Add USB to Serial Config for MicroDDS

[AlexKlimaj]

This PR adds USB to the serial port configurations in order to use USB for microdds.

Starting Micro XRCE-DDS on /dev/ttyACM0
nsh> INFO  [microdds_client] synchronized with time offset 1677716912048491us
INFO  [microdds_client] successfully created rt/fmu/out/failsafe_flags data writer, topic id: 84
INFO  [microdds_client] successfully created rt/fmu/out/sensor_combined data writer, topic id: 170
INFO  [microdds_client] successfully created rt/fmu/out/timesync_status data writer, topic id: 190
INFO  [microdds_client] successfully created rt/fmu/out/vehicle_attitude data writer, topic id: 207
INFO  [microdds_client] successfully created rt/fmu/out/vehicle_control_mode data writer, topic id: 213
INFO  [microdds_client] successfully created rt/fmu/out/vehicle_local_position data writer, topic id: 220
INFO  [microdds_client] successfully created rt/fmu/out/vehicle_odometry data writer, topic id: 225
INFO  [microdds_client] successfully created rt/fmu/out/vehicle_status data writer, topic id: 230
INFO  [microdds_client] successfully created rt/fmu/out/sensor_accel_fifo data writer, topic id: 168
INFO  [microdds_client] successfully created rt/fmu/out/sensor_gyro_fifo data writer, topic id: 176
INFO  [microdds_client] successfully created rt/fmu/out/sensor_mag data writer, topic id: 178
INFO  [microdds_client] successfully created rt/fmu/out/sensor_baro data writer, topic id: 169
INFO  [microdds_client] successfully created rt/fmu/out/sensor_accel data writer, topic id: 167
INFO  [microdds_client] successfully created rt/fmu/out/sensor_gyro data writer, topic id: 174
INFO  [microdds_client] successfully created rt/fmu/out/actuator_armed data writer, topic id: 1
INFO  [microdds_client] successfully created rt/fmu/out/actuator_controls_0 data writer, topic id: 2
INFO  [microdds_client] successfully created rt/fmu/out/actuator_motors data writer, topic id: 9
INFO  [microdds_client] successfully created rt/fmu/out/vehicle_thrust_setpoint data writer, topic id: 231
INFO  [microdds_client] successfully created rt/fmu/out/vehicle_torque_setpoint data writer, topic id: 232
INFO  [microdds_client] successfully created rt/fmu/out/vehicle_rates_setpoint data writer, topic id: 228
INFO  [microdds_client] successfully created rt/fmu/out/vehicle_imu data writer, topic id: 217
INFO  [microdds_client] successfully created rt/fmu/out/vehicle_angular_velocity data writer, topic id: 205

nsh> microdds_client status
INFO  [microdds_client] Running, connected
INFO  [microdds_client] Payload tx: 381804 B/s
INFO  [microdds_client] Payload rx: 0 B/s
nsh>

On the Jetson

[beniaminopozzan]

Thanks @AlexKlimaj !
Is it possible to extend it to other boards?

[AlexKlimaj]

Thanks @AlexKlimaj ! Is it possible to extend it to other boards?

Yeah, I don't see why not.

[dagar]

I think this is the right direction, but needs to be coordinated with the existing autostart stuff.

[AlexKlimaj]

It appears to play nice with the mavlink usb auto start.

[dagar]

I believe to do this properly we need to slip in sercon somewhere to start NuttX CDCACM, and then in the autostart code have it skip if sercon already start or /dev/ttyACM0 exists.

PX4-Autopilot/platforms/nuttx/src/px4/common/cdc_acm_check.cpp

Lines 117 to 122 in e5d5fcd

	case UsbAutoStartState::disconnected:
	if (vbus_present && vbus_present_prev) {
	if (sercon_main(0, nullptr) == EXIT_SUCCESS) {
	usb_auto_start_state = UsbAutoStartState::connecting;
	rescheduled = work_queue(LPWORK, &usb_serial_work, mavlink_usb_check, nullptr, USEC2TICK(100000));
	}

It's also critical that we don't perform the disconnect cleanup because most of these apps will not fail gracefully if /dev/ttyACM0 disappears.

PX4-Autopilot/platforms/nuttx/src/px4/common/cdc_acm_check.cpp

Lines 355 to 359 in e5d5fcd

	case UsbAutoStartState::disconnecting:
	// serial disconnect if unused
	serdis_main(0, NULL);
	usb_auto_start_state = UsbAutoStartState::disconnected;
	break;

[DronecodeBot]

This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/setting-up-the-px4-fast-rtps-dds-bridge-with-real-hardware/29876/3

[junwoo091400]

Maybe dumb question, but we can't connect the QGC or HITL interface through the USB port when the DDS is in use right?

I ended up in a situation where I can't connect to the FC anymore because the DDS is running 😆. Did you run into this problem too? If so, how did you access the FC to change the config (e.g. disable DDS on USB) @AlexKlimaj ?

[carbide2004]

I tried this method, but it still didn't work. I use CUAV x7 pro with px4 firmware, set UXRCE_DDS_CFG "TELEM1", and have disabled MAVLink. The baud rate "SER_TEL1_BAUD" is set the same as the value after "-b". I also start Micro XRCE-DDS on /dev/ttyACM0. I'm wondering what happened.