Subcategories

• PX4 Autonomy Developer Kit

  Product related questions and answers

  21
  Topics
  139
  Posts

  Q

  Hello everyone,

  We’ve been following this discussion with great interest — especially the insights about the mast kit and the copper shielding solution. We also tried similar approaches on our side and wanted to share our results to contribute to the thread.

  We purchased four Starling 2 Max drones for our project at the beginning of the year, and like others here, we are experiencing difficulties with GPS stability outdoors. To mitigate interference, we designed and 3D-printed our own GPS mount to move the antenna away from the main body, and we added a copper shielding layer around it.

  We then tested the u-blox M10 GPS outside, under clear sky conditions, with the drone powered on (connected via Wi-Fi to use VOXL-Portal). Over about 10 minutes, the best observation we captured showed 18 satellites with an average SNR around 30–35 dB.
  vlcsnap-2025-07-25-14h33m43s700.png
  image474.png

  However, despite these results, we still cannot achieve a stable outdoor localization, which currently prevents us from flying the drones properly outside. At this point, we’re unsure whether the problem comes mainly from the GPS performance or possibly from the barometer.

  We’d really appreciate:

  Being included in your support list for this GPS issue, since it affects multiple units on our side (as mentioned by @Alex-Kushleyev). Any guidance or recommendations on how to debug further (extra shielding, hardware setup, barometer validation, software settings, etc.).

  Thanks a lot to the ModalAI team and to the community for the shared ideas — we hope our feedback helps others as well.

  Best regards,

  Quentin

• Starling & Starling 2

  Questions regarding the Sentinel VOXL 2 Development Drone

  157
  Topics
  718
  Posts

  R

  Hello ModalAI Support,
  We recently purchased qty 2 Starling 2 Max with the 5G add-on modem. Both units initially were working but one now has an apparent GPS module failure as I cannot connect to it. Also, after reading through several posts, it appears that we're not the only ones having this problem.

  As for the configuration of our units, here's what we have:

  system-image: 1.8.04-M0054-14.1a-perf
  kernel: #1 SMP PREEMPT Mon Mar 24 22:31:58 UTC 2025 4.19.125
  hw platform: M0054
  mach.var: 1.0.1
  SKU: MRB-D0012-4-V2-C29-T9-M24-X0
  voxl-suite: 1.5.0

  I read through and performed all the suggested troubleshooting steps that I found in several previous posts for GPS problems. The most revealing test is when I disable voxl-px4 from loading at startup and started it manually. There are a few errors thrown as it executes but when it tried to connect to the GPS it goes into an infinite loop trying all defined GPS UART baudrates and never connects. All cables and connectors have been checked and everything looks good physically. I also checked the power going into the GPS module and it is at the required 5VDC. I noticed a couple of things on the circuit side of the GPS board - a 3.3VDC test point and what appears to be a button cell soldered to the board. The voltage at the test point measured 2.57 VDC and with the power off I measured .25 volts on the assumed button cell. Of course, I go out to the 3DR website to track down information only to discover that the "Documentation is coming soon". 2.57VDC is definitely too low for something requiring 3.3VDC to operate.

  Before we bought these, we were told that there was an interference issue with the 5G modems and the GPS. I read through post https://forum.modalai.com/topic/4226/starling-2-max-no-gps-data?_=1756238568725 and gather that this problem might be an underlying issue with the VOXL 2 (and other boards plugged into it). Has any progress been made on this?

  Anyway, with all that said, it appears that the GPS is DOA. Below is the output from the voxl-px4 script when I run it manually.
  I appreciate any help you can give.

  system-image: 1.8.04-M0054-14.1a-perf
  kernel: #1 SMP PREEMPT Mon Mar 24 22:31:58 UTC 2025 4.19.125
  ────────────────────────────────────────────────────────────────────────────────
  hw platform: M0054
  mach.var: 1.0.1
  SKU: MRB-D0012-4-V2-C29-T9-M24-X0
  ────────────────────────────────────────────────────────────────────────────────
  voxl-suite: 1.5.0
  ────────────────────────────────────────────────────────────────────────────────
  current IP: wlan0: 192.168.8.1
  ────────────────────────────────────────────────────────────────────────────────

  starling2-max (D0012):/$ voxl-px4
  [INFO] Reading from /etc/modalai/voxl-px4.conf
  Found DSP signature file
  [INFO] Daemon mode enabled

  AIRFRAME=MULTICOPTER
  GPS=AUTODETECT
  RC=GHST
  ESC=VOXL_ESC
  POWER MANAGER=NONE
  AIRSPEED SENSOR=NONE
  DISTANCE SENSOR=NONE
  OSD=DISABLE
  DAEMON_MODE=ENABLE
  SENSOR_CAL=ACTUAL
  ARTIFACT_MODE=DISABLE
  EXTRA STEPS:

  INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM.
  INFO [px4] assuming working directory is rootfs, no symlinks needed.
  INFO [muorb] Got muorb init command
  Sending initialization request
  Got topic data before configuration complete
  Got topic data before configuration complete
  Got topic data before configuration complete
  Got topic data before configuration complete
  Got topic data before configuration complete
  Got topic data before configuration complete
  Got topic data before configuration complete
  Got topic data before configuration complete
  Got topic data before configuration complete
  Got topic data before configuration complete
  Got topic data before configuration complete
  Got topic data before configuration complete
  Got topic data before configuration complete
  INFO [muorb] [modules__muorb__slpi] muorb aggregator thread running
  INFO [muorb] muorb protobuf initalize method succeeded
  INFO [muorb] succesfully did ADVERTISE_TEST_TYPE
  INFO [muorb] [tasks] Creating pthread test_MUORB
  INFO [muorb] [tasks] Successfully created px4 task PX4_test_MUORB with tid 2097656
  INFO [muorb] succesfully did SUBSCRIBE_TEST_TYPE
  INFO [muorb] [tasks] Creating pthread test_MUORB
  INFO [muorb] [tasks] Successfully created px4 task PX4_test_MUORB with tid 2097655
  INFO [muorb] succesfully did TOPIC_TEST_TYPE
  INFO [muorb] [tasks] Creating pthread test_MUORB
  INFO [muorb] [tasks] Successfully created px4 task PX4_test_MUORB with tid 2097654
  INFO [muorb] succesfully did UNSUBSCRIBE_TEST_TYPE
  INFO [muorb] [tasks] Creating pthread test_MUORB
  INFO [muorb] [tasks] Successfully created px4 task PX4_test_MUORB with tid 2097653
  INFO [muorb] muorb test passed

  | ___ \ \ \ / / / |
  | |/ / \ V / / /| |
  | __/ / \ / /| |
  | | / /^\ \ ___ |
  _| / / |_/

  px4 starting.

  INFO [muorb] [uORB] Advertising remote topic log_message
  INFO [px4] startup script: /bin/sh /usr/bin/voxl-px4-start 0
  INFO [parameters] Starting param sync THREAD

  AIRFRAME: MULTICOPTER
  GPS: AUTODETECT
  RC: GHST
  ESC: VOXL_ESC
  POWER MANAGER: NONE
  AIRSPEED SENSOR: NONE
  DISTANCE SENSOR: NONE
  OSD: DISABLE
  ARTIFACT_MODE: DISABLE
  EXTRA STEPS:

  Running on M0054
  INFO [muorb] [parameters] Starting param sync THREAD
  INFO [muorb] [qshell] before starting the qshell_entry task
  INFO [muorb] [tasks] Creating pthread qshell
  INFO [muorb] [qshell] qshell entry.....
  INFO [muorb] [tasks] Successfully created px4 task PX4_qshell with tid 2097652
  INFO [muorb] [qshell] Init app map initialized
  INFO [muorb] [qshell] after starting the qshell_entry task
  INFO [param] selected parameter default file /data/px4/param/parameters
  INFO [muorb] [uORB] Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic
  INFO [uORB] Marking DeviceNode(parameter_client_reset_response) as advertised in process_remote_topic
  INFO [muorb] [uORB] Advertising remote topic parameter_update
  INFO [muorb] [uORB] Marking DeviceNode(parameter_client_set_value_request) as advertised in process_remote_t
  INFO [uORB] Marking DeviceNode(parameter_server_set_used_request) as advertised in process_remote_topic
  INFO [muorb] [uORB] Marking DeviceNode(parameter_server_set_used_response) as advertised in process_remote_t
  INFO [uORB] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic
  INFO [parameters] BSON document size 3367 bytes, decoded 3367 bytes (INT32:47, FLOAT:109)
  Starting IMU driver with no rotation
  INFO [qshell] Send cmd: 'icm42688p start -s'
  INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  INFO [muorb] [qshell] qshell gotten: icm42688p start -s
  INFO [muorb] [qshell] arg0 = 'icm42688p'
  INFO [muorb] [qshell] arg1 = 'start'
  INFO [muorb] [qshell] arg2 = '-s'
  INFO [muorb] [drivers__device] *** SPI Device ID 0x26000a 2490378
  INFO [uORB] Advertising remote topic sensor_accel
  INFO [uORB] Advertising remote topic sensor_gyro
  INFO [muorb] [icm42688p] ICM42688P::probe successful!
  INFO [muorb] [drivers__device] on SPI bus 1
  INFO [muorb] icm42688p #0 on SPI bus 1
  INFO [muorb]

  INFO [muorb] [icm42688p] >>> ICM42688P this: b2601168
  INFO [muorb] [qshell] Ok executing command: icm42688p start -s
  INFO [uORB] Advertising remote topic qshell_retval
  INFO [muorb] [icm42688p] >>> ICM42688P this: b2601168
  INFO [qshell] qshell return value timestamp: 399407608, local time: 399410543
  INFO [muorb] [icm42688p] >>> ICM42688P this: b2601168
  INFO [muorb] [drivers__device] Register interrupt b214ec48 e61ebf5c b2601168
  INFO [uORB] Advertising remote topic sensor_gyro_fifo
  INFO [uORB] Advertising remote topic sensor_accel_fifo
  INFO [qshell] Send cmd: 'icp101xx start -I -b 5'
  INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  INFO [muorb] [qshell] qshell gotten: icp101xx start -I -b 5
  INFO [muorb] [qshell] arg0 = 'icp101xx'
  INFO [muorb] [qshell] arg1 = 'start'
  INFO [muorb] [qshell] arg2 = '-I'
  INFO [muorb] [qshell] arg3 = '-b'
  INFO [muorb] [qshell] arg4 = '5'
  INFO [uORB] Advertising remote topic imu_server
  INFO [muorb] [drivers__device] *** I2C Device ID 0xb76329 12018473
  INFO [muorb] [drivers__device] Set up I2C bus mutex for bus 5
  INFO [muorb] icp101xx #0 on I2C bus 5
  INFO [muorb] address 0x63
  INFO [muorb]

  INFO [muorb] [qshell] Ok executing command: icp101xx start -I -b 5
  INFO [qshell] qshell return value timestamp: 399439219, local time: 399440018
  INFO [qshell] Send cmd: 'temperature_compensation start'
  INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  INFO [muorb] [qshell] qshell gotten: temperature_compensation start
  INFO [muorb] [qshell] arg0 = 'temperature_compensation'
  INFO [muorb] [qshell] arg1 = 'start'
  INFO [uORB] Advertising remote topic sensor_correction
  INFO [muorb] [icm42688p] >>> ICM42688P this: b2601168
  INFO [muorb] [qshell] Ok executing command: temperature_compensation start
  INFO [qshell] qshell return value timestamp: 399593065, local time: 399595876
  Looking for qmc5883l magnetometer
  INFO [qshell] Send cmd: 'qmc5883l start -R 10 -X -b 1'
  INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  INFO [muorb] [qshell] qshell gotten: qmc5883l start -R 10 -X -b 1
  INFO [muorb] [qshell] arg0 = 'qmc5883l'
  INFO [muorb] [qshell] arg1 = 'start'
  INFO [muorb] [qshell] arg2 = '-R'
  INFO [muorb] [qshell] arg3 = '10'
  INFO [muorb] [qshell] arg4 = '-X'
  INFO [muorb] [qshell] arg5 = '-b'
  INFO [muorb] [qshell] arg6 = '1'
  INFO [muorb] [drivers__device] *** I2C Device ID 0x80d09 527625
  INFO [muorb] [drivers__device] Set up I2C bus mutex for bus 1
  INFO [muorb] qmc5883l #0 on I2C bus 1
  INFO [muorb] (external)
  INFO [muorb] address 0xD
  INFO [muorb] rotation 10
  INFO [muorb]

  INFO [muorb] [qshell] Ok executing command: qmc5883l start -R 10 -X -b 1
  INFO [qshell] qshell return value timestamp: 399641432, local time: 399643756
  Looking for ist8310 magnetometer
  INFO [uORB] Advertising remote topic sensor_baro
  INFO [qshell] Send cmd: 'ist8310 start -R 10 -X -b 1'
  INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  INFO [muorb] [qshell] qshell gotten: ist8310 start -R 10 -X -b 1
  INFO [muorb] [qshell] arg0 = 'ist8310'
  INFO [muorb] [qshell] arg1 = 'start'
  INFO [muorb] [qshell] arg2 = '-R'
  INFO [muorb] [qshell] arg3 = '10'
  INFO [muorb] [qshell] arg4 = '-X'
  INFO [muorb] [qshell] arg5 = '-b'
  INFO [muorb] [qshell] arg6 = '1'
  INFO [muorb] [drivers__device] *** I2C Device ID 0x60e09 396809
  INFO [muorb] [drivers__device] Set up I2C bus mutex for bus 1
  ERROR [muorb] [drivers__device] i2c probe failed
  INFO [muorb] [SPI_I2C] PX4_qshell: no instance started (no device on bus?)
  ERROR [muorb] [qshell] Failed to execute command: ist8310 start -R 10 -X -b 1
  INFO [qshell] cmd returned with: -1
  INFO [qshell] qshell return value timestamp: 399679721, local time: 399683151
  ERROR [qshell] Command failed
  Looking for ist8308 magnetometer
  INFO [qshell] Send cmd: 'ist8308 start -R 12 -X -b 1'
  INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  INFO [muorb] [qshell] qshell gotten: ist8308 start -R 12 -X -b 1
  INFO [muorb] [qshell] arg0 = 'ist8308'
  INFO [muorb] [qshell] arg1 = 'start'
  INFO [muorb] [qshell] arg2 = '-R'
  INFO [muorb] [qshell] arg3 = '12'
  INFO [muorb] [qshell] arg4 = '-X'
  INFO [muorb] [qshell] arg5 = '-b'
  INFO [muorb] [qshell] arg6 = '1'
  INFO [muorb] [drivers__device] *** I2C Device ID 0xb0c09 723977
  INFO [muorb] [drivers__device] Set up I2C bus mutex for bus 1
  ERROR [muorb] [drivers__device] i2c probe failed
  INFO [muorb] [SPI_I2C] PX4_qshell: no instance started (no device on bus?)
  ERROR [muorb] [qshell] Failed to execute command: ist8308 start -R 12 -X -b 1
  INFO [qshell] cmd returned with: -1
  INFO [qshell] qshell return value timestamp: 399724506, local time: 399725746
  ERROR [qshell] Command failed
  INFO [qshell] Send cmd: 'gps start'
  INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  INFO [muorb] [qshell] qshell gotten: gps start
  INFO [muorb] [qshell] arg0 = 'gps'
  INFO [muorb] [qshell] arg1 = 'start'
  INFO [muorb] [tasks] Creating pthread gps
  INFO [muorb] [tasks] Successfully created px4 task PX4_gps with tid 2097647
  INFO [muorb] [qshell] Ok executing command: gps start
  INFO [qshell] qshell return value timestamp: 399763498, local time: 399764414
  Looking for ncp5623c RGB LED
  INFO [muorb] [gps] GPS UART baudrate set to 115200
  INFO [qshell] Send cmd: 'rgbled_ncp5623c start -X -b 1 -f 400 -a 56'
  INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  INFO [muorb] [qshell] qshell gotten: rgbled_ncp5623c start -X -b 1 -f 400 -a 56
  INFO [muorb] [qshell] arg0 = 'rgbled_ncp5623c'
  INFO [muorb] [qshell] arg1 = 'start'
  INFO [muorb] [qshell] arg2 = '-X'
  INFO [muorb] [qshell] arg3 = '-b'
  INFO [muorb] [qshell] arg4 = '1'
  INFO [muorb] [qshell] arg5 = '-f'
  INFO [muorb] [qshell] arg6 = '400'
  INFO [muorb] [qshell] arg7 = '-a'
  INFO [muorb] [qshell] arg8 = '56'
  INFO [muorb] [drivers__device] *** I2C Device ID 0x7b3809 8075273
  INFO [muorb] [drivers__device] Set up I2C bus mutex for bus 1
  INFO [muorb] [drivers__device] Set i2c address 0x38, fd 4
  ERROR [muorb] [drivers__device] i2c probe failed
  INFO [muorb] [SPI_I2C] PX4_qshell: no instance started (no device on bus?)
  ERROR [muorb] [qshell] Failed to execute command: rgbled_ncp5623c start -X -b 1 -f 400 -a 56
  INFO [qshell] cmd returned with: -1
  INFO [qshell] qshell return value timestamp: 399803230, local time: 399805491
  ERROR [qshell] Command failed
  Starting VOXL ESC driver
  INFO [uORB] Advertising remote topic sensor_mag
  INFO [qshell] Send cmd: 'voxl_esc start'
  INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  INFO [muorb] [qshell] qshell gotten: voxl_esc start
  INFO [muorb] [qshell] arg0 = 'voxl_esc'
  INFO [muorb] [qshell] arg1 = 'start'
  INFO [uORB] Advertising remote topic actuator_outputs
  INFO [muorb] [voxl_esc] Starting VOXL ESC driver
  INFO [muorb] [voxl_esc] Params: VOXL_ESC_CONFIG: 1
  INFO [muorb] [voxl_esc] Params: VOXL_ESC_MODE: 0
  INFO [muorb] [voxl_esc] Params: VOXL_ESC_BAUD: 2000000
  INFO [muorb] [voxl_esc] Params: VOXL_ESC_FUNC1: 102
  INFO [muorb] [voxl_esc] Params: VOXL_ESC_FUNC2: 103
  INFO [muorb] [voxl_esc] Params: VOXL_ESC_FUNC3: 101
  INFO [muorb] [voxl_esc] Params: VOXL_ESC_FUNC4: 104
  INFO [muorb] [voxl_esc] Params: VOXL_ESC_SDIR1: 0
  INFO [muorb] [voxl_esc] Params: VOXL_ESC_SDIR2: 0
  INFO [muorb] [voxl_esc] Params: VOXL_ESC_SDIR3: 0
  INFO [muorb] [voxl_esc] Params: VOXL_ESC_SDIR4: 0
  INFO [muorb] [voxl_esc] Params: VOXL_ESC_RPM_MIN: 2000
  INFO [muorb] [voxl_esc] Params: VOXL_ESC_RPM_MAX: 12000
  INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_PERC: 90
  INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_DEAD: 20
  INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_EXPO: 35
  INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_MINF: 0.150000
  INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_COSP: 0.990000
  INFO [muorb] [voxl_esc] Params: VOXL_ESC_VLOG: 1
  INFO [muorb] [voxl_esc] Params: VOXL_ESC_PUB_BST: 1
  INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_WARN: 0
  INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_OVER: 0
  INFO [muorb] [voxl_esc] Params: GPIO_CTL_CH: 0
  INFO [muorb] [qshell] Ok executing command: voxl_esc start
  INFO [muorb] [voxl_esc] Opening UART ESC device 2, baud rate 2000000
  INFO [muorb] [voxl_esc] Successfully opened UART ESC device
  INFO [muorb] [voxl_esc] Detecting ESCs...
  INFO [muorb] [voxl_esc] ESC ID : 0
  INFO [muorb] [voxl_esc] Board Type : 40: ModalAi 4-in-1 ESC (M0129-3)
  INFO [muorb] [voxl_esc] Unique ID : 0x2039333557555311000E001D
  INFO [qshell] qshell return value timestamp: 399982295, local time: 399985088
  INFO [muorb] [voxl_esc] Firmware : version 39, hash 9c6233d6
  INFO [muorb] [voxl_esc] Bootloader : version 184, hash 10bf24c8
  INFO [muorb] [voxl_esc] Reply time : 715us
  INFO [muorb] [voxl_esc] VOXL_ESC:
  INFO [muorb] [voxl_esc] ESC ID : 1
  INFO [muorb] [voxl_esc] Board Type : 40: ModalAi 4-in-1 ESC (M0129-3)
  INFO [muorb] [voxl_esc] Unique ID : 0x2039333557555311000E0018
  INFO [muorb] [voxl_esc] Firmware : version 39, hash 9c6233d6
  INFO [muorb] [voxl_esc] Bootloader : version 184, hash 10bf24c8
  INFO [muorb] [voxl_esc] Reply time : 705us
  INFO [muorb] [voxl_esc] VOXL_ESC:
  INFO [muorb] [voxl_esc] ESC ID : 2
  INFO [muorb] [voxl_esc] Board Type : 40: ModalAi 4-in-1 ESC (M0129-3)
  INFO [muorb] [voxl_esc] Unique ID : 0x2039333557555311000E001F
  INFO [muorb] [voxl_esc] Firmware : version 39, hash 9c6233d6
  INFO [muorb] [voxl_esc] Bootloader : version 184, hash 10bf24c8
  INFO [muorb] [voxl_esc] Reply time : 105us
  INFO [muorb] [voxl_esc] VOXL_ESC:
  INFO [muorb] [voxl_esc] ESC ID : 3
  INFO [muorb] [voxl_esc] Board Type : 40: ModalAi 4-in-1 ESC (M0129-3)
  INFO [muorb] [voxl_esc] Unique ID : 0x2039333557555311000E0020
  INFO [muorb] [voxl_esc] Firmware : version 39, hash 9c6233d6
  INFO [muorb] [voxl_esc] Bootloader : version 184, hash 10bf24c8
  INFO [muorb] [voxl_esc] Reply time : 723us
  INFO [muorb] [voxl_esc] VOXL_ESC:
  INFO [muorb] [voxl_esc] Use extened rpm packet : 1
  INFO [muorb] [voxl_esc] All ESCs successfully detected
  Starting GHST RC driver
  INFO [qshell] Send cmd: 'ghst_rc start -d 7'
  INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  INFO [muorb] [qshell] qshell gotten: ghst_rc start -d 7
  INFO [muorb] [qshell] arg0 = 'ghst_rc'
  INFO [muorb] [qshell] arg1 = 'start'
  INFO [muorb] [qshell] arg2 = '-d'
  INFO [muorb] [qshell] arg3 = '7'
  INFO [muorb] [qshell] Ok executing command: ghst_rc start -d 7
  INFO [uORB] Advertising remote topic input_rc
  INFO [qshell] qshell return value timestamp: 400026444, local time: 400029741
  INFO [uORB] Advertising remote topic actuator_outputs_debug
  INFO [uORB] Advertising remote topic esc_status
  INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  INFO [muorb] [qshell] qshell gotten: sensors start
  INFO [muorb] [qshell] arg0 = 'sensors'
  INFO [muorb] [qshell] arg1 = 'start'
  INFO [qshell] Send cmd: 'sensors start'
  INFO [uORB] Advertising remote topic sensor_selection
  INFO [uORB] Advertising remote topic sensors_status_imu
  INFO [uORB] Advertising remote topic vehicle_acceleration
  INFO [uORB] Advertising remote topic vehicle_angular_velocity
  INFO [uORB] Advertising remote topic sensor_combined
  INFO [uORB] Advertising remote topic vehicle_air_data
  INFO [uORB] Advertising remote topic vehicle_gps_position
  INFO [uORB] Advertising remote topic vehicle_magnetometer
  INFO [uORB] Advertising remote topic sensor_preflight_mag
  INFO [uORB] Advertising remote topic sensors_status_mag
  INFO [uORB] Advertising remote topic vehicle_imu
  INFO [uORB] Advertising remote topic vehicle_imu_status
  INFO [muorb] [qshell] Ok executing command: sensors start
  INFO [qshell] qshell return value timestamp: 400201636, local time: 400204844
  INFO [uORB] Advertising remote topic battery_status
  INFO [uORB] Advertising remote topic sensors_status_baro
  INFO [qshell] Send cmd: 'ekf2 start'
  INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  INFO [muorb] [qshell] qshell gotten: ekf2 start
  INFO [muorb] [qshell] arg0 = 'ekf2'
  INFO [muorb] [qshell] arg1 = 'start'
  INFO [uORB] Advertising remote topic vehicle_attitude
  INFO [uORB] Advertising remote topic vehicle_local_position
  INFO [uORB] Advertising remote topic estimator_event_flags
  INFO [uORB] Advertising remote topic estimator_innovation_test_ratios
  INFO [uORB] Advertising remote topic estimator_innovation_variances
  INFO [uORB] Advertising remote topic estimator_innovations
  INFO [uORB] Advertising remote topic estimator_sensor_bias
  INFO [uORB] Advertising remote topic estimator_states
  INFO [uORB] Advertising remote topic estimator_status_flags
  INFO [uORB] Advertising remote topic estimator_status
  INFO [muorb] [qshell] Ok executing command: ekf2 start
  INFO [uORB] Advertising remote topic ekf2_timestamps
  INFO [qshell] qshell return value timestamp: 400372199, local time: 400374149
  INFO [uORB] Advertising remote topic vehicle_odometry
  INFO [uORB] Advertising remote topic estimator_aid_src_baro_hgt
  INFO [uORB] Advertising remote topic estimator_aid_src_fake_pos
  INFO [uORB] Advertising remote topic estimator_aid_src_fake_hgt
  INFO [uORB] Advertising remote topic estimator_aid_src_mag_heading
  INFO [uORB] Advertising remote topic estimator_aid_src_mag
  INFO [uORB] Advertising remote topic estimator_aid_src_gravity
  INFO [qshell] Send cmd: 'mc_pos_control start'
  INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  INFO [muorb] [qshell] qshell gotten: mc_pos_control start
  INFO [muorb] [qshell] arg0 = 'mc_pos_control'
  INFO [muorb] [qshell] arg1 = 'start'
  INFO [uORB] Advertising remote topic takeoff_status
  INFO [muorb] [qshell] Ok executing command: mc_pos_control start
  INFO [qshell] qshell return value timestamp: 400439639, local time: 400441121
  INFO [qshell] Send cmd: 'mc_att_control start'
  INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  INFO [muorb] [qshell] qshell gotten: mc_att_control start
  INFO [muorb] [qshell] arg0 = 'mc_att_control'
  INFO [muorb] [qshell] arg1 = 'start'
  INFO [muorb] [qshell] Ok executing command: mc_att_control start
  INFO [qshell] qshell return value timestamp: 400483669, local time: 400486499
  INFO [qshell] Send cmd: 'mc_rate_control start'
  INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  INFO [muorb] [qshell] qshell gotten: mc_rate_control start
  INFO [muorb] [qshell] arg0 = 'mc_rate_control'
  INFO [muorb] [qshell] arg1 = 'start'
  INFO [uORB] Advertising remote topic rate_ctrl_status
  INFO [muorb] [qshell] Ok executing command: mc_rate_control start
  INFO [qshell] qshell return value timestamp: 400555835, local time: 400557571
  INFO [qshell] Send cmd: 'mc_hover_thrust_estimator start'
  INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  INFO [muorb] [qshell] qshell gotten: mc_hover_thrust_estimator start
  INFO [muorb] [qshell] arg0 = 'mc_hover_thrust_estimator'
  INFO [muorb] [qshell] arg1 = 'start'
  INFO [muorb] [qshell] Ok executing command: mc_hover_thrust_estimator start
  INFO [qshell] qshell return value timestamp: 400607194, local time: 400608430
  INFO [qshell] Send cmd: 'mc_autotune_attitude_control start'
  INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  INFO [muorb] [qshell] qshell gotten: mc_autotune_attitude_control start
  INFO [muorb] [qshell] arg0 = 'mc_autotune_attitude_control'
  INFO [muorb] [qshell] arg1 = 'start'
  INFO [uORB] Advertising remote topic autotune_attitude_control_status
  INFO [muorb] [qshell] Ok executing command: mc_autotune_attitude_control start
  INFO [qshell] qshell return value timestamp: 400652695, local time: 400654662
  INFO [qshell] Send cmd: 'land_detector start multicopter'
  INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  INFO [muorb] [qshell] qshell gotten: land_detector start multicopter
  INFO [muorb] [qshell] arg0 = 'land_detector'
  INFO [muorb] [qshell] arg1 = 'start'
  INFO [muorb] [qshell] arg2 = 'multicopter'
  INFO [muorb] [qshell] Ok executing command: land_detector start multicopter
  INFO [uORB] Advertising remote topic vehicle_land_detected
  INFO [qshell] qshell return value timestamp: 400691706, local time: 400693863
  INFO [qshell] Send cmd: 'manual_control start'
  INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  INFO [muorb] [qshell] qshell gotten: manual_control start
  INFO [muorb] [qshell] arg0 = 'manual_control'
  INFO [muorb] [qshell] arg1 = 'start'
  INFO [muorb] [qshell] Ok executing command: manual_control start
  INFO [qshell] qshell return value timestamp: 400729166, local time: 400730650
  INFO [uORB] Advertising remote topic manual_control_setpoint
  INFO [qshell] Send cmd: 'control_allocator start'
  INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  INFO [muorb] [qshell] qshell gotten: control_allocator start
  INFO [muorb] [qshell] arg0 = 'control_allocator'
  INFO [muorb] [qshell] arg1 = 'start'
  INFO [uORB] Advertising remote topic control_allocator_status
  INFO [uORB] Marking DeviceNode(control_allocator_status) as advertised in process_remote_topic
  INFO [uORB] Advertising remote topic actuator_motors
  INFO [uORB] Advertising remote topic actuator_servos
  INFO [uORB] Advertising remote topic actuator_servos_trim
  INFO [muorb] [qshell] Ok executing command: control_allocator start
  INFO [qshell] qshell return value timestamp: 400901362, local time: 400903812
  INFO [qshell] Send cmd: 'load_mon start'
  INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  INFO [muorb] [qshell] qshell gotten: load_mon start
  INFO [muorb] [qshell] arg0 = 'load_mon'
  INFO [muorb] [qshell] arg1 = 'start'
  INFO [muorb] [qshell] Ok executing command: load_mon start
  INFO [uORB] Advertising remote topic cpuload
  INFO [qshell] qshell return value timestamp: 400944602, local time: 400945574
  INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  INFO [muorb] [qshell] qshell gotten: rc_update start
  INFO [muorb] [qshell] arg0 = 'rc_update'
  INFO [muorb] [qshell] arg1 = 'start'
  INFO [qshell] Send cmd: 'rc_update start'
  INFO [muorb] [qshell] Ok executing command: rc_update start
  INFO [qshell] qshell return value timestamp: 401113628, local time: 401115288
  INFO [uORB] Advertising remote topic rc_channels
  INFO [qshell] Send cmd: 'commander start'
  INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  INFO [muorb] [qshell] qshell gotten: commander start
  INFO [muorb] [qshell] arg0 = 'commander'
  INFO [muorb] [qshell] arg1 = 'start'
  INFO [muorb] [tasks] Creating pthread commander
  INFO [muorb] [tasks] Successfully created px4 task PX4_commander with tid 2097641
  INFO [uORB] Advertising remote topic led_control
  INFO [muorb] [commander] LED: open /dev/led0 failed (22)
  INFO [uORB] Advertising remote topic tune_control
  INFO [muorb] [qshell] Ok executing command: commander start
  INFO [qshell] qshell return value timestamp: 401250309, local time: 401251149
  INFO [uORB] Advertising remote topic event
  INFO [uORB] Advertising remote topic health_report
  INFO [uORB] Advertising remote topic failsafe_flags
  INFO [uORB] Advertising remote topic actuator_armed
  INFO [uORB] Advertising remote topic vehicle_control_mode
  INFO [uORB] Advertising remote topic vehicle_status
  INFO [uORB] Advertising remote topic failure_detector_status
  INFO [uORB] Advertising remote topic vehicle_thrust_setpoint
  INFO [uORB] Advertising remote topic vehicle_torque_setpoint
  INFO [uORB] Advertising remote topic vehicle_attitude_setpoint
  INFO [uORB] Advertising remote topic vehicle_rates_setpoint
  INFO [qshell] Send cmd: 'flight_mode_manager start'
  INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  INFO [muorb] [qshell] qshell gotten: flight_mode_manager start
  INFO [muorb] [qshell] arg0 = 'flight_mode_manager'
  INFO [muorb] [qshell] arg1 = 'start'
  INFO [uORB] Advertising remote topic vehicle_command
  INFO [muorb] [qshell] Ok executing command: flight_mode_manager start
  INFO [qshell] qshell return value timestamp: 401328584, local time: 401330285
  INFO [dataman] data manager file '/data/px4/dataman' size is 7866640 bytes
  INFO [muorb] [uORB] Advertising remote topic transponder_report
  INFO [muorb] [uORB] Advertising remote topic rtl_time_estimate
  INFO [muorb] [uORB] Advertising remote topic position_setpoint_triplet
  INFO [mavlink] mode: Onboard, data rate: 100000 B/s on udp port 14556 remote port 14557
  INFO [muorb] [uORB] Advertising remote topic telemetry_status
  INFO [mavlink] partner IP: 127.0.0.1
  INFO [muorb] [uORB] Advertising remote topic vehicle_visual_odometry
  INFO [muorb] [uORB] Advertising remote topic offboard_control_mode
  INFO [muorb] [uORB] Advertising remote topic obstacle_distance
  INFO [muorb] [uORB] Advertising remote topic distance_sensor
  INFO [muorb] [uORB] Advertising remote topic timesync_status
  INFO [uORB] Advertising remote topic estimator_aid_src_rng_hgt
  INFO [muorb] [uORB] Marking DeviceNode(vehicle_command_ack) as advertised in process_remote_topic
  INFO [uORB] Advertising remote topic actuator_controls_status_0
  INFO [mavlink] mode: Normal, data rate: 100000 B/s on udp port 14558 remote port 14559
  INFO [muorb] [uORB] Marking DeviceNode(telemetry_status) as advertised in process_remote_topic
  INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
  INFO [px4] Startup script returned successfully
  INFO [logger] logger started (mode=all)
  INFO [muorb] [gps] GPS UART baudrate set to 9600
  INFO [muorb] [ekf2] resetQuatStateYaw called: -0.081279 (0.000000)

  ERROR [muorb] [ekf2] ====> GLOBAL R to Earth: -4.657814 (42)
  INFO [uORB] Advertising remote topic estimator_aid_src_ev_hgt
  INFO [uORB] Advertising remote topic estimator_aid_src_ev_pos
  INFO [uORB] Advertising remote topic estimator_aid_src_ev_vel
  INFO [uORB] Advertising remote topic estimator_aid_src_ev_yaw
  INFO [muorb] [ekf2] resetQuatStateYaw called: -0.081279 (0.100000)

  INFO [uORB] Advertising remote topic estimator_baro_bias
  INFO [uORB] Advertising remote topic home_position
  INFO [muorb] [gps] GPS UART baudrate set to 38400
  INFO [muorb] [gps] GPS UART baudrate set to 57600
  INFO [muorb] [gps] GPS UART baudrate set to 230400
  INFO [muorb] [gps] GPS UART baudrate set to 460800
  INFO [muorb] [gps] GPS UART baudrate set to 921600
  INFO [muorb] [gps] GPS UART baudrate set to 115200
  INFO [muorb] [gps] GPS UART baudrate set to 9600
  INFO [muorb] [gps] GPS UART baudrate set to 38400
  INFO [muorb] [gps] GPS UART baudrate set to 57600
  INFO [muorb] [gps] GPS UART baudrate set to 230400
  INFO [muorb] [gps] GPS UART baudrate set to 460800
  INFO [muorb] [gps] GPS UART baudrate set to 921600
  INFO [muorb] [gps] GPS UART baudrate set to 115200
  INFO [muorb] [gps] GPS UART baudrate set to 9600
  ^CERROR [muorb] Sending kill command to SLPI!!!
  Sending kill slpi command!
  INFO [uORB] Advertising remote topic mavlink_log
  ERROR [muorb] [sensors] Accel #0 fail: TIMEOUT!

  PX4 Exiting in sig_int_handler
  Exiting in shutdown_main
  starling2-max (D0012):/$**

• Sentinel

  Questions regarding the Sentinel VOXL 2 Development Drone

  89
  Topics
  571
  Posts

  A

  @tonygurney , I am assuming that you are using the ESC hardware version M0134 (you can confirm using voxl-esc scan tool.

  Here is the datasheet for M0134.
  https://docs.modalai.com/modal-esc-datasheet/

  This ESC has an option (via installing a 0 ohm resistor) to provide 3.3V to pin 1 of J3. This is the same voltage that is used for the MCUs that run on the ESC and should be used with caution (if this voltage rail is brought down by overloading, the ESC will shut down). Please see image below that shows where 0 ohm resistor should be (carefully) installed to enable 3.3V on pin1 of J3 (marked in red)

  m0134-diagram.jpg

  If you actually wanted 5V (VAUX), that is available on the other side of the board via two test points at the edge of the board. This voltage rail is provided by a separate switching regulator. See the following section : https://docs.modalai.com/modal-esc-datasheet/#neopixel-led-support

  If you REALLY need 5V to be present on pin1 of J3, then you can add a small wire jumper from the VAUX test point directly to the pin1 of J3 (which is marked with a white dot). This pin 1 of J3 is normally disconnected. Please only do this if you are comfortable performing this type of soldering and we cannot guarantee the results :).

  Alex

• VOXL m500 Reference Drone
  109
  Topics
  579
  Posts

  K

  @tom thank you for your assistance. I'll do that.

• Qualcomm Flight RB5 5G Drone

  Discussion regarding Qualcomm Flight RB5 5G Drone

  132
  Topics
  680
  Posts

  H

  Re: USBC Port as Ethernet interface

  @Eric-Katzfey @mrawding Ya, I would like to use USB-C to connect ethernet via this hub but no have anything log in kernel and no connect to ethernet.

  I think my hub works well, because I tried it on another board.

  I would like to ask you to do it for me. And it is normal?

  Thanks for your reply.

• Seeker

  Questions regarding the Seeker SLAM Development Drone

  41
  Topics
  141
  Posts

  A

  @Cody , please double check the actual and desired roll / pitch / yaw values in the flight review. When the vehicle is level, then roll and pitch should be close to zero and desired roll/pitch will be zero as well if you don't touch RC sticks.

  If the attitude estimate is incorrect (for whatever reason) this can cause the vehicle to not be level during flight / take-off.

  Alex