Integrating Novatel SPAN GPS Unit into Pegasus Xavier A

Autonomous Vehicles DRIVE AGX Xavier DRIVE AGX Xavier General
1

Please provide the following info (check/uncheck the boxes after creating this topic):
Software Version
DRIVE OS Linux 5.2.6
DRIVE OS Linux 5.2.6 and DriveWorks 4.0
DRIVE OS Linux 5.2.0
DRIVE OS Linux 5.2.0 and DriveWorks 3.5
NVIDIA DRIVE™ Software 10.0 (Linux)
NVIDIA DRIVE™ Software 9.0 (Linux)
other DRIVE OS version
other

Target Operating System
Linux
QNX
other

Hardware Platform
NVIDIA DRIVE™ AGX Xavier DevKit (E3550)
NVIDIA DRIVE™ AGX Pegasus DevKit (E3550)
other

SDK Manager Version
1.9.1.10844
other

Host Machine Version
native Ubuntu 18.04
other

Having an issue when integrating Novatel SPAN Unit into Pegasus Xavier A. When RoadRunner starts up, the USB device gets disconnected. Novatel uses the usb-serial-simple.ko module and it seems it happens only when RoadRunner starts.

Not sure what could be the cause or how we can work around that? Maybe a static link to the ttyUSB1,2,3 devices, the Novatel SPAN Unit USB interface creates three interfaces ttyUSBXX.

the sample_gps_logger works successfully when RoadRunner is not running and NMEA GGA messages are flowing through the USB interface.

Next question is regarding the rig file, should be setup a gps.uart or gps.novatel protocol?

Thanks

2

Could you please provide the release version in which you encountered this issue? Additionally, I would like to confirm if you are using the “NovAtel: PwrPak7-E1 SPAN” device mentioned in the documentation (DRIVE AGX Xavier Sensors & Accessories | NVIDIA Developer). If not, I recommend using the supported device for optimal compatibility.

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@VickNV We are using the Novatel SPAN Unit SPAN-IGM-S1 unit which was shipped with our Hyperion 7.1 original Kit.

We are running DriveWorks 3.0589. By default, we had been using the Xsens GPS device but it is giving us high covariance for our ADS platform. Instead, we would like to replace the GPS input by Novatel.

4

DRIVE OS with DriveWorks 3.0 isn’t one of the devzone releases. The combination shouldn’t be supported through this forum. Please contact your nvidia representative for further assistance if you are unsure.

6

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