifu0/status_diagnostic_node/paramSubTopicDiagnostic: /diagnostics
 * /rosdistro: melodic
 * /rosversion: 1.14.10

NODES
  /heifu0/
    battery_diagnostic_node (topic_tools/throttle)
    mavros (mavros/mavros_node)
    mavros_commands_node (mavros_commands/mavros_commands_node)
    navigation_controller_node (navigation_controller/navigation_controller_node)
    priority_manager_node (priority_manager/priority_manager_node)
    status_diagnostic_node (status_diagnostic/status_diagnostic_node)

ROS_MASTER_URI=http://localhost:11311

process[heifu0/mavros_commands_node-1]: started with pid [6278]
process[heifu0/mavros-2]: started with pid [6279]
process[heifu0/navigation_controller_node-3]: started with pid [6286]
process[heifu0/priority_manager_node-4]: started with pid [6287]
process[heifu0/status_diagnostic_node-5]: started with pid [6293]
process[heifu0/battery_diagnostic_node-6]: started with pid [6303]
[DEBUG] [1626808213.045144643] [/heifu0/priority_manager_node]: 
/heifu0/collisionAvoidance/emergencyStop
	 TOPIC:    /heifu0/collisionAvoidance/emergencyStop
	 TYPE ID:  3
	 TIMEOUT:  1
	 PRIORITY: 254
[DEBUG] [1626808213.063678263] [/heifu0/priority_manager_node]: 
/heifu0/landingWaypoint
	 TOPIC:    /heifu0/landingWaypoint
	 TYPE ID:  1
	 TIMEOUT:  0
	 PRIORITY: 250
[DEBUG] [1626808213.064848145] [/heifu0/priority_manager_node]: 
/heifu0/outPoseStamped
	 TOPIC:    /heifu0/outPoseStamped
	 TYPE ID:  2
	 TIMEOUT:  5
	 PRIORITY: 200
[DEBUG] [1626808213.065505510] [/heifu0/priority_manager_node]: 
/heifu0/outVelStamped
	 TOPIC:    /heifu0/outVelStamped
	 TYPE ID:  3
	 TIMEOUT:  0.5
	 PRIORITY: 100
[DEBUG] [1626808213.065976098] [/heifu0/priority_manager_node]: 
/heifu0/outVelStampedPrime
	 TOPIC:    /heifu0/outVelStampedPrime
	 TYPE ID:  3
	 TIMEOUT:  5
	 PRIORITY: 110
[DEBUG] [1626808213.066307515] [/heifu0/priority_manager_node]: 
/heifu0/outWaypoint
	 TOPIC:    /heifu0/outWaypoint
	 TYPE ID:  1
	 TIMEOUT:  0
	 PRIORITY: 250
[DEBUG] [1626808213.066383090] [/heifu0/priority_manager_node]: 
/heifu0/planners/local_position/setpoint
	 TOPIC:    /heifu0/planners/local_position/setpoint
	 TYPE ID:  1
	 TIMEOUT:  0.2
	 PRIORITY: 105
[DEBUG] [1626808213.066582784] [/heifu0/priority_manager_node]: 
/heifu0/waypointsManager/goalWaypoint
	 TOPIC:    /heifu0/waypointsManager/goalWaypoint
	 TYPE ID:  1
	 TIMEOUT:  0
	 PRIORITY: 205
[ INFO] [1626808213.066674297] [/heifu0/priority_manager_node]: Creating subscribers...
[ INFO] [1626808213.182291992] [/heifu0/status_diagnostic_node]: Status Diagnostic Node Ready
[ INFO] [1626808213.261566325] [/heifu0/navigation_controller_node]: Waypoint finished!
[ INFO] [1626808213.274467575] [/heifu0/mavros]: FCU URL: /dev/ttyTHS1:115200
[ INFO] [1626808213.282797948] [/heifu0/mavros_commands_node]: Mavros Commands Node Ready
[ INFO] [1626808213.283321715] [/heifu0/priority_manager_node]: Priority Manager Node Ready
[ INFO] [1626808213.287580863] [/heifu0/mavros]: serial0: device: /dev/ttyTHS1 @ 115200 bps
[ INFO] [1626808213.288432141] [/heifu0/mavros]: GCS bridge disabled
[ INFO] [1626808213.323750574] [/heifu0/mavros]: Plugin 3dr_radio loaded
[ INFO] [1626808213.328355306] [/heifu0/mavros]: Plugin 3dr_radio initialized
[ INFO] [1626808213.328449320] [/heifu0/mavros]: Plugin actuator_control blacklisted
[ INFO] [1626808213.341801939] [/heifu0/mavros]: Plugin adsb loaded
[ INFO] [1626808213.352730156] [/heifu0/mavros]: Plugin adsb initialized
[ INFO] [1626808213.352833701] [/heifu0/mavros]: Plugin altitude blacklisted
[ INFO] [1626808213.353345958] [/heifu0/mavros]: Plugin cam_imu_sync loaded
[ INFO] [1626808213.355685616] [/heifu0/mavros]: Plugin cam_imu_sync initialized
[ INFO] [1626808213.356207665] [/heifu0/mavros]: Plugin command loaded
[ INFO] [1626808213.375104942] [/heifu0/mavros]: Plugin command initialized
[ INFO] [1626808213.375560478] [/heifu0/mavros]: Plugin companion_process_status loaded
[ INFO] [1626808213.381071906] [/heifu0/mavros]: Plugin companion_process_status initialized
[ INFO] [1626808213.381163888] [/heifu0/mavros]: Plugin debug_value blacklisted
[ INFO] [1626808213.381582026] [/heifu0/mavros]: Plugin distance_sensor loaded
[ INFO] [1626808213.401269329] [/heifu0/mavros]: Plugin distance_sensor initialized
[ INFO] [1626808213.401764189] [/heifu0/mavros]: Plugin esc_status loaded
[ INFO] [1626808213.404998668] [/heifu0/mavros]: Plugin esc_status initialized
[ INFO] [1626808213.405557124] [/heifu0/mavros]: Plugin fake_gps loaded
[ INFO] [1626808213.440634039] [/heifu0/mavros]: Plugin fake_gps initialized
[ INFO] [1626808213.440732271] [/heifu0/mavros]: Plugin ftp blacklisted
[ INFO] [1626808213.441436617] [/heifu0/mavros]: Plugin geofence loaded
[ INFO] [1626808213.451779868] [/heifu0/mavros]: Plugin geofence initialized
[ INFO] [1626808213.452281238] [/heifu0/mavros]: Plugin global_position loaded
[ INFO] [1626808213.486990693] [/heifu0/mavros]: Plugin global_position initialized
[ INFO] [1626808213.487429093] [/heifu0/mavros]: Plugin gps_rtk loaded
[ INFO] [1626808213.494772976] [/heifu0/mavros]: Plugin gps_rtk initialized
[ INFO] [1626808213.495163145] [/heifu0/mavros]: Plugin gps_status loaded
[ INFO] [1626808213.501356262] [/heifu0/mavros]: Plugin gps_status initialized
[ INFO] [1626808213.501462203] [/heifu0/mavros]: Plugin hil blacklisted
[ INFO] [1626808213.501929978] [/heifu0/mavros]: Plugin home_position loaded
[ INFO] [1626808213.510881049] [/heifu0/mavros]: Plugin home_position initialized
[ INFO] [1626808213.511538778] [/heifu0/mavros]: Plugin imu loaded
[ INFO] [1626808213.528639175] [/heifu0/mavros]: Plugin imu initialized
[ INFO] [1626808213.529106273] [/heifu0/mavros]: Plugin landing_target loaded
[ INFO] [1626808213.548339499] [/heifu0/mavros]: Plugin landing_target initialized
[ INFO] [1626808213.548825452] [/heifu0/mavros]: Plugin local_position loaded
[ INFO] [1626808213.568391605] [/heifu0/mavros]: Plugin local_position initialized
[ INFO] [1626808213.568849901] [/heifu0/mavros]: Plugin log_transfer loaded
[ INFO] [1626808213.577190639] [/heifu0/mavros]: Plugin log_transfer initialized
[ INFO] [1626808213.577667634] [/heifu0/mavros]: Plugin mag_calibration_status loaded
[ INFO] [1626808213.580914926] [/heifu0/mavros]: Plugin mag_calibration_status initialized
[ INFO] [1626808213.581480414] [/heifu0/mavros]: Plugin manual_control loaded
[ INFO] [1626808213.588228340] [/heifu0/mavros]: Plugin manual_control initialized
[ INFO] [1626808213.588651427] [/heifu0/mavros]: Plugin mocap_pose_estimate loaded
[ INFO] [1626808213.596603194] [/heifu0/mavros]: Plugin mocap_pose_estimate initialized
[ INFO] [1626808213.597109408] [/heifu0/mavros]: Plugin mount_control loaded
[ INFO] [1626808213.605631298] [/heifu0/mavros]: Plugin mount_control initialized
[ INFO] [1626808213.606072042] [/heifu0/mavros]: Plugin obstacle_distance loaded
[ INFO] [1626808213.612685068] [/heifu0/mavros]: Plugin obstacle_distance initialized
[ INFO] [1626808213.613247221] [/heifu0/mavros]: Plugin odom loaded
[ INFO] [1626808213.621789945] [/heifu0/mavros]: Plugin odom initialized
[ INFO] [1626808213.622215376] [/heifu0/mavros]: Plugin onboard_computer_status loaded
[ INFO] [1626808213.627624926] [/heifu0/mavros]: Plugin onboard_computer_status initialized
[ INFO] [1626808213.628274530] [/heifu0/mavros]: Plugin param loaded
[ INFO] [1626808213.636645894] [/heifu0/mavros]: Plugin param initialized
[ INFO] [1626808213.637118878] [/heifu0/mavros]: Plugin play_tune loaded
[ INFO] [1626808213.642640463] [/heifu0/mavros]: Plugin play_tune initialized
[ INFO] [1626808213.642754165] [/heifu0/mavros]: Plugin px4flow blacklisted
[ INFO] [1626808213.643229805] [/heifu0/mavros]: Plugin rallypoint loaded
[ INFO] [1626808213.650671764] [/heifu0/mavros]: Plugin rallypoint initialized
[ INFO] [1626808213.651115581] [/heifu0/mavros]: Plugin rangefinder loaded
[ INFO] [1626808213.653066946] [/heifu0/mavros]: Plugin rangefinder initialized
[ INFO] [1626808213.653621026] [/heifu0/mavros]: Plugin rc_io loaded
[ INFO] [1626808213.662480792] [/heifu0/mavros]: Plugin rc_io initialized
[ INFO] [1626808213.662608817] [/heifu0/mavros]: Plugin safety_area blacklisted
[ INFO] [1626808213.663031643] [/heifu0/mavros]: Plugin setpoint_accel loaded
[ INFO] [1626808213.670873459] [/heifu0/mavros]: Plugin setpoint_accel initialized
[ INFO] [1626808213.671625879] [/heifu0/mavros]: Plugin setpoint_attitude loaded
[ INFO] [1626808213.693845711] [/heifu0/mavros]: Plugin setpoint_attitude initialized
[ INFO] [1626808213.694383541] [/heifu0/mavros]: Plugin setpoint_position loaded
[ INFO] [1626808213.728004993] [/heifu0/mavros]: Plugin setpoint_position initialized
[ INFO] [1626808213.728553969] [/heifu0/mavros]: Plugin setpoint_raw loaded
[ INFO] [1626808213.748692849] [/heifu0/mavros]: Plugin setpoint_raw initialized
[ INFO] [1626808213.749268075] [/heifu0/mavros]: Plugin setpoint_trajectory loaded
[ INFO] [1626808213.760648079] [/heifu0/mavros]: Plugin setpoint_trajectory initialized
[ INFO] [1626808213.761307267] [/heifu0/mavros]: Plugin setpoint_velocity loaded
[ INFO] [1626808213.774767337] [/heifu0/mavros]: Plugin setpoint_velocity initialized
[ INFO] [1626808213.775726847] [/heifu0/mavros]: Plugin sys_status loaded
[ INFO] [1626808213.806781236] [/heifu0/mavros]: Plugin sys_status initialized
[ INFO] [1626808213.807377506] [/heifu0/mavros]: Plugin sys_time loaded
[ INFO] [1626808213.820442199] [/heifu0/mavros]: TM: Timesync mode: MAVLINK
[ INFO] [1626808213.823654282] [/heifu0/mavros]: Plugin sys_time initialized
[ INFO] [1626808213.824178413] [/heifu0/mavros]: Plugin trajectory loaded
[ INFO] [1626808213.836663192] [/heifu0/mavros]: Plugin trajectory initialized
[ INFO] [1626808213.837298733] [/heifu0/mavros]: Plugin vfr_hud loaded
[ INFO] [1626808213.839274630] [/heifu0/mavros]: Plugin vfr_hud initialized
[ INFO] [1626808213.839393801] [/heifu0/mavros]: Plugin vibration blacklisted
[ INFO] [1626808213.839791678] [/heifu0/mavros]: Plugin vision_pose_estimate loaded
[ INFO] [1626808213.855789591] [/heifu0/mavros]: Plugin vision_pose_estimate initialized
[ INFO] [1626808213.855928918] [/heifu0/mavros]: Plugin vision_speed_estimate blacklisted
[ INFO] [1626808213.856372162] [/heifu0/mavros]: Plugin waypoint loaded
[ INFO] [1626808213.870437616] [/heifu0/mavros]: Plugin waypoint initialized
[ INFO] [1626808213.870571527] [/heifu0/mavros]: Plugin wheel_odometry blacklisted
[ INFO] [1626808213.871014458] [/heifu0/mavros]: Plugin wind_estimation loaded
[ INFO] [1626808213.874846717] [/heifu0/mavros]: Plugin wind_estimation initialized
[ INFO] [1626808213.875099173] [/heifu0/mavros]: Built-in SIMD instructions: ARM NEON
[ INFO] [1626808213.875189905] [/heifu0/mavros]: Built-in MAVLink package version: 2021.5.5
[ INFO] [1626808213.875264022] [/heifu0/mavros]: Known MAVLink dialects: common ardupilotmega ASLUAV all development icarous matrixpilot paparazzi standard uAvionix ualberta
[ INFO] [1626808213.875349546] [/heifu0/mavros]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1626808214.192573180] [/heifu0/mavros]: CON: Got HEARTBEAT, connected. FCU: ArduPilot
[ INFO] [1626808214.209632012] [/heifu0/mavros]: RC_CHANNELS message detected!
[ INFO] [1626808214.213534430] [/heifu0/mavros]: IMU: Raw IMU message used.
[ INFO] [1626808214.404721960] [/heifu0/status_diagnostic_node]: GPS Fix Type: DGPS FIX
[ WARN] [1626808216.124008567] [/heifu0/mavros]: FCU: EKF2 IMU1 forced reset
[ INFO] [1626808216.128075365] [/heifu0/mavros]: FCU: EKF2 IMU1 origin set
[ INFO] [1626808216.146536429] [/heifu0/mavros]: FCU: EKF2 IMU1 initial yaw alignment complete
[ WARN] [1626808216.214700868] [/heifu0/mavros]: VER: broadcast request timeout, retries left 4
[ WARN] [1626808217.214147803] [/heifu0/mavros]: VER: broadcast request timeout, retries left 3
[ INFO] [1626808217.655883560] [/heifu0/mavros]: FCU: EKF2 IMU1 tilt alignment complete
[ WARN] [1626808223.211334758] [/heifu0/mavros]: CMD: Command 520 -- wait ack timeout
[ WARN] [1626808223.217760225] [/heifu0/mavros]: VER: unicast request timeout, retries left 2
[ INFO] [1626808224.198611761] [/heifu0/mavros]: HP: requesting home position
[ WARN] [1626808224.528918001] [/heifu0/mavros]: FCU: EKF2 IMU1 forced reset
[ INFO] [1626808224.532709790] [/heifu0/mavros]: FCU: EKF2 IMU1 origin set
[ INFO] [1626808224.556228723] [/heifu0/mavros]: FCU: EKF2 IMU1 initial yaw alignment complete
[ INFO] [1626808226.062735975] [/heifu0/mavros]: FCU: EKF2 IMU1 tilt alignment complete
[ INFO] [1626808227.375847971] [/heifu0/mavros]: FCU: EKF2 IMU0 is using GPS
[ WARN] [1626808228.227488005] [/heifu0/mavros]: CMD: Command 520 -- wait ack timeout
[ WARN] [1626808228.230819987] [/heifu0/mavros]: VER: unicast request timeout, retries left 1
[ WARN] [1626808228.233132509] [/heifu0/mavros]: PR: request list timeout, retries left 2
[ INFO] [1626808228.405786640] [/heifu0/status_diagnostic_node]: GPS Fix Type: DGPS FIX
[ WARN] [1626808229.212212710] [/heifu0/mavros]: CMD: Command 410 -- wait ack timeout
[ WARN] [1626808229.236490311] [/heifu0/mavros]: PR: request list timeout, retries left 1
[ WARN] [1626808230.217983752] [/heifu0/mavros]: RP: timeout, retries left 2
[ WARN] [1626808230.218857321] [/heifu0/mavros]: GF: timeout, retries left 2
[ WARN] [1626808230.219936470] [/heifu0/mavros]: WP: timeout, retries left 2
[ WARN] [1626808230.239262975] [/heifu0/mavros]: PR: request list timeout, retries left 0
[ WARN] [1626808231.220805932] [/heifu0/mavros]: GF: timeout, retries left 1
[ WARN] [1626808231.222337961] [/heifu0/mavros]: WP: timeout, retries left 1
[ WARN] [1626808231.223121475] [/heifu0/mavros]: RP: timeout, retries left 1
[ WARN] [1626808232.223024849] [/heifu0/mavros]: GF: timeout, retries left 0
[ WARN] [1626808232.224416143] [/heifu0/mavros]: WP: timeout, retries left 0
[ WARN] [1626808232.227173002] [/heifu0/mavros]: RP: timeout, retries left 0
[ WARN] [1626808233.028035929] [/heifu0/mavros]: FCU: EKF2 IMU1 forced reset
[ INFO] [1626808233.030371942] [/heifu0/mavros]: FCU: EKF2 IMU1 origin set
[ INFO] [1626808233.051269537] [/heifu0/mavros]: FCU: EKF2 IMU1 initial yaw alignment complete
[ERROR] [1626808233.225949189] [/heifu0/mavros]: GF: timed out.
[ERROR] [1626808233.227438611] [/heifu0/mavros]: WP: timed out.
[ERROR] [1626808233.229564408] [/heifu0/mavros]: RP: timed out.
[ WARN] [1626808233.240866905] [/heifu0/mavros]: CMD: Command 520 -- wait ack timeout
[ WARN] [1626808233.241913085] [/heifu0/mavros]: VER: unicast request timeout, retries left 0
[ INFO] [1626808234.197437924] [/heifu0/mavros]: HP: requesting home position
[ INFO] [1626808234.557285056] [/heifu0/mavros]: FCU: EKF2 IMU1 tilt alignment complete
[ERROR] [1626808235.143433538] [/heifu0/mavros]: FCU: PreArm: Throttle below Failsafe
[ERROR] [1626808235.147568253] [/heifu0/mavros]: FCU: PreArm: Hardware safety switch
[ERROR] [1626808235.152467680] [/heifu0/mavros]: FCU: PreArm: 3D Accel calibration needed
[ERROR] [1626808235.161907149] [/heifu0/mavros]: FCU: PreArm: Compass not calibrated
[ERROR] [1626808235.164528066] [/heifu0/mavros]: FCU: PreArm: Compass not calibrated
[ERROR] [1626808235.168832110] [/heifu0/mavros]: FCU: PreArm: Battery 1 below minimum arming voltage
[ERROR] [1626808235.181005520] [/heifu0/mavros]: FCU: PreArm: Battery 1 below minimum arming voltage
[ WARN] [1626808238.249954125] [/heifu0/mavros]: CMD: Command 520 -- wait ack timeout
[ WARN] [1626808238.252358004] [/heifu0/mavros]: VER: your FCU don't support AUTOPILOT_VERSION, switched to default capabilities
[ INFO] [1626808238.406025096] [/heifu0/status_diagnostic_node]: GPS Fix Type: DGPS FIX
[ WARN] [1626808239.212161811] [/heifu0/mavros]: CMD: Command 410 -- wait ack timeout
[ WARN] [1626808241.327906256] [/heifu0/mavros]: FCU: EKF2 IMU1 forced reset
[ INFO] [1626808241.331118285] [/heifu0/mavros]: FCU: EKF2 IMU1 origin set
[ INFO] [1626808241.349493506] [/heifu0/mavros]: FCU: EKF2 IMU1 initial yaw alignment complete
[ INFO] [1626808242.857898334] [/heifu0/mavros]: FCU: EKF2 IMU1 tilt alignment complete
[ INFO] [1626808244.197663332] [/heifu0/mavros]: HP: requesting home position
[ WARN] [1626808249.209599109] [/heifu0/mavros]: CMD: Command 410 -- wait ack timeout
[ WARN] [1626808249.740246788] [/heifu0/mavros]: FCU: EKF2 IMU1 forced reset
[ INFO] [1626808249.744435150] [/heifu0/mavros]: FCU: EKF2 IMU1 origin set
[ INFO] [1626808249.748271418] [/heifu0/mavros]: FCU: EKF2 IMU1 initial yaw alignment complete
[ INFO] [1626808249.804424659] [/heifu0/status_diagnostic_node]: GPS Fix Type: DGPS FIX
[ INFO] [1626808251.281952424] [/heifu0/mavros]: FCU: EKF2 IMU1 tilt alignment complete
[ INFO] [1626808254.197706715] [/heifu0/mavros]: HP: requesting home position
[ WARN] [1626808258.028354080] [/heifu0/mavros]: FCU: EKF2 IMU1 forced reset
[ INFO] [1626808258.034579276] [/heifu0/mavros]: FCU: EKF2 IMU1 origin set
[ INFO] [1626808258.054251773] [/heifu0/mavros]: FCU: EKF2 IMU1 initial yaw alignment complete
[ WARN] [1626808259.210650717] [/heifu0/mavros]: CMD: Command 410 -- wait ack timeout
[ INFO] [1626808259.561582169] [/heifu0/mavros]: FCU: EKF2 IMU1 tilt alignment complete
[ INFO] [1626808259.804673547] [/heifu0/status_diagnostic_node]: GPS Fix Type: DGPS FIX
[ INFO] [1626808264.197317419] [/heifu0/mavros]: HP: requesting home position
[ERROR] [1626808265.140744964] [/heifu0/mavros]: FCU: PreArm: Throttle below Failsafe
[ERROR] [1626808265.143845375] [/heifu0/mavros]: FCU: PreArm: Hardware safety switch
[ERROR] [1626808265.149385966] [/heifu0/mavros]: FCU: PreArm: 3D Accel calibration needed
[ERROR] [1626808265.159389927] [/heifu0/mavros]: FCU: PreArm: Compass not calibrated
[ERROR] [1626808265.162515807] [/heifu0/mavros]: FCU: PreArm: Compass not calibrated
[ERROR] [1626808265.169468161] [/heifu0/mavros]: FCU: PreArm: EKF starting GPS checks
[ERROR] [1626808265.177738213] [/heifu0/mavros]: FCU: PreArm: Battery 1 below minimum arming voltage
[ERROR] [1626808265.180910449] [/heifu0/mavros]: FCU: PreArm: Battery 1 below minimum arming voltage
[ WARN] [1626808266.429544934] [/heifu0/mavros]: FCU: EKF2 IMU1 forced reset
[ INFO] [1626808266.432915822] [/heifu0/mavros]: FCU: EKF2 IMU1 origin set
[ INFO] [1626808266.451874700] [/heifu0/mavros]: FCU: EKF2 IMU1 initial yaw alignment complete
[ INFO] [1626808267.935643335] [/heifu0/mavros]: FCU: EKF2 IMU1 tilt alignment complete
[ WARN] [1626808269.205473436] [/heifu0/mavros]: CMD: Command 410 -- wait ack timeout
[ INFO] [1626808271.406181462] [/heifu0/status_diagnostic_node]: GPS Fix Type: 3D FIX
[ INFO] [1626808274.197539672] [/heifu0/mavros]: HP: requesting home position
[ WARN] [1626808274.628577933] [/heifu0/mavros]: FCU: EKF2 IMU1 forced reset
[ INFO] [1626808274.632246017] [/heifu0/mavros]: FCU: EKF2 IMU1 origin set
[ INFO] [1626808274.648636479] [/heifu0/mavros]: FCU: EKF2 IMU1 initial yaw alignment complete
[ INFO] [1626808276.136753248] [/heifu0/mavros]: FCU: EKF2 IMU1 tilt alignment complete
[ WARN] [1626808279.211403465] [/heifu0/mavros]: CMD: Command 410 -- wait ack timeout

For example, it fails to transmit the stored mission and to detect the cube version (cube orange).

Any suggestions, tips, guidance? Thank you in advance.

Alvin · July 22, 2021, 1:58am

Did you switch the carrier board as well?
Like, when you use Orange Cube, are you using it with ADSB carrier board?

Dario_Pedro · July 22, 2021, 8:38am

Yes, we’ve done several tests with different combinations. Below are the summary of the results:

Custom board / Cube Black / Telemetry 1 - ✓
Custom board / Cube Orange / Telemetry 1 - ✘
Custom board / Cube Black / USB - ✓
Custom board / Cube Orange / USB - ✓

Pixhawk carrier board with ADSB / Cube Black / Telemetry 1 - ✓
Pixhawk carrier board with ADSB / Cube Orange / Telemetry 1 - ✘
Pixhawk carrier board with ADSB / Cube Black / USB - ✓
Pixhawk carrier board with ADSB / Cube Orange / USB - ✓

✘ - does not work as expected (presents the errors of the 1st print)
✓ - work has expected (presents no errors, and receives all the information)

These tests were performed multiple times, and with different cables/connectors to shrink done the possible causes of the problem.

Alvin · July 23, 2021, 3:05am

That’s weird. They should be same in serial parts.
Can you try to reset all parameters and reload the firmware orange cube? Then manually set all parameters again, or using param compare

Also check the baud rate and protocol settings.

Dario_Pedro · July 23, 2021, 8:23am

Hi,

We’ve always done the test with the same parameters, by uploading the same set. Not only that, but we’ve tested over 6 pixhawk black, and 3 pixhawk orange, which makes it a conclusive set of tests.

After some debugging, we believe we find the problem and a possible solution.

The Jetson Nano (or Jetson TX NX) does not produce a perfect square signal wave. After sending this signal to the level-shifter (1.8V to 3.3V) the defects of the Jetson waves are highlighted. Cube Black might have some additional resilience to this, whereas Cube Orange does not. I know that Cube Orange is a close source, but can you try to have any idea what sort of modifications were done on the Cube Orange connection to Telem 1 that is causing such issues? I guess this will affect most people that will use Jetson with the cube Orange.

To fix it, we will try 2 different approaches:

A simple circuit integrated on the board (adding anything to a highspeed connection is usually a bad idea, but we’ve done a simple PoC and it solved the issue.
A STM32 doing the wave correction and level shifting.

On the other hand, both Pixhawks send an almost perfect signal, which is correctly interpreted by Jetson Nano. No issues with this connection.

So in reality, what was happening was that the Pixhawk was sending all the information, but missing almost all acknowledges, making it to fail in parameter and mission waypoints readings.

Aiden · July 26, 2021, 2:58am

Hello,

we did not made any changes in serial part,So Cube Black and Cube orange is same in here.
Can you try to add a 0.1uf-1uf capacitor in the level shift’s VCC part(3.3V),I think may be it could help to improve this.

भाskar_भारdwaj · April 8, 2022, 3:29am

Facing the same issues!! Please let me know the proper solution