Drive AGX Pegasus - Novatel SPAN IGM A1 Time Problem

Please provide the following info:
Hardware Platform: [DRIVE AGX Pegasus™ Developer Kit]
Software Version: [DRIVE Software 10]
Host Machine Version: [native Ubuntu 18.04]

Hello,

We are trying to use Novatel’s gps driver for AGX Pegasus but we keep getting time problem as shown below from gps logger. Novatel is connected to Tegra B’s USB. We also tried it on Tegra A

The command:

./sample_gps_logger --driver=gps.novatel --params=device=0

The output:

[18-06-2020 15:24:29] Platform: Detected DDPX - Tegra B
[18-06-2020 15:24:29] TimeSource: monotonic epoch time offset is 1592482241421343
[18-06-2020 15:24:29] PTP Time is available from NVPPS Driver
[18-06-2020 15:24:30] Platform: number of GPU devices detected 2
[18-06-2020 15:24:30] Platform: currently selected GPU device discrete ID 0
[18-06-2020 15:24:30] SDK: Resources mounted from /usr/local/driveworks-2.2/data/
[18-06-2020 15:24:30] SDK: Create NvMediaDevice
[18-06-2020 15:24:30] egl::Display: found 2 EGL devices
[18-06-2020 15:24:30] egl::Display: use drm device: drm-nvdc
[18-06-2020 15:24:30] TimeSource: monotonic epoch time offset is 1592482241421343
[18-06-2020 15:24:30] PTP Time is available from NVPPS Driver
[18-06-2020 15:24:30] Initialize DriveWorks SDK v2.2.3136
[18-06-2020 15:24:30] Release build with GNU 7.3.1 from heads/buildbrain-branch-0-gca7b4b26e65 against Drive PDK v5.1.6.1
[18-06-2020 15:24:30] SensorFactory::createSensor() -> gps.novatel, device=0,frequency=100
[18-06-2020 15:24:30] SensorFactory::createSensor() -> gps.novatel, device=0,frequency=100
[18-06-2020 15:24:31] EndpointNovatelUSB: started for device 0
[18-06-2020 15:24:31] DecoderNovatel: invalid time status UNKNOWN, message is skipped
[18-06-2020 15:24:31] DecoderNovatel: invalid time status UNKNOWN, message is skipped
[18-06-2020 15:24:31] DecoderNovatel: invalid time status UNKNOWN, message is skipped
[18-06-2020 15:24:31] DecoderNovatel: invalid time status UNKNOWN, message is skipped
[18-06-2020 15:24:31] DecoderNovatel: invalid time status UNKNOWN, message is skipped
[18-06-2020 15:24:31] DecoderNovatel: invalid time status UNKNOWN, message is skipped
[18-06-2020 15:24:31] DecoderNovatel: invalid time status UNKNOWN, message is skipped
[18-06-2020 15:24:31] DecoderNovatel: invalid time status UNKNOWN, message is skipped
[18-06-2020 15:24:31] DecoderNovatel: invalid time status UNKNOWN, message is skipped
[18-06-2020 15:24:31] DecoderNovatel: invalid time status UNKNOWN, message is skipped
[18-06-2020 15:24:31] DecoderNovatel: invalid time status UNKNOWN, message is skipped
[18-06-2020 15:24:31] DecoderNovatel: invalid time status UNKNOWN, message is skipped
[18-06-2020 15:24:31] DecoderNovatel: invalid time status UNKNOWN, message is skipped
[18-06-2020 15:24:31] DecoderNovatel: invalid time status UNKNOWN, message is skipped
[18-06-2020 15:24:31] DecoderNovatel: invalid time status UNKNOWN, message is skipped
[18-06-2020 15:24:31] DecoderNovatel: invalid time status UNKNOWN, message is skipped
[18-06-2020 15:24:31] DecoderNovatel: invalid time status UNKNOWN, message is skipped
GPS[1] - 1592483071837170 lat: 0 lon: 0 alt: 0 course: 0 speed: 0
[18-06-2020 15:24:31] DecoderNovatel: invalid time status UNKNOWN, message is skipped
[18-06-2020 15:24:31] DecoderNovatel: invalid time status UNKNOWN, message is skipped
GPS[0] - 1592483071846800 lat: 0 lon: 0 alt: 0 course: 0 speed: 0
[18-06-2020 15:24:31] DecoderNovatel: invalid time status UNKNOWN, message is skipped
[18-06-2020 15:24:31] DecoderNovatel: invalid time status UNKNOWN, message is skipped
GPS[1] - 1592483071846800 lat: 0 lon: 0 alt: 0 course: 0 speed: 0
[18-06-2020 15:24:31] DecoderNovatel: invalid time status UNKNOWN, message is skipped
GPS[0] - 1592483071852299 lat: 0 lon: 0 alt: 0 course: 0 speed: 0
[18-06-2020 15:24:31] DecoderNovatel: invalid time status UNKNOWN, message is skipped
GPS[1] - 1592483071852299 lat: 0 lon: 0 alt: 0 course: 0 speed: 0
[18-06-2020 15:24:31] DecoderNovatel: invalid time status UNKNOWN, message is skipped
[18-06-2020 15:24:31] DecoderNovatel: invalid time status UNKNOWN, message is skipped
[18-06-2020 15:24:31] DecoderNovatel: invalid time status UNKNOWN, message is skipped
GPS[0] - 1592483071863018 lat: 0 lon: 0 alt: 0 course: 0 speed: 0
[18-06-2020 15:24:31] DecoderNovatel: invalid time status UNKNOWN, message is skipped
[18-06-2020 15:24:31] DecoderNovatel: invalid time status UNKNOWN, message is skipped
[18-06-2020 15:24:31] DecoderNovatel: invalid time status UNKNOWN, message is skipped
GPS[1] - 1592483071863018 lat: 0 lon: 0 alt: 0 course: 0 speed: 0
[18-06-2020 15:24:31] DecoderNovatel: invalid time status UNKNOWN, message is skipped
[18-06-2020 15:24:31] DecoderNovatel: invalid time status UNKNOWN, message is skipped

Thanks.

Hi @otemiz1,

It’s because the GPS reference time status is neither FINESTEERING nor FINEBACKUPSTEERING in CLOCKADJUST enabled (https://docs.novatel.com/OEM7/Content/Messages/GPS_Reference_Time_Statu.htm).
Please try to run the application during moving the car outside.
Thanks!

Hello VickNV,

Thank you for your prompt answer.

We tried to travel around for time adjustments and at the end all LEDs were stable at green. So it should be FINE or FINESTEERING. But somehow it is parsed as unknown in the sample_gps_logger.

We are experiencing this problem also with sample_imu_logger.

Thank you,

Best

Is it only a USB connector? How is the novatel cabling? How do you connect to the system? Thanks!

Yes, we are using USB cable coming from AUX port of the Novatel. Which is located right side of the device as in picture below.

We dont think any connection problems. Please try to run the application during driving the car around outside for a least few minutes.

Hi @otemiz1, Have you solved the problem?