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    GPS Not OK with VOXL2 PX4

    VOXL 2
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    • kp ngK
      kp ng @Vinny
      last edited by

      Thanks. I doubt it is the hardware that is not working. The GPS fix indicator on the module is blinking blue.

      How do I check that the VOXL2 is talking to the GPS module correctly?
      Is there a command to see the GPS location readings on VOXL2?

      1 Reply Last reply Reply Quote 0
      • kp ngK
        kp ng @Eric Katzfey
        last edited by

        @Eric-Katzfey Yes. The magnetometer is working correctly. QGC display indicator suggests so.
        The LED also blinking GPS lock

        kp ngK 1 Reply Last reply Reply Quote 0
        • kp ngK
          kp ng @kp ng
          last edited by

          I get an error message
          "[muorb] SLPI: UBX CFG-GNSS message ACK failed".

          Eric KatzfeyE 1 Reply Last reply Reply Quote 0
          • Eric KatzfeyE
            Eric Katzfey ModalAI Team @kp ng
            last edited by

            @kp-ng That's interesting. That indicates that the driver was able to successfully send a few configuration messages to the GPS unit and receive valid acknowledgements in return. Does it always print that exact same message or is it sometimes different? My guess is that the cable or connector has a defect of some sort and that makes the serial communication link over the UART unreliable. That same cable has the i2c bus used for the LED and magnetometer drivers and that appears to be working okay. Can you jiggle the cable or try to press it in with your hand while starting px4 and see if that changes the behavior? Regardless, it seems like we will need to send you a replacement GPS (Hoping, of course, that it is a problem with the GPS unit and not the connector).

            Eric KatzfeyE kp ngK 2 Replies Last reply Reply Quote 0
            • Eric KatzfeyE
              Eric Katzfey ModalAI Team @Eric Katzfey
              last edited by

              @Eric-Katzfey I would also try Vinnies suggestion and spread all of the components out just to make sure that there isn't some interference that is causing the errors on the serial lines.

              1 Reply Last reply Reply Quote 0
              • kp ngK
                kp ng @Eric Katzfey
                last edited by

                @Eric-Katzfey Thanks Eric, Vinn.

                Here are the detailed debug info.

                Send cmd: 'gps start'
                cannot reset all parameters on client side
                px4io read failed
                px4io io_reg_get(0,0,1): data error -5
                IO not installed
                Detection attempt failed
                ...
                Failed to execute command px4io detect
                command failed

                Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                • Eric KatzfeyE
                  Eric Katzfey ModalAI Team @kp ng
                  last edited by

                  @kp-ng That is not a full listing of all of the output. And what about the error message you had posted previously. I asked if you saw the same error every time. Do you? Or does it change to different ones? Did you do the other things suggested?

                  kp ngK 1 Reply Last reply Reply Quote 0
                  • kp ngK
                    kp ng @Eric Katzfey
                    last edited by

                    @Eric-Katzfey
                    Hi Eric.
                    Yes the same error messages occur each time.
                    Have tried pressing on the connector as well. Doesn't help.
                    Have spaced the power supply, wifi, gps antenna apart also.

                    Below are the logs

                    voxl2:/$ voxl-px4
                    Found DSP signature file
                    INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM.
                    INFO [px4] assuming working directory is rootfs, no symlinks needed.

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

                    px4 starting.

                    INFO [px4] Calling startup script: /bin/sh /etc/modalai/voxl-px4.config 0
                    Running on M0054
                    INFO [muorb] SLPI: Creating qurt thread hpwork

                    INFO [muorb] SLPI: Successfully created px4 task PX4_hpwork with tid 82
                    INFO [muorb] SLPI: Creating qurt thread lpwork

                    INFO [muorb] SLPI: Successfully created px4 task PX4_lpwork with tid 81
                    INFO [muorb] SLPI: Creating qurt thread wkr_hrt

                    INFO [muorb] SLPI: Successfully created px4 task PX4_wkr_hrt with tid 80
                    INFO [muorb] SLPI: Creating qurt thread client_sync_thread

                    INFO [muorb] SLPI: Successfully created px4 task PX4_client_sync_thread with tid 79
                    INFO [muorb] SLPI: Creating qurt thread wq_manager

                    INFO [muorb] SLPI: Successfully created px4 task PX4_wq_manager with tid 78
                    INFO [muorb] SLPI: Creating qurt thread qshell

                    INFO [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 77
                    INFO [qshell] Send cmd: 'icm42688p start -s'
                    INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                    INFO [muorb] SLPI: qshell gotten: icm42688p start -s
                    INFO [muorb] SLPI: Creating qurt thread wq_SPI1

                    INFO [muorb] SLPI: Successfully created px4 task PX4_wq_SPI1 with tid 76
                    INFO [muorb] SLPI: *** SPI Device ID 0x26000a 2490378
                    INFO [uorb] Advertising remote topic sensor_accel
                    INFO [uorb] Marking DeviceNode(parameter_server_set_used_request) as advertised in process_remote_topic
                    INFO [muorb] SLPI: Marking DeviceNode(parameter_server_set_used_response) as advertised in process_remote_to
                    INFO [uorb] Advertising remote topic sensor_gyro
                    INFO [uorb] Advertising remote topic imu_server
                    INFO [muorb] SLPI: on SPI bus 1
                    INFO [muorb] SLPI: icm42688p #0 on SPI bus 1 (devid=0x0)
                    INFO [muorb] SLPI:

                    INFO [muorb] SLPI: Ok executing command: icm42688p start -s
                    INFO [muorb] SLPI: Sending qshell retval with timestamp 41957598, current timestamp 41957599
                    INFO [uorb] Advertising remote topic qshell_retval
                    INFO [qshell] qshell return value timestamp: 41957598, local time: 41959528
                    INFO [muorb] SLPI: Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic
                    ERROR [muorb] SLPI: Cannot reset all parameters on client side
                    INFO [uorb] Marking DeviceNode(parameter_client_reset_response) as advertised in process_remote_topic
                    INFO [muorb] SLPI: Advertising remote topic parameter_update
                    INFO [muorb] SLPI: Marking DeviceNode(parameter_client_set_value_request) as advertised in process_remote_to
                    INFO [uorb] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic
                    INFO [logger] logger started (mode=all)
                    Starting Holybro magnetometer
                    INFO [qshell] Send cmd: 'ist8310 start -R 10 -X -b 1'
                    INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                    INFO [muorb] SLPI: qshell gotten: ist8310 start -R 10 -X -b 1
                    INFO [muorb] SLPI: Creating qurt thread wq_I2C1

                    INFO [muorb] SLPI: Successfully created px4 task PX4_wq_I2C1 with tid 75
                    INFO [muorb] SLPI: *** I2C Device ID 0x60e09 396809
                    INFO [muorb] SLPI: ist8310 #0 on I2C bus 1 (external)

                    INFO [muorb] SLPI: Ok executing command: ist8310 start -R 10 -X -b 1
                    INFO [muorb] SLPI: Sending qshell retval with timestamp 44022129, current timestamp 44022130
                    INFO [qshell] qshell return value timestamp: 44022129, local time: 44028451
                    Starting Holybro LED driver
                    INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                    INFO [qshell] Send cmd: 'rgbled_ncp5623c start -X -b 1 -f 400 -a 56'
                    INFO [muorb] SLPI: qshell gotten: rgbled_ncp5623c start -X -b 1 -f 400 -a 56
                    INFO [muorb] SLPI: *** I2C Device ID 0x7b3809 8075273
                    INFO [muorb] SLPI: rgbled_ncp5623c #0 on I2C bus 1 (external)

                    INFO [muorb] SLPI: Ok executing command: rgbled_ncp5623c start -X -b 1 -f 400 -a 56
                    INFO [muorb] SLPI: Sending qshell retval with timestamp 44071605, current timestamp 44071606
                    INFO [qshell] qshell return value timestamp: 44071605, local time: 44073373
                    INFO [qshell] Send cmd: 'icp10100 start -I -b 5'
                    INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                    INFO [muorb] SLPI: qshell gotten: icp10100 start -I -b 5
                    INFO [muorb] SLPI: Creating qurt thread wq_I2C5

                    INFO [muorb] SLPI: Successfully created px4 task PX4_wq_I2C5 with tid 74
                    INFO [muorb] SLPI: *** I2C Device ID 0x9c6329 10249001
                    INFO [muorb] SLPI: probe probe succeeded. data = 0x1 0x48
                    INFO [muorb] SLPI: icp10100 #0 on I2C bus 5

                    INFO [muorb] SLPI: Ok executing command: icp10100 start -I -b 5
                    INFO [muorb] SLPI: Sending qshell retval with timestamp 44119538, current timestamp 44119540
                    INFO [qshell] qshell return value timestamp: 44119538, local time: 44120763
                    INFO [uorb] Advertising remote topic sensor_mag
                    INFO [qshell] Send cmd: 'modalai_esc start'
                    INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                    INFO [muorb] SLPI: qshell gotten: modalai_esc start
                    INFO [muorb] SLPI: Creating qurt thread wq_hp_default

                    INFO [muorb] SLPI: Successfully created px4 task PX4_wq_hp_default with tid 73
                    INFO [uorb] Advertising remote topic test_motor
                    INFO [uorb] Advertising remote topic sensor_baro
                    INFO [muorb] SLPI: Ok executing command: modalai_esc start
                    INFO [muorb] SLPI: Sending qshell retval with timestamp 44170549, current timestamp 44170550
                    INFO [muorb] SLPI: Opened UART ESC device
                    INFO [qshell] qshell return value timestamp: 44170549, local time: 44172188
                    INFO [qshell] Send cmd: 'mixer load /dev/uart_esc quad_x.main.mix'
                    INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                    INFO [muorb] SLPI: qshell gotten: mixer load /dev/uart_esc quad_x.main.mix
                    INFO [muorb] SLPI: Creating qurt thread wq_rate_ctrl

                    INFO [muorb] SLPI: Successfully created px4 task PX4_wq_rate_ctrl with tid 71
                    INFO [muorb] SLPI: Ok executing command: mixer load /dev/uart_esc quad_x.main.mix
                    INFO [muorb] SLPI: Sending qshell retval with timestamp 44239985, current timestamp 44239986
                    INFO [qshell] qshell return value timestamp: 44239985, local time: 44241616
                    INFO [uorb] Advertising remote topic actuator_outputs
                    INFO [uorb] Advertising remote topic multirotor_motor_limits
                    INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                    INFO [qshell] Send cmd: 'voxlpm start -X -b 2'
                    INFO [muorb] SLPI: qshell gotten: voxlpm start -X -b 2
                    INFO [muorb] SLPI: Creating qurt thread wq_I2C2

                    INFO [muorb] SLPI: Successfully created px4 task PX4_wq_I2C2 with tid 4169
                    INFO [muorb] SLPI: *** I2C Device ID 0x784411 7881745
                    INFO [uorb] Advertising remote topic battery_status
                    INFO [muorb] SLPI: voxlpm #0 on I2C bus 2 (external)

                    INFO [muorb] SLPI: Ok executing command: voxlpm start -X -b 2
                    INFO [muorb] SLPI: Sending qshell retval with timestamp 44301919, current timestamp 44301920
                    INFO [qshell] qshell return value timestamp: 44301919, local time: 44302736
                    INFO [uorb] Advertising remote topic power_monitor
                    Starting Holybro GPS
                    INFO [qshell] Send cmd: 'gps start'
                    INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                    INFO [muorb] SLPI: qshell gotten: gps start
                    INFO [muorb] SLPI: Creating qurt thread gps

                    INFO [muorb] SLPI: Successfully created px4 task PX4_gps with tid 70
                    INFO [muorb] SLPI: Ok executing command: gps start
                    INFO [muorb] SLPI: Sending qshell retval with timestamp 44356373, current timestamp 44356374
                    INFO [qshell] qshell return value timestamp: 44356373, local time: 44357420
                    INFO [uorb] Advertising remote topic gps_dump
                    INFO [qshell] Send cmd: 'px4io detect'
                    INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                    INFO [muorb] SLPI: qshell gotten: px4io detect
                    INFO [muorb] SLPI: serial port fd 2
                    ERROR [muorb] SLPI: px4io read failed
                    ERROR [muorb] SLPI: px4io io_reg_get(0,0,1): data error -5
                    ERROR [muorb] SLPI: IO not installed
                    ERROR [muorb] SLPI: Detection attempt 2 failed
                    ERROR [muorb] SLPI: Detection attempt 1 failed
                    ERROR [muorb] SLPI: Detection attempt 0 failed
                    ERROR [muorb] SLPI: Failed to execute command: px4io detect
                    INFO [muorb] SLPI: Sending qshell retval with timestamp 44408878, current timestamp 44408879
                    INFO [qshell] cmd returned with: -17
                    INFO [qshell] qshell return value timestamp: 44408878, local time: 44416905
                    ERROR [qshell] Command failed
                    M0065 not detected, starting Spektrum RC driver
                    INFO [qshell] Send cmd: 'spektrum_rc start -d 8'
                    INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                    INFO [muorb] SLPI: qshell gotten: spektrum_rc start -d 8
                    INFO [muorb] SLPI: Creating qurt thread spektrum_rc_main

                    INFO [muorb] SLPI: Successfully created px4 task PX4_spektrum_rc_main with tid 67
                    INFO [muorb] SLPI: Ok executing command: spektrum_rc start -d 8
                    INFO [muorb] SLPI: Sending qshell retval with timestamp 44459706, current timestamp 44459708
                    INFO [qshell] qshell return value timestamp: 44459706, local time: 44463848
                    INFO [qshell] Send cmd: 'sensors start'
                    INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                    INFO [muorb] SLPI: qshell gotten: sensors start
                    INFO [muorb] SLPI: Creating qurt thread wq_nav_and_controllers

                    INFO [muorb] SLPI: Successfully created px4 task PX4_wq_nav_and_controllers with tid 66
                    INFO [muorb] SLPI: Ok executing command: sensors start
                    INFO [muorb] SLPI: Sending qshell retval with timestamp 45536132, current timestamp 45536133
                    INFO [uorb] Advertising remote topic vehicle_angular_acceleration
                    INFO [qshell] qshell return value timestamp: 45536132, local time: 45537985
                    INFO [uorb] Advertising remote topic vehicle_angular_velocity
                    INFO [muorb] SLPI: Creating qurt thread wq_INS0

                    INFO [muorb] SLPI: Successfully created px4 task PX4_wq_INS0 with tid 65
                    INFO [uorb] Advertising remote topic vehicle_imu
                    INFO [uorb] Advertising remote topic vehicle_imu_status
                    INFO [uorb] Advertising remote topic sensors_status_imu
                    INFO [uorb] Advertising remote topic vehicle_acceleration
                    INFO [uorb] Advertising remote topic vehicle_air_data
                    INFO [qshell] Send cmd: 'ekf2 start'
                    INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                    INFO [muorb] SLPI: qshell gotten: ekf2 start
                    INFO [uorb] Advertising remote topic vehicle_magnetometer
                    INFO [uorb] Advertising remote topic sensor_preflight_mag
                    INFO [uorb] Advertising remote topic sensor_selection
                    INFO [uorb] Advertising remote topic sensor_combined
                    ERROR [muorb] SLPI: Timeout waiting for parameter_server_set_used_response for EKF2_ASP_DELAY
                    INFO [muorb] SLPI: Ok executing command: ekf2 start
                    INFO [muorb] SLPI: Sending qshell retval with timestamp 45782283, current timestamp 45782283
                    INFO [qshell] qshell return value timestamp: 45782283, local time: 45784731
                    ERROR [muorb] SLPI: 0 - vehicle_magnetometer lost, generation 0 -> 8
                    INFO [uorb] Advertising remote topic ekf2_timestamps
                    INFO [qshell] Send cmd: 'mc_pos_control start'
                    INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                    INFO [muorb] SLPI: qshell gotten: mc_pos_control start
                    INFO [muorb] SLPI: Ok executing command: mc_pos_control start
                    INFO [muorb] SLPI: Sending qshell retval with timestamp 45833887, current timestamp 45833888
                    INFO [qshell] qshell return value timestamp: 45833887, local time: 45834370
                    INFO [qshell] Send cmd: 'mc_att_control start'
                    INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                    INFO [muorb] SLPI: qshell gotten: mc_att_control start
                    INFO [muorb] SLPI: Ok executing command: mc_att_control start
                    INFO [muorb] SLPI: Sending qshell retval with timestamp 45897359, current timestamp 45897360
                    INFO [qshell] qshell return value timestamp: 45897359, local time: 45898791
                    INFO [qshell] Send cmd: 'mc_rate_control start'
                    INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                    INFO [muorb] SLPI: qshell gotten: mc_rate_control start
                    INFO [muorb] SLPI: Ok executing command: mc_rate_control start
                    INFO [muorb] SLPI: Sending qshell retval with timestamp 45969574, current timestamp 45969574
                    INFO [qshell] qshell return value timestamp: 45969574, local time: 45971046
                    INFO [qshell] Send cmd: 'mc_hover_thrust_estimator start'
                    INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                    INFO [muorb] SLPI: qshell gotten: mc_hover_thrust_estimator start
                    INFO [muorb] SLPI: Ok executing command: mc_hover_thrust_estimator start
                    INFO [muorb] SLPI: Sending qshell retval with timestamp 46028199, current timestamp 46028200
                    INFO [qshell] qshell return value timestamp: 46028199, local time: 46028634
                    INFO [qshell] Send cmd: 'land_detector start multicopter'
                    INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                    INFO [muorb] SLPI: qshell gotten: land_detector start multicopter
                    INFO [muorb] SLPI: Ok executing command: land_detector start multicopter
                    INFO [muorb] SLPI: Sending qshell retval with timestamp 46072642, current timestamp 46072643
                    INFO [qshell] qshell return value timestamp: 46072642, local time: 46073625
                    INFO [uorb] Advertising remote topic vehicle_land_detected
                    INFO [muorb] SLPI: 46371633: reset position to last known position
                    INFO [muorb] SLPI: 46371633: reset velocity to zero
                    INFO [uorb] Advertising remote topic vehicle_local_position
                    INFO [uorb] Advertising remote topic vehicle_odometry
                    INFO [uorb] Advertising remote topic estimator_states
                    INFO [uorb] Advertising remote topic estimator_status
                    INFO [uorb] Advertising remote topic estimator_status_flags
                    INFO [uorb] Advertising remote topic estimator_innovations
                    INFO [uorb] Advertising remote topic estimator_innovation_test_ratios
                    INFO [uorb] Advertising remote topic estimator_innovation_variances
                    INFO [dataman] Unknown restart, data manager file '/data/px4/dataman' size is 11798680 bytes
                    INFO [uorb] Advertising remote topic estimator_sensor_bias
                    INFO [muorb] SLPI: Advertising remote topic position_setpoint_triplet
                    INFO [muorb] SLPI: Advertising remote topic mission
                    INFO [commander] LED: open /dev/led0 failed (22)
                    INFO [muorb] SLPI: Advertising remote topic led_control
                    INFO [muorb] SLPI: Advertising remote topic tune_control
                    INFO [PreFlightCheck] Failed EKF health preflight check while waiting for filter to settle
                    INFO [muorb] SLPI: Advertising remote topic vehicle_control_mode
                    INFO [muorb] SLPI: Advertising remote topic vehicle_status
                    INFO [muorb] SLPI: Advertising remote topic actuator_armed
                    INFO [muorb] SLPI: Advertising remote topic commander_state
                    INFO [uorb] Advertising remote topic rate_ctrl_status
                    INFO [uorb] Advertising remote topic actuator_controls_0
                    INFO [muorb] SLPI: Advertising remote topic vehicle_status_flags
                    INFO [muorb] SLPI: Advertising remote topic vehicle_command
                    INFO [commander] Handling Commander command 176
                    INFO [muorb] SLPI: Advertising remote topic vehicle_command_ack
                    INFO [mavlink] mode: Onboard, data rate: 100000 B/s on udp port 14556 remote port 14557
                    INFO [muorb] SLPI: Marking DeviceNode(vehicle_command) as advertised in process_remote_topic
                    ERROR [muorb] SLPI: UBX CFG-GNSS message ACK failed
                    INFO [muorb] SLPI: Advertising remote topic telemetry_status

                    Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                    • Eric KatzfeyE
                      Eric Katzfey ModalAI Team @kp ng
                      last edited by

                      @kp-ng Okay, we have never encountered this situation before. My best guess is that the GPS unit, or cable, is somehow flawed and so we will send you a new one.

                      1 Reply Last reply Reply Quote 0
                      • Adrian HidalgoA
                        Adrian Hidalgo ModalAI Team
                        last edited by Adrian Hidalgo

                        @kp-ng if you would please reach out to: contact@modalai.com and we would be happy to help you out regarding replacement of the gps unit.

                        1 Reply Last reply Reply Quote 0
                        • Benjamin RuksB Benjamin Ruks referenced this topic on
                        • J
                          jmltt @Vinny
                          last edited by

                          @Vinny

                          @Vinny said in GPS Not OK with VOXL2 PX4:

                          Hi @kp-ng
                          Eric has you covered with all SW.
                          A small tip: From what I see in your picture, please understand that if you have WiFi and GPS antennas next to that very large power supply and no space between them, your radio link performance will be terrible.
                          There is a good chance you will not pick up any satellites, and your WiFi link will disconnect often.
                          For optimal performance, try to mimic the spatial separation that you would expect to see on one of our drone platforms.
                          Thanks!

                          ^Can you provide an example what the ideal routing for wifi antennae would be on the sentinel drone platform (specifically with the microhard modem carrier add-on)? I came across this post while trying to troubleshoot my own issues and realized that the way I have the antennae routed coming out the back of the flight deck puts one of them right next to the gps module because of how the modem is oriented.

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