Hi all,
I am currently trying to integrate the navigator board with the lattepanda(linux OS, blueOS host). The blueOS is not able to detect the navigator board and it is only detecting the Arduino board that is present on the lattepanda.
I have connected the navigator to the lattepanda using the 6B1 USB To RS232 TTL UART PL2303HX Auto Converter USB to COM Cable Module. Is that connection correct and we have used male to male jumper wires to bridge the connection between the cable module and the navigator.
The firmware is also not getting read in the blueos.
HI, what exactly is the host OS?
BlueOS assumes it is running on Raspbian as it tries to setup the kernel overlays for accessing the hardware on Navigator.
The detection itself relies on finding the Navigator’s i2c sensors.
You can find more details about how these are configured at BlueOS/install/boards at master · bluerobotics/BlueOS · GitHub
Hi Willian,
The host board (lattepanda) has Linux OS installed in it.
No raspberry pi is used in this at all.
Currently the arduino embedded in lattepanda is getting detected but I want the navigator to be identified instead.
I’m afraid that is not going to be an easy task.
First thing you need to do is make sure the pinouts are compatible.
Then, all peripherals setup for I2C and SPI will need to be re-done for the lattepanda.
Once you can talk to all devices, you need to tweak BlueOS’ linux flight controller detector to detect your board (I’m assuming the devices will end up on different buses and so on)
Additionally, for you to run ardupilot on the board, changes on ardupilot itself would be required for this setup (lattepanda + navigator) to be identified as a new board. This step could be somewhat straight forward, as it woul be just a board definition file.
Hi Willian thanks for your support so far.
I am facing a slightly different issue, I am not able to communicate between navigator and lattepanda board. They both are connected through the ethernet cable. In blueOS the navigator gets detected now.
Hi @Rovarm,
Can you give me an overview of your system? both hardware and software?
The overview of the system is as follows:
We are using lattepanda, navigator, and raspberry pi boards. The navigator is attached to the raspberry pi board and these are connected to lattepanda through the ethernet connection.
The lattepanda runs linux os.
We have installed blueOS in the lattepanda as well.
When we try to connect the navigator to blueOS in the autopilot option the following comes:
Board name: Arduino Leonardo
Manufacturer: Arduino LLC
Mavlink platform: GenericSerial
Firmware version: Unknown
Vehicle type: Unknown (Unknown)
Path: /dev/ttyACM0
This is taking the arduino present on the lattepanda.
We have tried to run the blueOS using the IP of the raspberry pi board as well and once in between the navigator board was detected but currently its not getting detected.
Hi @Rovarm -
If you have the two single board computers connected together via ethernet, and both running BlueOS, they will have an IP conflict as the default configuration will put them both at 192.168.2.2! To fix this, simply turn on one device only, and edit it’s static IP address to not be the default.
Additionally, the Navigator is connected to the Raspberry Pi - not the lattepanda. The Autopilot Firmware menu in BlueOS will not show the Navigator on the BlueOS instance running on the lattepanda.
Please explain your intended application - running BlueOS on the secondary computer is likely not necessary? What is it intended to process? What type of vehicle or system are you developing?
You can visualize the status of PWM outputs within the BlueOS interface hosted on the Raspberry Pi, it’s unclear why the additional, large, single board computer is necessary! The MavlinkRest interface can also be queried for any ArduPilot parameter…
Hi @tony-white
The intended application of adding the latte panda is to increase the number of i/o pins as many components are to be used and the pins on the navigator will not be sufficient.
Also, yes as you have mentioned the navigator is connected to Raspberry pi and not on lattepanda. I understand that if BlueOS instance is running on lattepanda the Autopilot Firmware will not show the navigator and show the inbuilt Arduino board.
Can you also please guide me on how to do the MavlinkRest interface querying for the Ardupilot parameters.
Hi @Rovarm -
The Navigator makes I2C and Serial ports available, what type of IO are you trying to drive? This guide has details that may be helpful.
You can find an extension that queries Mavlink2Rest here (see line 75-77), and their is also documentation.