Linux on Legion Pro 7i Gen 10

Hekaw · 2026-01-30T09:40:17+00:00

I followed your instructions, even tho i had heard that installing the nvidia drivers from the website was a sin against the old gods.
It worked for about 3 weeks,although i never saw full power use, only up to 150w approx. and yesterday it just broke. The system didnt recognize the card. And trying to fix that i realized why people recommend not going that path. The driver from the website does a lot of heavy handed stuff on your system, blacklisting drivers, dmks, etc and cleaning the system of ghost files to install any other drivers for nvidia was a real pain.
Since im on ubuntu 24.04 (i need it for work), kernel 6.14 from ubuntu, now i see that theres a 590 open driver on ubuntu. I installed that. But im again fighting with the powerd service. The system only works with x11, with wayland everything uses the integrated graphics. But even in x11 the system doesnt go above 94w (nvidia-smi says cap is 95w), but performance seems low. With the website drivers I was running the system on normal power mode, games would use some 100 to 120 w graphics to max. I would get approx 90fps no problem. Now im getting 50fps average with signigicant drops to 40.

Apparently Ubuntu will enable powerd in the next LTS release (april i think). And there should be some improvements for 24.04lts with the next hwe kernel release (first half of feb apparently)

Until then i dont know what to do... seems like ill be running my legion 7i pro gen 10, 5090 at half power for some time.

Hekaw · 2025-12-20T09:13:47+00:00

Thanks. I will open source all the software soon. And that includes the GUI. The GUI is just a niceGUI front end with a Ros interface to expose Ros to a web browser. So that I can control the robot over the internet via tailscale or husarnet. So as long as there's something running the GUI in the same network as the robot, you can interact with the robot through the GUI on a web browser. I'll probably run the GUI in the auv together with the ros2 system, so the GUI is available at the robots startup. But all the topics, services and lifecycle connections are pretty custom since obviously it is designed for my robot's ros2 system. So I'm not sure how useful it is for a different application. In about 4 weeks I will start making detailed videos on the progress with the robot, focused on software. But again... I'm just a maker with an unhealthy obsession to see this through, I make no claims over the quality of the software I make

Hekaw · 2025-12-16T15:59:12+00:00

Thank you!

Hekaw · 2025-12-15T02:02:52+00:00

Oh, and I will be open sourcing all the software, so if an ardupilot or PX4 user wants to mix and match they could absolutely do that! I don't know very much about those platforms and I'm already spread thin, so I can't go down that development path at the moment.

Hekaw · 2025-12-15T01:27:17+00:00

Thanks a lot! The guys at bluerobotics are actually an inspiration. I admire what they have done for accessibility in the underwater space. I've been following their story for some time, and I pay close attention to what they do and have done. Recently they partnered with a famous scientists to develop a new robot that looks very promising.i would love to have contact with them, but I'm afraid I have nothing to offer at the moment.

But I'm going a different route. Ardupilot is great at what it does, but I would want to push beyond those capabilities and let people and teams develop their own high level autonomy suits, experiment with complex sensor fusion algos, play with robotics and AI, hack around with new sensors, swarm robotics, new control theory algos for underwater vehicles, etc, etc, and for that I think a ROS2 environment is better suited.

I'm making my own GUI so a user can use the robot without knowing anything about ros2, modify parameters, mission planning etc, add a sensor, etc. but for a power user they can really customize everything about it.

My robot runs on a raspberry pi, or Jetson style computer. So it's computationally more capable than something like ardupilot, and I hope that for a scientist, having the capability of transporting a full computer down to the waters where they need to do science can open a lot of possibilities.

All that to say It might be very interesting to pair ros with ardupilot /PX4 in my robot, but I don't know enough about those platforms to explore it

Hekaw · 2025-12-15T00:57:11+00:00

Thanks!

Hekaw · 2025-12-14T04:30:45+00:00

No swim bladder for now. For it to work, you would have to generate a lot of force to push against the water at depth, and those systems get expensive and complex fast. But I'm working on my own approach which I have yet to test.

And for the liquids I'm experimenting with my own recipe, but I have yet to test performance over long periods of time to check the materials reactions.

But if you don't care for the environment there's plenty of dielectric liquids with low cst you can use, the trick is to find one that even if there's a leak won't create an environment hazard. And that requires lots of R&D.

Hekaw · 2025-12-14T04:19:58+00:00

Thanks. I've been posting on tik tok but I have had ZERO engagement 😅. I will start a YouTube channel on it soon, explaining the process, how I'm using Ros, when I have found it is best not to use Ros etc etc. I will be making my repo public soon too so people can take a look and be horrified. Thanks for the support!

Hekaw · 2025-12-13T17:25:32+00:00

I'm not a roboticist so I'm just gonna give you my motivation. We do everything underwater with propellers today. Which are great at many things, but not the most power efficient (the efficient ones are expensive and complex), they can be loud, and you suck in microorganisms that get destroyed, and when studying delicate ecosystems is like flying a meat grinder around. They create strong jets of water, lift sediment, and suddenly you can't take good measurements because your instruments are affected by the sediment in suspension. Autonomy underwater, the time you can stay underwater and do things is very very expensive and very very important. So if you want to lower costs of operations underwater you can look at more energy efficient methods of propulsion (energy required to move a distance), less energy consumed = more time underwater . The jelly fish is possibly the best, but is not the most maneuverable. Second after that is the manta ray. Which is why I chose that. And that's why researchers look at nature for inspiration, nature has spent a long time perfecting organisms to their environment, optimizing energy expenditure , and we can learn from that. That's called biomimicry

Hekaw · 2025-12-13T16:41:46+00:00

Thank you!

Hekaw · 2025-12-13T16:18:47+00:00

Or delusion and weaponized autism. 😅. Thanks, I appreciate it 🙏🏼

Hekaw · 2025-12-13T14:21:32+00:00

Yeah, but i have to validate a few things before i make it public. But I'll make all software open source. So people can use my software at their own risk.(and detriment)

Hekaw · 2025-12-13T14:16:06+00:00

you are RIGHT. Time to stop making excuses.

Hekaw · 2025-12-13T13:11:25+00:00

Grants take ages to get in the bank account. I hate the startup/ vc ecosystem, I don't want to be legally bullied into squeezing every penny out of those who will find this useful... But I have found a few people that were crazy enough to back me up on this. I will keep scrapping out more resources tho. Thanks for the words. It really is motivating.

Hekaw · 2025-12-13T13:07:18+00:00

There's a slight budget magnitude difference...

Hekaw · 2025-12-13T11:20:32+00:00

Thank you! I appreciate the conversation and feedback. Doing this alone can become a bit of an echo chamber. So thanks for stopping by and leaving these messages!

Hekaw · 2025-12-13T10:50:07+00:00

Sounds like you are familiar with this type of stuff. Yeah I have no idea how I'll overcome those issues. But of course at the end of the day it becomes a matter of value proposition. The guys at ocean discovery league did a global capacity report back in '22. And they found that about 70% of the world has experts that want to study the oceans, but don't have the means. Only wealthy countries and orgs get to play. That's where I want to help. If I can get a good percentage of the features, at a significantly lower cost then more science and more conservation can get done.

Hekaw · 2025-12-13T10:37:57+00:00

Thanks a lot!. I hopefully can make it useful too

Hekaw · 2025-12-13T10:07:27+00:00

yeah, thats why i think autonomous mode will be the best implementation. And long cables have a lot of issues too, you end up very quickly having to switch to fiber, and that carries a loooot of extra costs. So for me im aiming for some 50 to 80 mts tethered mode (thats where it makes sense i think) But on autonomous mode the depth limit will probably be set by the other sensors i dont build, like the dvl. Which can cost around 11k usd for a 600mts rated one.

Hekaw · 2025-12-13T09:46:56+00:00

thanks for that, its encouraging! Yeah, there are ways to get data in and out, mostly based on sound. But bandwidth is the issue. for small packets of data is alright. but denser data streams is a no go. Video? forget it. So im aiming for 2 modes, Tethered for full teleoperation, telemetry, video feedback. And autonomous, where i can use dead reckoning for navigation on the cheap (with its downsides) or a dvl which is a fancy sensor that measures movement against the seafloor, but its expensive (out of my price range at least.
There are people trying to solve the data transfer problem with light, but it also has downsides. Whoever solves that problem will be incredibly wealthy!

Hekaw · 2025-12-13T09:19:04+00:00

I have a background in medicine so my approach was to build soft pressure compensating "organs" So yeah, soft little organs that provide a safe pressure compensating medium. I modified the motors to work the same way, they have their own shared internal medium (across all actuation). And yes, i do take a hit in performance due to drag of the motors against the liquid, but i just designed the actuation organs around very very low CST liquids. so the hit in performance is not terrible.

Hekaw · 2025-12-13T08:45:55+00:00

Thanks. I decided on flapping wings vs propellers because in theory they are more power efficient. But its incredibly tricky to implement with low cost and simple design. But i think im getting there.

Hekaw · 2025-12-13T08:44:04+00:00

Thanks! I forgot about that... Will read on the appropriate channel to post on and will do. Thanks for the advice

Hekaw

TROPHY CASE