Hi @Judoor-0,

Cool! Feel free to make a MR or post the link to your code if you want someone to review it.

Hi @teddy-zaremba,

The fusing part was a bit tricky, but it works now.
Thank you!

Hi @taiwohazeez,

The " /fmu/in" prefix is used for sending data to the autopilot - you're never going to receive data from the autopilot listening to that topic.

Look at the "/fmu/out" topics to see messages coming from the autopilot.

Best,
Ted

@Eric-Katzfey hoping you can share some more insights here.

I have edited the HIGHRES_IMU line in /usr/bin/voxl-px4-start to set the rate at 500 but the /imu_mavlink rostopic from voxl-mpa-to-ros shows a publish rate of ~137hz. Collected data with voxl logger shows the timing issue is not related to ROS -- do you know what may be causing the dropped imu messages in the mpa pipe?
e88acd2d-6cc3-4e96-a944-5ec4e5f28870-image.png

voxl-version

──────────────────────────────────────────────────────────────────────────────── system-image: 1.8.04-M0104-14.1a-perf kernel: #1 SMP PREEMPT Mon Mar 24 21:03:36 UTC 2025 4.19.125 ──────────────────────────────────────────────────────────────────────────────── hw platform: M0104 mach.var: 2.0.2 SKU: MCCA-M0104-C22-T0-M0-X0-E1 ──────────────────────────────────────────────────────────────────────────────── voxl-suite: 1.5.0 ────────────────────────────────────────────────────────────────────────────────

voxl-px4-start

#!/bin/sh # PX4 commands need the 'px4-' prefix in bash. # (px4-alias.sh is expected to be in the PATH) . px4-alias.sh echo -e "\n*************************" echo "AIRFRAME: $AIRFRAME" echo "GPS: $GPS" echo "RC: $RC" echo "ESC: $ESC" echo "POWER MANAGER: $POWER_MANAGER" echo "AIRSPEED SENSOR: $AIRSPEED_SENSOR" echo "DISTANCE SENSOR: $DISTANCE_SENSOR" echo "OSD: $OSD" echo "ARTIFACT_MODE: $ARTIFACT_MODE" echo "EXTRA STEPS:" for i in "${EXTRA_STEPS[@]}" do echo -e "\t$i" done echo -e "*************************\n" # In order to just exit after starting the uorb / muorb modules define # the environment variable MINIMAL_PX4. (e.g. export MINIMAL_PX4=1) # This is useful for testing / debug where you may want to start drivers # and modules manually from the px4 command shell if [ ! -z $MINIMAL_PX4 ]; then /bin/echo "Running minimal script" exit 0 fi # Figure out what platform we are running on. PLATFORM=`/usr/bin/voxl-platform 2> /dev/null` RETURNCODE=$? if [ $RETURNCODE -ne 0 ]; then # If we couldn't get the platform from the voxl-platform utility then check # /etc/version to see if there is an M0052 substring in the version string. If so, # then we assume that we are on M0052. VERSIONSTRING=$(</etc/version) M0052SUBSTRING="M0052" if [[ "$VERSIONSTRING" == *"$M0052SUBSTRING"* ]]; then PLATFORM="M0052" fi fi # We can only run on M0052, M0054, or M0104 so exit with error if that is not the case if [ $PLATFORM = "M0052" ]; then /bin/echo "Running on M0052" elif [ $PLATFORM = "M0054" ]; then /bin/echo "Running on M0054" elif [ $PLATFORM = "M0104" ]; then /bin/echo "Running on M0104" else /bin/echo "Error, cannot determine platform!" exit 0 fi # Sleep a little here. A lot happens when the uorb and muorb start # and we need to make sure that it all completes successfully to avoid # any possible race conditions. /bin/sleep 1 param select /data/px4/param/parameters # Load in all of the parameters that have been saved in the file param load # IMU (accelerometer / gyroscope) if [ "$PLATFORM" == "M0104" ]; then /bin/echo "Starting IMU driver with rotation 12" qshell icm42688p start -s -R 12 else /bin/echo "Starting IMU driver with no rotation" qshell icm42688p start -s fi # Start Invensense ICP 101xx barometer built on to VOXL 2 qshell icp101xx start -I -b 5 qshell temperature_compensation start # Auto detect the magnetometer. If one or both of these devices # are not connected it will fail but not cause any harm. # Rotation 10 = ROLL_180_YAW_90 /bin/echo "Looking for qmc5883l magnetometer" qshell qmc5883l start -R 10 -X -b 1 /bin/echo "Looking for ist8310 magnetometer" qshell ist8310 start -R 10 -X -b 1 /bin/echo "Looking for ist8308 magnetometer" # Rotation 12 = PITCH_180 qshell ist8308 start -R 12 -X -b 1 # GPS and magnetometer if [ "$GPS" != "NONE" ]; then # On M0052 the GPS driver runs on the apps processor if [ $PLATFORM = "M0052" ]; then gps start -d /dev/ttyHS2 # On M0054 and M0104 the GPS driver runs on SLPI DSP else qshell gps start fi fi # Auto detect an ncp5623c i2c RGB LED. If one isn't connected this will # fail but not cause any harm. /bin/echo "Looking for ncp5623c RGB LED" qshell rgbled_ncp5623c start -X -b 1 -f 400 -a 56 # We do not change the following parameters but QGC will complain if they aren't # being reported as "used" by px4. "Touching" them accomplishes that. param touch SYS_AUTOCONFIG param touch SDLOG_MODE # ESC driver if [ "$ESC" == "VOXL_ESC" ]; then /bin/echo "Starting VOXL ESC driver" qshell voxl_esc start elif [ "$ESC" == "VOXL2_IO_PWM_ESC" ]; then if [ "$RC" == "M0065_SBUS" ]; then /bin/echo "Starting VOXL IO for PWM ESC with SBUS RC" qshell voxl2_io start else /bin/echo "Starting VOXL IO for PWM ESC without SBUS RC" qshell voxl2_io start -e fi else /bin/echo "No ESC type specified, not starting an ESC driver" fi # RC driver if [ "$RC" == "FAKE_RC_INPUT" ]; then /bin/echo "Starting fake RC driver" qshell rc_controller start elif [ "$RC" == "CRSF_RAW" ]; then /bin/echo "Starting CRSF RC driver" qshell crsf_rc start -d 7 elif [ "$RC" == "CRSF_MAV" ]; then /bin/echo "Starting TBS crossfire RC - MAV Mode" qshell mavlink_rc_in start -m -p 7 -b 115200 elif [ "$RC" == "SPEKTRUM" ]; then /bin/echo "Starting Spektrum RC" # On M0052 the RC driver runs on the apps processor if [ $PLATFORM = "M0052" ]; then rc_input start -d /dev/ttyHS1 # On M0054 and M0104 the RC driver runs on SLPI DSP else qshell spektrum_rc start fi elif [ "$RC" == "GHST" ]; then /bin/echo "Starting GHST RC driver" qshell ghst_rc start -d 7 elif [ "$RC" == "M0065_SBUS" ]; then if [ $PLATFORM = "M0052" ]; then apps_sbus start elif [ "$ESC" != "VOXL2_IO_PWM_ESC" ]; then /bin/echo "Attempting to start M0065 SBUS RC driver for original M0065 FW" qshell dsp_sbus start retVal=$? if [ $retVal -ne 0 ]; then /bin/echo "Starting M0065 SBUS RC driver for original M0065 FW failed" /bin/echo "Attempting to start M0065 SBUS RC driver for new M0065 FW" qshell voxl2_io start -d -p 7 fi else /bin/echo "M0065 SBUS RC driver already started with PWM ESC start" fi fi if [ "$DISTANCE_SENSOR" == "LIGHTWARE_SF000" ]; then # Make sure to set the parameter SENS_EN_SF0X to 8 for sf000/b sensor qshell lightware_laser_serial start -d 7 fi if [ "$POWER_MANAGER" == "VOXLPM" ]; then # APM power monitor qshell voxlpm start -X -b 2 fi if [ "$AIRSPEED_SENSOR" == "MS4525DO" ]; then qshell ms4525do start -X -b 4 fi # Optional distance sensor on spare i2c # qshell vl53l0x start -X -b 4 # qshell vl53l1x start -X -b 4 # Start all of the processing modules on DSP qshell sensors start qshell ekf2 start if [ "$AIRFRAME" == "FIXED_WING" ]; then qshell fw_pos_control start qshell fw_att_control start qshell fw_rate_control start qshell airspeed_selector start qshell fw_autotune_attitude_control start qshell land_detector start fixedwing elif [ $AIRFRAME = "MULTICOPTER" ]; then qshell mc_pos_control start qshell mc_att_control start qshell mc_rate_control start qshell mc_hover_thrust_estimator start qshell mc_autotune_attitude_control start qshell land_detector start multicopter fi qshell manual_control start qshell control_allocator start qshell load_mon start # Only start the rc_update module if an actual RC driver # is publishing input_rc topics. Otherwise for external RC # over Mavlink this isn't needed. if [ "$RC" != "EXTERNAL" ]; then qshell rc_update start fi qshell commander start # This is needed for altitude and position hold modes qshell flight_mode_manager start # Start all of the processing modules on the applications processor dataman start navigator start load_mon start # Start microdds_client for ros2 offboard messages from agent over localhost microdds_client start -t udp -h 127.0.0.1 -p 8888 # On M0052 there is only one IMU. So, PX4 needs to # publish IMU samples externally for VIO to use. if [ $PLATFORM = "M0052" ]; then imu_server start fi # start the onboard fast link to connect to voxl-mavlink-server mavlink start -x -u 14556 -o 14557 -r 100000 -n lo -m onboard # slow down some of the fastest streams mavlink stream -u 14556 -s HIGHRES_IMU -r 500 mavlink stream -u 14556 -s ATTITUDE -r 100 mavlink stream -u 14556 -s ATTITUDE_QUATERNION -r 100 mavlink stream -u 14556 -s GLOBAL_POSITION_INT -r 30 mavlink stream -u 14556 -s SCALED_PRESSURE -r 10 # Increase heartbeat rate so VFC can get faster mode updates mavlink stream -u 14556 -s HEARTBEAT -r 100 # start the slow normal mode for voxl-mavlink-server to forward to GCS mavlink start -x -u 14558 -o 14559 -r 100000 -n lo mavlink boot_complete # Optional MSP OSD driver for DJI or HDZero goggles # This is only supported on M0054 (with M0125 accessory board) if [ "$OSD" == "ENABLE" ] || [ "$OSD" == "DJI" ]; then /bin/echo "Starting DJI OSD driver" msp_osd start -d /dev/ttyHS1 elif [ "$PLATFORM" == "M0054" ] && [ "$OSD" == "HDZERO" ] || [ "$OSD" == "DJI_MSP_DP" ]; then /bin/echo "Starting $OSD OSD driver for $PLATFORM" msp_dp_osd start -d /dev/ttyHS1 elif [ "$PLATFORM" == "M0104" ] && [ "$OSD" == "HDZERO" ] || [ "$OSD" == "DJI_MSP_DP" ] ; then /bin/echo "Starting $OSD OSD driver for $PLATFORM" msp_dp_osd start -d /dev/ttyHS0 fi # Start optional EXTRA_STEPS for i in "${EXTRA_STEPS[@]}" do $i done if [ "$ARTIFACT_MODE" == "ENABLE" ]; then # Do not start the logger module if we are in artifact mode. Logging # produces a log artifact. If there are currently any saved logs make # sure to delete them now. # Also remove the data manager file that may have saved GPS waypoint information # in it. # Use shred to remove all files so that they cannot be recovered. # shred should be effective on the /data partition since it has this configuration: # /dev/sda8 /data ext4 rw,nosuid,nodev,noatime,discard,noauto_da_alloc,data=ordered 0 0 /usr/bin/find /data/px4/log -name "*.ulg" -exec /usr/bin/shred -u -n 7 {} \; /bin/rm -fR /data/px4/log /usr/bin/shred -u -n 7 /data/px4/dataman /bin/echo "Artifact mode has been enabled" else # Start logging and use timestamps for log files when possible. # Add the "-e" option to start logging immediately. Default is # to log only when armed. Caution must be used with the "-e" option # because if power is removed without stopping the logger gracefully then # the log file may be corrupted. # This is done as the last step because any topics marked as optional will only # be logged if they have been advertised when this is started. By starting it last it # makes sure to see those advertisements as the other modules are starting before it. logger start -t fi