Novatel IGM - SPAN - A1 Measurement Correction Issue

Autonomous Vehicles DRIVE AGX Xavier DRIVE AGX Xavier General
1

Hardware Platform: [ DRIVE AGX Pegasus™ Developer Kit]
Software Version: [DRIVE Software 10]
Host Machine Version: [Ubuntu 18.04]

Hello,

I would like to correct Novatel’s GPS measurements by using a Ntrip Client via HTTP. I am able to read the data from the server and I would like to write the correction data to Novatel. As far as I know I can’t write to novatel by using DriveWorks API. ( dwSensorGPS ).

I would like to use Novatel’s communication ports as serial ports but When I connect novatel to AGX I just only see it as an usb device, here is dmesg output:

New USB device found, idVendor=09d7, idProduct=0100, bcdDevice= 1.01
New USB device strings: Mfr=1, Product=2, SerialNumber=3
Product: Novatel GPS Receiver
Manufacturer: Novatel Inc.
SerialNumber: BJYA19220095P

But if i connect novatel to an ubuntu 18.04 x86 computer there appears additional ports such as:

novatel_gps ttyUSB0: novatel_gps converter now disconnected from ttyUSB0
novatel_gps ttyUSB1: novatel_gps converter now disconnected from ttyUSB1
novatel_gps ttyUSB2: novatel_gps converter now disconnected from ttyUSB2

I tried to use 3rd party Novatel Driver from github. I connected User Port to USB via Profolic USB Adapter. AGX can detect Profolic adapter on port /dev/ttyUSB1 but I can’t see gps stream data. I have a problem with this too.

In summary, I want to correct my Novatel GPS measurements by writing correction messages. I can do this with x86 ubuntu 18.04 computer, I can’t figure out doing this by using Drive AGX Pegasus. I appreciate your help.

Best Regards,

Best Regards,

3

Hello again,

Is there way to see virtual serial ports of Novatel IGM on AGX when we connect Novatel’s USB port to AGX ?? on x86 machines I can see Novatel is creating virtual serial ports but I can’t see them on AGX

4

Hi @csari3,

Please try with running ntripclient with “-D /dev/ttyUSBx” option. Thanks!

5

I can’t see virtual ttyUSB ports when I connect novatel span to AGX via USB

6

Are you using Hyperion?

Below is the snippet from /usr/local/driveworks-2.2/tools/preFlightChecker/config/hyperion7-1-full.json on your host system (installed with DRIVE Software). “device=0” tells USB index 0 port is used for it.

Please check https://developer.nvidia.com/drive/secure/docs/DRIVE_Hyperion_Kit_Installation_Guide_DU-09055-001_v02_06192019.pdf to see if installed correctly. Thanks!

            {
                "name": "gps:novatel",
...
                "parameter": "device=0",
                "properties": null,
                "protocol": "gps.novatel"
            },
7

okay the problem is that:

I connect usb to novatel, although novatel is streaming data
I get:
Lat 0 Lon 0 error why do i get this ?

the command i use is:

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

I asked this before, the answer is to drive the vehicle higher speeds but I can see that novatel is streaming data without problem but with sample_gps_logger gives out Lat 0 Lon 0 Alt 0, GPS Led is also green on Novatel

8

You’re right. Please make sure moving out side in order for the Novatel to work correctly.

9

hey Vick,

Why can’t I see virtual serial ports of Novatel ? Is it related to module problem ? Do I need to install some module drivers ?

10

Could you check if any suspicious messages?

11

no suspicious messages. It is just not shown up in the output of dmesg. No error, It sees Novatel SPAN IGM as a usb device but virtual ports would not show up. Can it be because of USB - Virtual Serial Port multiplexer’s driver is not detected by kernel ?

12

Could you share the full log for my checking? Thanks!