@voxltester I would try qshell lightware_laser_i2c start -b 4

@YUUJI-INOUE I'm very confused by the voxl-px4.log file you attached. It is filled with a bunch of -- Reboot -- lines. Where do those lines come from? How did you generate voxl-px4.log? The only Accel #0 fail: TIMEOUT! I see is after a shutdown command has been issued to PX4. The Command failed is normal. The startup script attempts to do some auto-configuration by looking for devices that may not be attached to the drone and will produce those messages. Same with the i2c probe failed messages. The fact that you can fly in manual mode means that the IMU is fine.

@jmltt For reference, here is a commit that will allow our fork to build for SITL on Ubuntu 24.04: https://github.com/modalai/px4-firmware/commit/8366d2e56c171230ee31c0856cb243d46f09de31

@schew The ESC states are as follows:
0: idle / not spinning or trying to spin
1: spinning up
2,3: unused
4: very brief transition between spin-up and full back-emf sensing mode (user's commands are not yet executing)
5: back-emf sensing mode (rpm or power control based on user's command)
If there is any issue that causes ESC to think it's stalled or communication timed out, it will go through state 0 and then to 1 if non-zero commands are sent via UART.
The typical start-up sequence is basically 0->1->4->5 and should stay at 5 until you send a zero command or stop sending commands.

@YUUJI-INOUE Can you send a PX4 log? If you can arm in manual mode then the PX4 IMU is working fine. The last voxl-px4 message sequence shows the IMU start correctly. If the parameters file does not yet exist (e.g. no PX4 parameters have been updated yet) then there will be no /data/px4/param/parameters file and you will see the error message: "open '/data/px4/param/parameters' failed". That is fine and to be expected. Once you have updated some parameters (e.g. running voxl-px4-param) then that file will be created and that error message will no longer appear.

@alan123 Are you starting voxl-px4 from the command line (e.g. voxl-px4 -d) or is it starting automatically from a systemd service file on startup. If you have started it from the command line you can enter commands from the px4 shell. So, after the script is done, you can enter gps status to see that the driver is doing. If the driver hasn't been started, try starting it directly from the command line.

@alan123 Well, is PLATFORM = M0052? Seems like you are still executing the qshell one. And the command isn't setup correctly, should be gps start -i spi -d /dev/spidev14.0

@alan123 If you are starting it on apps side the you use gps start -d <device port>. If you start it on DSP side then you use qshell gps start -d <device port>. For /dev/spidev14.0 you have to start on the apps side. Also it defaults to UART so if you want SPI then you will need to add -i spi to your start command.

@Muqing-Cao In the voxl-vision-hub configuration file /etc/modalai/voxl-vision-hub.conf how is the parameter en_vio set?

@voxltester That is not a normal option to choose via voxl-px4.conf. You will need to hand modify the startup script /usr/bin/voxl-px4-start to properly start the driver in i2c mode. Use option -b 4 to select that i2c bus.