Configuring Xavier/Orin NX/AGX Boards for PSDK

Important

Important: The initial setup steps are done only once per board.
After that, follow the per-drone steps every time the board boots up.

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One-Time Setup (Board Configuration)

1. Disable l4t-device-mode auto start

sudo systemctl disable nv-l4t-usb-device-mode.service

2. Download Bulk Mode Program Folder

Download and extract the configuration package to your Desktop as startup_bulk:

wget https://terra-1-g.djicdn.com/71a7d383e71a4fb8887a310eb746b47f/psdk/e-port/usb-bulk-configuration-reference.zip \
&& unzip usb-bulk-configuration-reference.zip -d startup_bulk \
&& mv startup_bulk/ ~/Desktop/

3. Replace System Device Mode Script

Replace the default script with your custom one:

sudo cp ./nv-l4t-usb-device-mode-start.sh /opt/nvidia/l4t-usb-device-mode/nv-l4t-usb-device-mode-start.sh
chmod +x ./nv-l4t-usb-device-mode-start.sh

4. Reboot

sudo reboot

5. Load Kernel Modules on Boot

Append the required modules:

echo -e "configfs\nlibcomposite\nusb_f_fs\ntegra-xudc" | sudo tee -a /etc/modules

✅ Double-check that /etc/modules is correctly formatted.

6. Test the Setup

Run the startup script:

/opt/nvidia/l4t-usb-device-mode/nv-l4t-usb-device-mode-start.sh

7. Re-enable the Service (if working)

sudo systemctl enable /opt/nvidia/l4t-usb-device-mode/nv-l4t-usb-device-mode.service

At this point, bulk mode and network mode should be properly configured.

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Per-Drone Setup (Run at Every Boot)

DJI M300

Hardware

• Onboard computer = host
• E-Port = device
• Connections:

E-Port to device mode	AGX connections

Note

Make sure the USB Type-C cable is connected to the correct port (the one supporting both bulk and host mode).

Software

Enable host mode:

echo host | sudo tee /sys/class/usb_role/usb2-0-role-switch/role

👉 You should see /dev/ttyACM0 when powering on the drone.

DJI M350

Hardware

• Onboard computer = device
• E-Port = host
• Connections:

E-Port to host mode	AGX connections

Software

Enable device mode:

echo device | sudo tee /sys/class/usb_role/usb2-0-role-switch/role

Lift l4tbr0 connection:

sudo ifconfig usb0 192.168.1.1 netmask 255.255.255.0 up

👉 Verify with:

ifconfig

You should see an l4tbr0 entry. If not, repeat steps above.

DJI M30/M30T

Hardware

• Onboard computer = device
• E-Port = host
• Connections:

E-Port to host mode	NX connections

Software

Enable device mode:

echo device | sudo tee /sys/class/usb_role/usb2-0-role-switch/role

Lift l4tbr0 connection:

sudo ifconfig usb0 192.168.1.1 netmask 255.255.255.0 up

👉 Verify with:

ifconfig

You should see an l4tbr0 entry. If not, repeat steps above.

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Summary Table

Drone	Onboard Computer Role	E-Port Role	Hardware Connection Notes	Software Steps
M300	Host	Device	Connect AGX as host via E-Port in device mode.	echo host | sudo tee /sys/class/usb_role/usb2-0-role-switch/role - Check /dev/ttyACM0.
M350	Device	Host	Connect AGX as device via E-Port in host mode.	echo device | sudo tee /sys/class/usb_role/usb2-0-role-switch/role sudo ifconfig usb0 192.168.1.1 netmask 255.255.255.0 up - Check l4tbr0.
M30	Device	Host	Connect NX as device via E-Port in host mode.	echo device | sudo tee /sys/class/usb_role/usb2-0-role-switch/role sudo ifconfig usb0 192.168.1.1 netmask 255.255.255.0 up - Check l4tbr0.

Note

Use correct USB-C port on AGX (supports both bulk & host).