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    VOXL2 SDK 1.0.0-beta6 voxl-px4 couldn't arm UAV (GPS LED always RED blinking)

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    • Eric KatzfeyE
      Eric Katzfey ModalAI Team @Aaky
      last edited by

      @Aaky Do you still see it fail with GPS Horizontal Pos Error too high?

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

        @Aaky Yes, you should be able to arm in manual mode without good GPS.

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

          @Aaky Can you show us the current output messages of px4 like in your first post?

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

            @Aaky What happens if you set the parameter SYS_HAS_GPS to 0?

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

              @Aaky What if you set COM_ARM_WO_GPS to 1?

              A 1 Reply Last reply Reply Quote 0
              • A
                Aaky @Eric Katzfey
                last edited by

                @Eric-Katzfey Yes I still see it fail.

                SYS_HAS_GPS setting to 0 has no effect.

                COM_ARM_WO_GPS has no effect.

                I will share the logs in this situation soon.

                My main concern is why GPS LED is not going into blue blink even if it dosent have GPS lock in indoor just like it used to go in 1.12.31 PX4 version?

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

                  @Aaky It flashes red when a preflight check is failing. It doesn't necessarily have anything to do with GPS.

                  A 1 Reply Last reply Reply Quote 0
                  • A
                    Aaky @Eric Katzfey
                    last edited by

                    @Eric-Katzfey Okay but On QGC No such preflight check failure notification is coming up which can help solve this problem. I am using QGC v4.2.4 but I have also tried with v3.5.6.

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

                      @Aaky That is why you need to share the output from voxl-px4. It should print out an indication of which preflight check failed.

                      A 1 Reply Last reply Reply Quote 0
                      • A
                        Aaky @Eric Katzfey
                        last edited by

                        @Eric-Katzfey Please find attached logs of voxl-px4 service.

                        Below log is without daemon mode and with Holybro GPS

                        voxl2:/etc/systemd/system$ voxl-px4 -b
                        [INFO] /etc/modalai/voxl-px4.conf not found, using defaults
                        Found DSP signature file
                        [INFO] Holybro GPS selected
                        
                        *************************
                        GPS=HOLYBRO
                        RC=SPEKTRUM
                        OSD=DISABLE
                        DAEMON_MODE=DISABLE
                        SENSOR_CAL=ACTUAL
                        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] SLPI: muorb aggregator thread running
                        INFO  [muorb] muorb protobuf initalize method succeeded
                        INFO  [muorb] succesfully did ADVERTISE_TEST_TYPE
                        INFO  [muorb] SLPI: Creating pthread test_MUORB
                        
                        INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097656
                        INFO  [muorb] succesfully did SUBSCRIBE_TEST_TYPE
                        INFO  [muorb] SLPI: Creating pthread test_MUORB
                        
                        INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097655
                        INFO  [muorb] succesfully did TOPIC_TEST_TYPE
                        INFO  [muorb] SLPI: Creating pthread test_MUORB
                        
                        INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097654
                        INFO  [muorb] SLPI: Creating pthread test_MUORB
                        
                        INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097653
                        INFO  [muorb] succesfully did UNSUBSCRIBE_TEST_TYPE
                        INFO  [muorb] muorb test passed
                        
                        ______  __   __    ___ 
                        | ___ \ \ \ / /   /   |
                        | |_/ /  \ V /   / /| |
                        |  __/   /   \  / /_| |
                        | |     / /^\ \ \___  |
                        \_|     \/   \/     |_/
                        
                        px4 starting.
                        
                        INFO  [px4] startup script: /bin/sh /usr/bin/voxl-px4-start 0
                        INFO  [muorb] SLPI: Advertising remote topic log_message
                        INFO  [parameters] Starting param sync THREAD
                        
                        *************************
                        GPS: HOLYBRO
                        RC: SPEKTRUM
                        OSD: DISABLE
                        EXTRA STEPS:
                        	
                        *************************
                        
                        INFO  [muorb] SLPI: Starting param sync THREAD
                        Running on M0054
                        INFO  [muorb] SLPI: before starting the qshell_entry task
                        INFO  [muorb] SLPI: Creating pthread qshell
                        
                        INFO  [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 2097652
                        INFO  [muorb] SLPI: qshell entry.....
                        INFO  [muorb] SLPI: after starting the qshell_entry task
                        INFO  [muorb] SLPI: Init app map initialized
                        INFO  [param] selected parameter default file /data/px4/param/parameters
                        INFO  [muorb] SLPI: 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] 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_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] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic
                        INFO  [parameters] BSON document size 2081 bytes, decoded 2081 bytes (INT32:30, FLOAT:64)
                        INFO  [logger] logger started (mode=all)
                        Starting IMU driver with no rotation
                        INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                        INFO  [qshell] Send cmd: 'icm42688p start -s'
                        INFO  [muorb] SLPI: qshell gotten: icm42688p start -s
                        INFO  [muorb] SLPI:   arg0 = 'icm42688p'
                        
                        INFO  [muorb] SLPI:   arg1 = 'start'
                        
                        INFO  [muorb] SLPI:   arg2 = '-s'
                        
                        INFO  [muorb] SLPI: *** SPI Device ID 0x26000a 2490378
                        INFO  [uORB] Advertising remote topic sensor_accel
                        INFO  [uORB] Advertising remote topic sensor_gyro
                        INFO  [muorb] SLPI: ICM42688P::probe successful!
                        INFO  [muorb] SLPI: on SPI bus 1
                        INFO  [muorb] SLPI: icm42688p #0 on SPI bus 1
                        INFO  [muorb] SLPI: 
                        
                        INFO  [muorb] SLPI: >>> ICM42688P this: 3176c0c0
                        INFO  [muorb] SLPI: Ok executing command: icm42688p start -s
                        INFO  [uORB] Advertising remote topic qshell_retval
                        INFO  [muorb] SLPI: >>> ICM42688P this: 3176c0c0
                        INFO  [qshell] qshell return value timestamp: 1444994972, local time: 1444999175
                        INFO  [muorb] SLPI: >>> ICM42688P this: 3176c0c0
                        INFO  [muorb] SLPI: Register interrupt b21d3164 e620e69c 3176c0c0
                        INFO  [uORB] Advertising remote topic sensor_gyro_fifo
                        INFO  [uORB] Advertising remote topic sensor_accel_fifo
                        INFO  [uORB] Advertising remote topic imu_server
                        INFO  [muorb] SLPI: >>> ICM42688P this: 3176c0c0
                        INFO  [qshell] Send cmd: 'icp101xx start -I -b 5'
                        INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                        INFO  [muorb] SLPI: qshell gotten: icp101xx start -I -b 5
                        INFO  [muorb] SLPI:   arg0 = 'icp101xx'
                        
                        INFO  [muorb] SLPI:   arg1 = 'start'
                        
                        INFO  [muorb] SLPI:   arg2 = '-I'
                        
                        INFO  [muorb] SLPI:   arg3 = '-b'
                        
                        INFO  [muorb] SLPI:   arg4 = '5'
                        
                        INFO  [muorb] SLPI: *** I2C Device ID 0xb76329 12018473
                        INFO  [muorb] SLPI: icp101xx #0 on I2C bus 5
                        INFO  [muorb] SLPI:  address 0x63
                        INFO  [muorb] SLPI: 
                        
                        INFO  [muorb] SLPI: Ok executing command: icp101xx start -I -b 5
                        INFO  [qshell] qshell return value timestamp: 1446063254, local time: 1446065261
                        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:   arg0 = 'ist8310'
                        
                        INFO  [muorb] SLPI:   arg1 = 'start'
                        
                        INFO  [muorb] SLPI:   arg2 = '-R'
                        
                        INFO  [muorb] SLPI:   arg3 = '10'
                        
                        INFO  [muorb] SLPI:   arg4 = '-X'
                        
                        INFO  [muorb] SLPI:   arg5 = '-b'
                        
                        INFO  [muorb] SLPI:   arg6 = '1'
                        
                        INFO  [muorb] SLPI: *** I2C Device ID 0x60e09 396809
                        INFO  [muorb] SLPI: ist8310 #0 on I2C bus 1
                        INFO  [muorb] SLPI:  (external)
                        INFO  [muorb] SLPI:  address 0xE
                        INFO  [muorb] SLPI:  rotation 10
                        INFO  [muorb] SLPI: 
                        
                        INFO  [muorb] SLPI: Ok executing command: ist8310 start -R 10 -X -b 1
                        INFO  [qshell] qshell return value timestamp: 1446122603, local time: 1446124645
                        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:   arg0 = 'gps'
                        
                        INFO  [muorb] SLPI:   arg1 = 'start'
                        
                        INFO  [muorb] SLPI: Creating pthread gps
                        
                        INFO  [muorb] SLPI: Successfully created px4 task PX4_gps with tid 2097648
                        INFO  [muorb] SLPI: Ok executing command: gps start
                        INFO  [qshell] qshell return value timestamp: 1446176501, local time: 1446178234
                        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:   arg0 = 'rgbled_ncp5623c'
                        
                        INFO  [muorb] SLPI:   arg1 = 'start'
                        
                        INFO  [muorb] SLPI:   arg2 = '-X'
                        
                        INFO  [muorb] SLPI:   arg3 = '-b'
                        
                        INFO  [muorb] SLPI:   arg4 = '1'
                        
                        INFO  [muorb] SLPI:   arg5 = '-f'
                        
                        INFO  [muorb] SLPI:   arg6 = '400'
                        
                        INFO  [muorb] SLPI:   arg7 = '-a'
                        
                        INFO  [muorb] SLPI:   arg8 = '56'
                        
                        INFO  [muorb] SLPI: *** I2C Device ID 0x7b3809 8075273
                        INFO  [muorb] SLPI: rgbled_ncp5623c #0 on I2C bus 1
                        INFO  [muorb] SLPI:  (external)
                        INFO  [muorb] SLPI:  address 0x38
                        INFO  [muorb] SLPI: 
                        
                        INFO  [muorb] SLPI: Ok executing command: rgbled_ncp5623c start -X -b 1 -f 400 -a 56
                        INFO  [qshell] qshell return value timestamp: 1446211242, local time: 1446214237
                        INFO  [uORB] Advertising remote topic sensor_mag
                        INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                        INFO  [qshell] Send cmd: 'modal_io start'
                        INFO  [uORB] Advertising remote topic sensor_baro
                        INFO  [muorb] SLPI: qshell gotten: modal_io start
                        INFO  [muorb] SLPI:   arg0 = 'modal_io'
                        
                        INFO  [muorb] SLPI:   arg1 = 'start'
                        
                        INFO  [uORB] Advertising remote topic actuator_outputs
                        INFO  [muorb] SLPI: Ok executing command: modal_io start
                        INFO  [muorb] SLPI: Opened UART ESC device
                        INFO  [qshell] qshell return value timestamp: 1446338696, local time: 1446341515
                        INFO  [uORB] Advertising remote topic esc_status
                        Starting Spektrum RC
                        INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                        INFO  [muorb] SLPI: qshell gotten: spektrum_rc start
                        INFO  [qshell] Send cmd: 'spektrum_rc start'
                        INFO  [muorb] SLPI:   arg0 = 'spektrum_rc'
                        
                        INFO  [muorb] SLPI:   arg1 = 'start'
                        
                        INFO  [muorb] SLPI: Creating pthread spektrum_rc_main
                        
                        INFO  [muorb] SLPI: Successfully created px4 task PX4_spektrum_rc_main with tid 2097645
                        INFO  [muorb] SLPI: Ok executing command: spektrum_rc start
                        INFO  [qshell] qshell return value timestamp: 1447405538, local time: 1447407699
                        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:   arg0 = 'voxlpm'
                        
                        INFO  [muorb] SLPI:   arg1 = 'start'
                        
                        INFO  [muorb] SLPI:   arg2 = '-X'
                        
                        INFO  [muorb] SLPI:   arg3 = '-b'
                        
                        INFO  [muorb] SLPI:   arg4 = '2'
                        
                        INFO  [muorb] SLPI: *** I2C Device ID 0xd24411 13779985
                        INFO  [muorb] SLPI: Set i2c address 0x6a, fd 3
                        INFO  [muorb] SLPI: Set i2c address 0x44, fd 3
                        INFO  [uORB] Advertising remote topic battery_status
                        INFO  [muorb] SLPI: voxlpm #0 on I2C bus 2
                        INFO  [muorb] SLPI:  (external)
                        INFO  [muorb] SLPI:  address 0x44
                        INFO  [muorb] SLPI: 
                        
                        INFO  [muorb] SLPI: Ok executing command: voxlpm start -X -b 2
                        INFO  [uORB] Advertising remote topic power_monitor
                        INFO  [qshell] qshell return value timestamp: 1448475700, local time: 1448478307
                        INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                        INFO  [muorb] SLPI: qshell gotten: sensors start
                        INFO  [muorb] SLPI:   arg0 = 'sensors'
                        
                        INFO  [muorb] SLPI:   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
                        ERROR [muorb] SLPI: Timeout waiting for parameter_server_set_used_response for SENS_MAG_MODE
                        INFO  [uORB] Advertising remote topic sensors_status_baro
                        INFO  [uORB] Advertising remote topic vehicle_magnetometer
                        INFO  [uORB] Advertising remote topic sensor_preflight_mag
                        INFO  [uORB] Advertising remote topic vehicle_imu
                        INFO  [uORB] Advertising remote topic vehicle_imu_status
                        INFO  [muorb] SLPI: Ok executing command: sensors start
                        INFO  [qshell] qshell return value timestamp: 1448704886, local time: 1448712168
                        INFO  [uORB] Advertising remote topic sensors_status_mag
                        INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                        INFO  [muorb] SLPI: qshell gotten: ekf2 start
                        INFO  [muorb] SLPI:   arg0 = 'ekf2'
                        
                        INFO  [muorb] SLPI:   arg1 = 'start'
                        
                        INFO  [qshell] Send cmd: 'ekf2 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] SLPI: Ok executing command: ekf2 start
                        INFO  [qshell] qshell return value timestamp: 1449031475, local time: 1449039018
                        INFO  [uORB] Advertising remote topic ekf2_timestamps
                        INFO  [uORB] Advertising remote topic vehicle_odometry
                        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] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                        INFO  [muorb] SLPI: qshell gotten: mc_pos_control start
                        INFO  [muorb] SLPI:   arg0 = 'mc_pos_control'
                        
                        INFO  [muorb] SLPI:   arg1 = 'start'
                        
                        INFO  [uORB] Advertising remote topic estimator_aid_src_baro_hgt
                        INFO  [uORB] Advertising remote topic takeoff_status
                        INFO  [muorb] SLPI: Ok executing command: mc_pos_control start
                        INFO  [qshell] qshell return value timestamp: 1449174525, local time: 1449176355
                        INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                        INFO  [qshell] Send cmd: 'mc_att_control start'
                        INFO  [muorb] SLPI: qshell gotten: mc_att_control start
                        INFO  [muorb] SLPI:   arg0 = 'mc_att_control'
                        
                        INFO  [muorb] SLPI:   arg1 = 'start'
                        
                        INFO  [muorb] SLPI: Ok executing command: mc_att_control start
                        INFO  [qshell] qshell return value timestamp: 1449244387, local time: 1449246464
                        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:   arg0 = 'mc_rate_control'
                        
                        INFO  [muorb] SLPI:   arg1 = 'start'
                        
                        INFO  [uORB] Advertising remote topic rate_ctrl_status
                        INFO  [muorb] SLPI: Ok executing command: mc_rate_control start
                        INFO  [qshell] qshell return value timestamp: 1449391261, local time: 1449394034
                        INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                        INFO  [qshell] Send cmd: 'mc_hover_thrust_estimator start'
                        INFO  [muorb] SLPI: qshell gotten: mc_hover_thrust_estimator start
                        INFO  [muorb] SLPI:   arg0 = 'mc_hover_thrust_estimator'
                        
                        INFO  [muorb] SLPI:   arg1 = 'start'
                        
                        INFO  [muorb] SLPI: Ok executing command: mc_hover_thrust_estimator start
                        INFO  [qshell] qshell return value timestamp: 1449469671, local time: 1449473908
                        INFO  [qshell] Send cmd: 'mc_autotune_attitude_control start'
                        INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                        INFO  [muorb] SLPI: qshell gotten: mc_autotune_attitude_control start
                        INFO  [muorb] SLPI:   arg0 = 'mc_autotune_attitude_control'
                        
                        INFO  [muorb] SLPI:   arg1 = 'start'
                        
                        INFO  [uORB] Advertising remote topic autotune_attitude_control_status
                        INFO  [muorb] SLPI: Ok executing command: mc_autotune_attitude_control start
                        INFO  [qshell] qshell return value timestamp: 1449531494, local time: 1449532797
                        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:   arg0 = 'land_detector'
                        
                        INFO  [muorb] SLPI:   arg1 = 'start'
                        
                        INFO  [muorb] SLPI:   arg2 = 'multicopter'
                        
                        INFO  [muorb] SLPI: Ok executing command: land_detector start multicopter
                        INFO  [uORB] Advertising remote topic vehicle_land_detected
                        INFO  [qshell] qshell return value timestamp: 1449602580, local time: 1449606580
                        INFO  [qshell] Send cmd: 'manual_control start'
                        INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                        INFO  [muorb] SLPI: qshell gotten: manual_control start
                        INFO  [muorb] SLPI:   arg0 = 'manual_control'
                        
                        INFO  [muorb] SLPI:   arg1 = 'start'
                        
                        INFO  [muorb] SLPI: Ok executing command: manual_control start
                        INFO  [qshell] qshell return value timestamp: 1449685436, local time: 1449688087
                        INFO  [uORB] Advertising remote topic manual_control_setpoint
                        INFO  [qshell] Send cmd: 'control_allocator start'
                        INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                        INFO  [muorb] SLPI: qshell gotten: control_allocator start
                        INFO  [muorb] SLPI:   arg0 = 'control_allocator'
                        
                        INFO  [muorb] SLPI:   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] SLPI: Ok executing command: control_allocator start
                        INFO  [qshell] qshell return value timestamp: 1450104510, local time: 1450108431
                        INFO  [qshell] Send cmd: 'rc_update start'
                        INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                        INFO  [muorb] SLPI: qshell gotten: rc_update start
                        INFO  [muorb] SLPI:   arg0 = 'rc_update'
                        
                        INFO  [muorb] SLPI:   arg1 = 'start'
                        
                        INFO  [muorb] SLPI: Ok executing command: rc_update start
                        INFO  [qshell] qshell return value timestamp: 1450511359, local time: 1450513507
                        INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                        INFO  [muorb] SLPI: qshell gotten: commander start
                        INFO  [qshell] Send cmd: 'commander start'
                        INFO  [muorb] SLPI:   arg0 = 'commander'
                        
                        INFO  [muorb] SLPI:   arg1 = 'start'
                        
                        INFO  [muorb] SLPI: Creating pthread commander
                        
                        INFO  [muorb] SLPI: Successfully created px4 task PX4_commander with tid 2097641
                        INFO  [uORB] Advertising remote topic led_control
                        INFO  [muorb] SLPI: LED: open /dev/led0 failed (22)
                        INFO  [uORB] Advertising remote topic tune_control
                        INFO  [muorb] SLPI: Ok executing command: commander start
                        INFO  [qshell] qshell return value timestamp: 1450817059, local time: 1450818888
                        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  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                        INFO  [muorb] SLPI: qshell gotten: commander mode manual
                        INFO  [muorb] SLPI:   arg0 = 'commander'
                        
                        INFO  [muorb] SLPI:   arg1 = 'mode'
                        
                        INFO  [qshell] Send cmd: 'commander mode manual'
                        INFO  [muorb] SLPI:   arg2 = 'manual'
                        
                        INFO  [uORB] Advertising remote topic vehicle_command
                        INFO  [muorb] SLPI: Ok executing command: commander mode manual
                        INFO  [uORB] Advertising remote topic vehicle_command_ack
                        INFO  [qshell] qshell return value timestamp: 1450866530, local time: 1450874528
                        INFO  [uORB] Advertising remote topic vehicle_rates_setpoint
                        INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                        INFO  [qshell] Send cmd: 'param_set_selector start'
                        INFO  [muorb] SLPI: qshell gotten: param_set_selector start
                        INFO  [muorb] SLPI:   arg0 = 'param_set_selector'
                        
                        INFO  [muorb] SLPI:   arg1 = 'start'
                        
                        INFO  [muorb] SLPI: Ok executing command: param_set_selector start
                        INFO  [qshell] qshell return value timestamp: 1450932625, local time: 1450933962
                        INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                        INFO  [qshell] Send cmd: 'flight_mode_manager start'
                        INFO  [muorb] SLPI: qshell gotten: flight_mode_manager start
                        INFO  [muorb] SLPI:   arg0 = 'flight_mode_manager'
                        
                        INFO  [muorb] SLPI:   arg1 = 'start'
                        
                        INFO  [uORB] Marking DeviceNode(vehicle_command) as advertised in process_remote_topic
                        INFO  [muorb] SLPI: Ok executing command: flight_mode_manager start
                        INFO  [qshell] qshell return value timestamp: 1451123263, local time: 1451126349
                        INFO  [dataman] data manager file '/data/px4/dataman' size is 7866640 bytes
                        INFO  [muorb] SLPI: Advertising remote topic transponder_report
                        INFO  [muorb] SLPI: Advertising remote topic rtl_time_estimate
                        INFO  [muorb] SLPI: Advertising remote topic position_setpoint_triplet
                        INFO  [mavlink] mode: Onboard, data rate: 100000 B/s on udp port 14556 remote port 14557
                        INFO  [muorb] SLPI: Advertising remote topic telemetry_status
                        INFO  [mavlink] partner IP: 127.0.0.1
                        INFO  [muorb] SLPI: Advertising remote topic offboard_control_mode
                        INFO  [muorb] SLPI: Advertising remote topic obstacle_distance
                        INFO  [muorb] SLPI: Advertising remote topic timesync_status
                        INFO  [mavlink] mode: Normal, data rate: 100000 B/s on udp port 14558 remote port 14559
                        INFO  [muorb] SLPI: Marking DeviceNode(telemetry_status) as advertised in process_remote_topic
                        INFO  [mavlink] partner IP: 127.0.0.1
                        INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
                        INFO  [px4] Startup script returned successfully
                        pxh> INFO  [muorb] SLPI: Advertising remote topic ping
                        WARN  [uORB] orb_advertise_multi: failed to set queue size
                        INFO  [uORB] Advertising remote topic actuator_test
                        INFO  [uORB] Advertising remote topic trajectory_setpoint
                        INFO  [uORB] Advertising remote topic vehicle_constraints
                        INFO  [uORB] Advertising remote topic landing_gear
                        INFO  [uORB] Advertising remote topic actuator_controls_status_0
                        INFO  [uORB] Advertising remote topic mavlink_log
                        INFO  [muorb] SLPI: Connection to ground station lost	
                        INFO  [muorb] SLPI: GCS connection regained	
                        

                        One quick question, Is daemon mode enabling necessary on 1.14? What does daemon mode mean? Even with daemon enabled I face same problem.

                        I can see warning "WARN [uORB] orb_advertise_multi: failed to set queue size" coming up when first time I try to arm the UAV. Can this be problem?

                        Please help further what preflight check is failing as per above log. I am still unable to arm the UAV in manual mode and GPS LED is also always blinking red.

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

                          @Aaky Daemon mode means it is running as a background system process. And that orb_advertise_multi warning can be safely ignored. Did you try to arm and get a failure in that log?

                          A 1 Reply Last reply Reply Quote 0
                          • A
                            Aaky @Eric Katzfey
                            last edited by

                            @Eric-Katzfey Yes I tried to arm and got failure. What can be the reason as per the logs?

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

                              @Aaky There isn't really anything in the log declaring a preflight failure. If you keep trying to arm do you get anything in the log? What does QGC tell you if you try to arm?

                              A 1 Reply Last reply Reply Quote 0
                              • A
                                Aaky @Eric Katzfey
                                last edited by Aaky

                                @Eric-Katzfey QGC says, " MAV_CMD_COMPONENT_ARM_DISARM temperorily rejected".
                                This happens in manual mode and GPS LED blinks red, even after I have completed calibration of Mag, Accel and gyro.
                                Also whenever I ARM, I do not get anything on voxl-px4 logs.
                                Should I send over my parameter file? Can that help?

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

                                  @Aaky What is the contents of /data/modalai/sku.txt?

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

                                    @Eric-Katzfey Perhaps run voxl-configure-mpa -f sentinel to reconfigure the system and then reboot and try again

                                    A 1 Reply Last reply Reply Quote 0
                                    • A
                                      Aaky @Eric Katzfey
                                      last edited by

                                      @Eric-Katzfey I didn't had any file on /data/modalai/sku.txt. I ran "voxl-configure-sku -f sentinel" and this file was generated. Now contents in this file are "MRB-D0006-4-V1-C11".

                                      I tried running voxl-configure-mpa -f sentinel after configuring sku but it fails with following error "Invalid arg: -f, exiting". So I just ran voxl-configure-mpa and below are logs of ths same.

                                      voxl2:/$ voxl-configure-mpa -d
                                      enabling debug mode
                                      ------------------------------------------------------------------
                                                     Welcome to voxl-configure-mpa!
                                      
                                      VOXL is currently thinks it is in the following hardware:
                                      
                                      family code:   MRB-D0006 (sentinel)
                                      compute board: 4 (voxl2)
                                      hw version:    1
                                      cam config:    11
                                      SKU:           MRB-D0006-4-V1-C11
                                      
                                      If this doesn't look right, quit and run voxl-configure-sku to
                                      set it correctly. Then run voxl-configure-mpa again.
                                      
                                      
                                      Continue? y/n: y
                                      Continuing
                                      
                                      About to Execute:
                                      voxl-configure-extrinsics sentinel_v1
                                      voxl-configure-cameras 11 
                                      voxl-configure-cpu-monitor factory_enable
                                      voxl-configure-qvio factory_enable_imu_apps
                                      voxl-configure-dfs factory_disable
                                      voxl-configure-tag-detector factory_disable
                                      voxl-configure-tflite factory_disable
                                      voxl-configure-vision-hub factory_enable
                                      voxl-configure-mavlink-server factory_enable
                                      voxl-configure-portal enable
                                      voxl-configure-lepton disable
                                      voxl-configure-uvc disable
                                      voxl-configure-streamer factory_enable
                                      voxl-configure-modem disable
                                      voxl-configure-mavcam factory_enable
                                      voxl-configure-px4-imu-server factory_disable
                                      voxl-configure-imu factory_enable
                                      voxl-configure-flow-server disable
                                      voxl-configure-feature-tracker disable
                                      voxl-esc setup_sentinel_v1
                                      voxl-configure-px4 sentinel_v1
                                      voxl-configure-px4-params -np MRB-D0006
                                      
                                      
                                      Continue? y/n: y
                                      Continuing
                                      
                                      enabling voxl-wait-for-fs service
                                      
                                      executing: voxl-configure-extrinsics sentinel_v1 
                                      wiping old extrinsics config file
                                      copying /usr/share/modalai/extrinsic_configs/sentinel_v1.conf to /etc/modalai/extrinsics.conf
                                      loading and updating file with voxl-inspect-extrinsics -q
                                      done configuring extrinsics
                                      Success!
                                      
                                      executing: voxl-configure-cameras 11  
                                      Camera Configuration: 11
                                      calling camera-server-config-helper tracking:ov7251:2 hires:imx214:3 stereo_front:ov7251:0:1 stereo_rear:ov7251:5:4
                                      successfully wrote this camera config to disk:
                                      =================================================================
                                      configuration for 4 cameras:
                                      
                                      cam #0
                                          name:                tracking
                                          sensor type:         ov7251
                                          isEnabled:           1
                                          camId:               2
                                          camId2:              -1
                                          fps:                 30
                                      
                                          en_preview:          1
                                          pre_width:           640
                                          pre_height:          480
                                          pre_format:          raw8
                                      
                                          en_small_video:      0
                                          small_video_width:   -1
                                          small_video_height:  -1
                                      
                                          en_large_video:      0
                                          large_video_width:   -1
                                          large_video_height:  -1
                                      
                                          en_snapshot:         0
                                          snap_width:          -1
                                          snap_height:         -1
                                      
                                          ae_mode:             lme_msv
                                          standby_enabled:     0
                                          decimator:           1
                                          independent_exposure:0
                                      
                                      cam #1
                                          name:                hires
                                          sensor type:         imx214
                                          isEnabled:           1
                                          camId:               3
                                          camId2:              -1
                                          fps:                 30
                                      
                                          en_preview:          0
                                          pre_width:           640
                                          pre_height:          480
                                          pre_format:          nv21
                                      
                                          en_small_video:      1
                                          small_video_width:   1024
                                          small_video_height:  768
                                      
                                          en_large_video:      1
                                          large_video_width:   4096
                                          large_video_height:  2160
                                      
                                          en_snapshot:         1
                                          snap_width:          4160
                                          snap_height:         3120
                                      
                                          ae_mode:             isp
                                          standby_enabled:     0
                                          decimator:           1
                                          independent_exposure:0
                                      
                                      cam #2
                                          name:                stereo_front
                                          sensor type:         ov7251
                                          isEnabled:           1
                                          camId:               0
                                          camId2:              1
                                          fps:                 30
                                      
                                          en_preview:          1
                                          pre_width:           640
                                          pre_height:          480
                                          pre_format:          raw8
                                      
                                          en_small_video:      0
                                          small_video_width:   -1
                                          small_video_height:  -1
                                      
                                          en_large_video:      0
                                          large_video_width:   -1
                                          large_video_height:  -1
                                      
                                          en_snapshot:         0
                                          snap_width:          -1
                                          snap_height:         -1
                                      
                                          ae_mode:             lme_msv
                                          standby_enabled:     0
                                          decimator:           1
                                          independent_exposure:0
                                      
                                      cam #3
                                          name:                stereo_rear
                                          sensor type:         ov7251
                                          isEnabled:           1
                                          camId:               5
                                          camId2:              4
                                          fps:                 30
                                      
                                          en_preview:          1
                                          pre_width:           640
                                          pre_height:          480
                                          pre_format:          raw8
                                      
                                          en_small_video:      0
                                          small_video_width:   -1
                                          small_video_height:  -1
                                      
                                          en_large_video:      0
                                          large_video_width:   -1
                                          large_video_height:  -1
                                      
                                          en_snapshot:         0
                                          snap_width:          -1
                                          snap_height:         -1
                                      
                                          ae_mode:             lme_msv
                                          standby_enabled:     0
                                          decimator:           1
                                          independent_exposure:0
                                      
                                      =================================================================
                                      camera_server_config_helper is done
                                      copying required camera drivers in place
                                      /usr/share/modalai/chi-cdk/ov7251/com.qti.sensormodule.ov7251_2.bin
                                      /usr/share/modalai/chi-cdk/ov7251-combo/com.qti.sensormodule.ov7251_combo_0.bin
                                      /usr/share/modalai/chi-cdk/ov7251-combo/com.qti.sensormodule.ov7251_combo_1.bin
                                      /usr/share/modalai/chi-cdk/imx214/com.qti.sensormodule.imx214_3.bin
                                      /usr/share/modalai/chi-cdk/ov7251-combo/com.qti.sensormodule.ov7251_combo_4.bin
                                      /usr/share/modalai/chi-cdk/ov7251-combo/com.qti.sensormodule.ov7251_combo_5.bin
                                      enabling voxl-camera-server
                                      
                                      ------------------------------------------------------------------
                                      Done Configuring Cameras
                                      Please power cycle VOXL to load new drivers
                                      camera server will start on next reboot
                                      ------------------------------------------------------------------
                                      Success!
                                      
                                      executing: voxl-configure-cpu-monitor factory_enable 
                                      wiping old config file
                                      Creating new config file: /etc/modalai/voxl-cpu-monitor.conf
                                      enabling  voxl-cpu-monitor systemd service
                                      Done configuring voxl-cpu-monitor
                                      Success!
                                      
                                      executing: voxl-configure-qvio factory_enable_imu_apps 
                                      wiping old config file
                                      loading config file
                                      Creating new config file: /etc/modalai/voxl-qvio-server.conf
                                      enabling  voxl-qvio-server systemd service
                                      Done configuring voxl-qvio-server
                                      Success!
                                      
                                      executing: voxl-configure-dfs factory_disable 
                                      wiping old config file
                                      Creating new config file: /etc/modalai/voxl-dfs-server.conf
                                      disabling voxl-dfs-server systemd service
                                      stopping voxl-dfs-server systemd service
                                      Done configuring voxl-dfs-server
                                      Success!
                                      
                                      executing: voxl-configure-tag-detector factory_disable 
                                      wiping old config file
                                      Creating new config file: /etc/modalai/voxl-tag-detector.conf
                                      disabling voxl-tag-detector systemd service
                                      stopping voxl-tag-detector systemd service
                                      Done configuring voxl-tag-detector
                                      Success!
                                      
                                      executing: voxl-configure-tflite factory_disable 
                                      wiping old config file
                                      Creating new config file: /etc/modalai/voxl-tflite-server.conf
                                      The config file was modified during parsing, saving the changes to disk
                                      disabling voxl-tflite-server systemd service
                                      stopping voxl-tflite-server systemd service
                                      Done configuring voxl-tflite-server
                                      Success!
                                      
                                      executing: voxl-configure-vision-hub factory_enable 
                                      wiping old config file
                                      Created new json file: /etc/modalai/voxl-vision-hub.conf
                                      The JSON config file data was modified during parsing, saving the changes to disk
                                      enabling  voxl-vision-hub systemd service
                                      Done configuring voxl-vision-hub
                                      service will start on next reboot
                                      Success!
                                      
                                      executing: voxl-configure-mavlink-server factory_enable 
                                      wiping old config file
                                      Created new json file: /etc/modalai/voxl-mavlink-server.conf
                                      enabling  voxl-mavlink-server systemd service
                                      Done configuring voxl-mavlink-server
                                      Success!
                                      
                                      executing: voxl-configure-portal enable 
                                      enabling  voxl-portal systemd service
                                      Done configuring voxl-portal
                                      Success!
                                      
                                      executing: voxl-configure-lepton disable 
                                      disabling voxl-lepton-server systemd service
                                      stopping voxl-lepton-server systemd service
                                      Done configuring voxl-lepton-server
                                      Success!
                                      
                                      executing: voxl-configure-uvc disable 
                                      disabling voxl-uvc-server systemd service
                                      stopping voxl-uvc-server systemd service
                                      Done configuring voxl-uvc-server
                                      Success!
                                      
                                      executing: voxl-configure-streamer factory_enable 
                                      wiping old config file
                                      Creating new config file: /etc/modalai/voxl-streamer.conf
                                      writing /etc/modalai/voxl-streamer.conf to disk
                                      parsed config file
                                      enabling  voxl-streamer systemd service
                                      Done configuring voxl-streamer, it will start on next reboot
                                      Success!
                                      
                                      executing: voxl-configure-modem disable 
                                      disabling voxl-modem systemd service
                                      stopping voxl-modem systemd service
                                      Done configuring voxl-modem
                                      Success!
                                      
                                      executing: voxl-configure-mavcam factory_enable 
                                      Creating new config file: /etc/modalai/voxl-mavcam-manager.conf
                                      writing /etc/modalai/voxl-mavcam-manager.conf to disk
                                      enabling  voxl-mavcam-manager systemd service
                                      Done configuring voxl-mavcam-manager
                                      It will start automatically on the next reboot
                                      Success!
                                      
                                      executing: voxl-configure-px4-imu-server factory_disable 
                                      disabling voxl-px4-imu-server systemd service
                                      stopping voxl-px4-imu-server systemd service
                                      Done configuring voxl-px4-imu-server
                                      Success!
                                      
                                      executing: voxl-configure-imu factory_enable 
                                      wiping old config file
                                      Creating new config file: /etc/modalai/voxl-imu-server.conf
                                      voxl-imu-server currently has no calibration file
                                      enabling  voxl-imu-server systemd service
                                      Done configuring voxl-imu-server
                                      Success!
                                      
                                      executing: voxl-configure-flow-server disable 
                                      disabling voxl-flow-server systemd service
                                      stopping voxl-flow-server systemd service
                                      Done configuring voxl-flow-server
                                      Success!
                                      
                                      executing: voxl-configure-feature-tracker disable 
                                      disabling voxl-feature-tracker systemd service
                                      stopping voxl-feature-tracker systemd service
                                      Done configuring voxl-feature-tracker
                                      Success!
                                      
                                      executing: voxl-esc setup_sentinel_v1 
                                      enabling bridge
                                      detected voxl-px4 is enabled
                                      Removed /etc/systemd/system/multi-user.target.wants/voxl-px4.service.
                                      detected voxl-px4 is running, stopping it now
                                      bridge enabled
                                      [INFO] Scanning for ESC...
                                      Received standard error event 2
                                      [INFO] M0117-1 detected
                                      [INFO] has for most recent firmware: 83faccfa
                                      [INFO] Expected ESC firmware info:
                                      	Firmware: modalai_esc_firmware_m0117_1_v0_38_83faccfa.bin
                                      	Firmware hash: 83faccfa
                                      
                                      [INFO] Number of ESCs with correct FW: 4
                                      [INFO] All of the ESCs have the correct firmware loaded
                                      uploading params file ../voxl-esc-params/Sentinel_V1/Sentinel_V1.xml
                                      Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) 
                                      [GCC 8.4.0]
                                      Found voxl-esc tools bin version: 1.2
                                      VOXL Platform: M0054
                                      Detected VOXL2 M0054 or M0104!
                                      Found previous connection information in .voxl_esc_cache ..
                                      Prioritizing /dev/slpi-uart-2 @ 2000000
                                      INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000
                                      Sending library name request: libslpi_uart_bridge_slpi.so
                                      Received standard error event 2
                                      Sending initialization request
                                      INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000
                                      INFO: Detected protocol: firmware
                                      INFO: Additional Information:
                                      INFO: ---------------------
                                      	ID         : 0
                                      	Board      : version 34: ModalAi 4-in-1 ESC (M0117-1)
                                      	UID        : 0x203034305743570C00270034
                                      	Firmware   : version   38, hash 83faccfa
                                      	Bootloader : version  183, hash 25317f42
                                      
                                      	ID         : 1
                                      	Board      : version 34: ModalAi 4-in-1 ESC (M0117-1)
                                      	UID        : 0x203034305743570C003A0054
                                      	Firmware   : version   38, hash 83faccfa
                                      	Bootloader : version  183, hash 25317f42
                                      
                                      	ID         : 2
                                      	Board      : version 34: ModalAi 4-in-1 ESC (M0117-1)
                                      	UID        : 0x203034305743570C00210050
                                      	Firmware   : version   38, hash 83faccfa
                                      	Bootloader : version  183, hash 25317f42
                                      
                                      	ID         : 3
                                      	Board      : version 34: ModalAi 4-in-1 ESC (M0117-1)
                                      	UID        : 0x203034305743570C00280028
                                      	Firmware   : version   38, hash 83faccfa
                                      	Bootloader : version  183, hash 25317f42
                                      
                                      ---------------------
                                      successfully pinged ESCs
                                      Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) 
                                      [GCC 8.4.0]
                                      Found voxl-esc tools bin version: 1.2
                                      
                                      INFO: Params file name : ../voxl-esc-params/Sentinel_V1/Sentinel_V1.xml 
                                      INFO: Params file size : 7591 bytes
                                      
                                      
                                      VOXL Platform: M0054
                                      Detected VOXL2 M0054 or M0104!
                                      Found previous connection information in .voxl_esc_cache ..
                                      Prioritizing /dev/slpi-uart-2 @ 2000000
                                      INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000
                                      Sending library name request: libslpi_uart_bridge_slpi.so
                                      Received standard error event 2
                                      Sending initialization request
                                      INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000
                                      INFO: ESCs detected:
                                      INFO: ---------------------
                                      ID: 0, SW: 38, HW: 34: ModalAi 4-in-1 ESC (M0117-1)
                                      ID: 1, SW: 38, HW: 34: ModalAi 4-in-1 ESC (M0117-1)
                                      ID: 2, SW: 38, HW: 34: ModalAi 4-in-1 ESC (M0117-1)
                                      ID: 3, SW: 38, HW: 34: ModalAi 4-in-1 ESC (M0117-1)
                                      ---------------------
                                      INFO: Loading XML config file...
                                      INFO: Uploading params...
                                      -- board config
                                      -- id config
                                      -- uart config
                                      -- tune config
                                          DONE
                                      INFO: Resetting ESCs...
                                          DONE
                                      disabling bridge
                                      re-enabling voxl-px4
                                      Created symlink /etc/systemd/system/multi-user.target.wants/voxl-px4.service → /etc/systemd/system/voxl-px4.service.
                                      restarting voxl-px4
                                      bridge disabled
                                      Success!
                                      
                                      executing: voxl-configure-px4 sentinel_v1 
                                      wiping old config file
                                      enabling  voxl-px4 systemd service
                                      Done configuring voxl-px4
                                      Success!
                                      
                                      executing: voxl-configure-px4-params -np MRB-D0006 
                                      [INFO] Voxl-px4 service found and active.
                                      [INFO] about to load the following param files:
                                      ('platforms/Sentinel_V1.params', 'EKF2_helpers/outdoor_gps_baro.params')
                                      
                                      [INFO] Loading file: /usr/share/modalai/px4_params/v1.14/platforms/Sentinel_V1.params
                                      [INFO] Scanning currently loaded parameters...
                                      
                                      The following parameters about to be loaded differ from those currently loaded:
                                      	NAME    		CURRENT    	NEW
                                      [1]	CBRK_IO_SAFETY    	N/A		22027
                                      [2]	CBRK_SUPPLY_CHK    	N/A		894281
                                      [3]	COM_CPU_MAX    		N/A		-1
                                      [4]	COM_OF_LOSS_T    	N/A		3.0
                                      [5]	NAV_ACC_RAD    		N/A		2.0
                                      [6]	GPS_UBX_DYNMODEL    	N/A		6
                                      [7]	RTL_RETURN_ALT    	N/A		30
                                      [8]	RTL_DESCEND_ALT    	N/A		10
                                      [9]	IMU_GYRO_RATEMAX    	N/A		800
                                      [10]	SYS_AUTOSTART    	N/A		4001
                                      [11]	MAV_TYPE    		N/A		2
                                      [12]	SENS_BOARD_ROT    	N/A		0
                                      [13]	BAT1_N_CELLS    	N/A		3
                                      [14]	BAT1_R_INTERNAL    	N/A		0.003
                                      [15]	BAT1_CAPACITY    	N/A		4700
                                      [16]	BAT1_V_CHARGED    	N/A		4.15
                                      [17]	BAT1_V_EMPTY    	N/A		3.50
                                      [18]	BAT_LOW_THR    		N/A		0.15
                                      [19]	BAT_CRIT_THR    	N/A		0.10
                                      [20]	BAT_EMERGEN_THR    	N/A		0.05
                                      [21]	MPC_THR_HOVER    	N/A		0.41
                                      [22]	THR_MDL_FAC    		N/A		0.80
                                      [23]	MODAL_IO_RPM_MAX    	N/A		7000
                                      [24]	MODAL_IO_RPM_MIN    	N/A		1000
                                      [25]	MODAL_IO_FUNC1    	N/A		103
                                      [26]	MODAL_IO_FUNC2    	N/A		102
                                      [27]	MODAL_IO_FUNC3    	N/A		104
                                      [28]	MODAL_IO_FUNC4    	N/A		101
                                      [29]	MODAL_IO_SDIR1    	N/A		0
                                      [30]	MODAL_IO_SDIR2    	N/A		0
                                      [31]	MODAL_IO_SDIR3    	N/A		0
                                      [32]	MODAL_IO_SDIR4    	N/A		0
                                      [33]	MODAL_IO_BAUD    	N/A		2000000
                                      [34]	MODAL_IO_CONFIG    	N/A		1
                                      [35]	MODAL_IO_MODE    	N/A		0
                                      [36]	MODAL_IO_REV    	N/A		0
                                      [37]	MODAL_IO_T_COSP    	N/A		0.990000009536743164
                                      [38]	MODAL_IO_T_DEAD    	N/A		20
                                      [39]	MODAL_IO_T_EXPO    	N/A		35
                                      [40]	MODAL_IO_T_MINF    	N/A		0.150000005960464478
                                      [41]	MODAL_IO_T_PERC    	N/A		90
                                      [42]	MODAL_IO_VLOG    	N/A		1
                                      [43]	MC_BAT_SCALE_EN    	N/A		0
                                      [44]	EKF2_IMU_POS_X    	N/A		0.033
                                      [45]	EKF2_IMU_POS_Y    	N/A		0.008
                                      [46]	EKF2_IMU_POS_Z    	N/A		-0.036
                                      [47]	EKF2_EV_POS_X    	N/A		0.0
                                      [48]	EKF2_EV_POS_Y    	N/A		0.0
                                      [49]	EKF2_EV_POS_Z    	N/A		0.0
                                      [50]	CA_AIRFRAME    		N/A		0
                                      [51]	CA_ROTOR_COUNT    	N/A		4
                                      [52]	CA_ROTOR0_PX    	N/A		0.17
                                      [53]	CA_ROTOR0_PY    	N/A		0.17
                                      [54]	CA_ROTOR1_PX    	N/A		-0.17
                                      [55]	CA_ROTOR1_PY    	N/A		-0.17
                                      [56]	CA_ROTOR2_PX    	N/A		0.17
                                      [57]	CA_ROTOR2_PY    	N/A		-0.17
                                      [58]	CA_ROTOR3_PX    	N/A		-0.17
                                      [59]	CA_ROTOR3_PY    	N/A		0.17
                                      [60]	CA_ROTOR0_AX    	N/A		0.0
                                      [61]	CA_ROTOR0_AY    	N/A		0.0
                                      [62]	CA_ROTOR1_AX    	N/A		0.0
                                      [63]	CA_ROTOR1_AY    	N/A		0.0
                                      [64]	CA_ROTOR2_AX    	N/A		0.0
                                      [65]	CA_ROTOR2_AY    	N/A		0.0
                                      [66]	CA_ROTOR3_AX    	N/A		0.0
                                      [67]	CA_ROTOR3_AY    	N/A		0.0
                                      [68]	CA_ROTOR0_KM    	N/A		0.05
                                      [69]	CA_ROTOR1_KM    	N/A		0.05
                                      [70]	CA_ROTOR2_KM    	N/A		-0.05
                                      [71]	CA_ROTOR3_KM    	N/A		-0.05
                                      [72]	MOT_SLEW_MAX    	N/A		0.0
                                      [73]	IMU_DGYRO_CUTOFF    	N/A		40.0
                                      [74]	IMU_ACCEL_CUTOFF    	N/A		40.0
                                      [75]	IMU_GYRO_CUTOFF    	N/A		40.0
                                      [76]	IMU_GYRO_DNF_EN    	N/A		1
                                      [77]	IMU_GYRO_DNF_HMC    	N/A		3
                                      [78]	IMU_GYRO_DNF_BW    	N/A		15
                                      [79]	MC_AIRMODE    		N/A		0
                                      [80]	MC_PITCH_P    		N/A		5.5
                                      [81]	MC_PITCHRATE_P    	N/A		0.080
                                      [82]	MC_PITCHRATE_I    	N/A		0.400
                                      [83]	MC_PITCHRATE_D    	N/A		0.00
                                      [84]	MC_PITCHRATE_K    	N/A		1.0
                                      [85]	MC_ROLL_P    		N/A		5.5
                                      [86]	MC_ROLLRATE_P    	N/A		0.080
                                      [87]	MC_ROLLRATE_I    	N/A		0.400
                                      [88]	MC_ROLLRATE_D    	N/A		0.00
                                      [89]	MC_ROLLRATE_K    	N/A		1.0
                                      [90]	MC_YAW_P    		N/A		2.0
                                      [91]	MC_YAWRATE_P    	N/A		0.13
                                      [92]	MC_YAWRATE_I    	N/A		0.30
                                      [93]	MC_YAWRATE_D    	N/A		0.0
                                      [94]	MC_YAWRATE_K    	N/A		1.0
                                      [95]	MC_ROLLRATE_MAX    	N/A		150.0
                                      [96]	MC_PITCHRATE_MAX    	N/A		150.0
                                      [97]	MC_YAWRATE_MAX    	N/A		150.0
                                      [98]	MPC_POS_MODE    	N/A		4
                                      [99]	MPC_YAW_EXPO    	N/A		0.30
                                      [100]	MPC_XY_MAN_EXPO    	N/A		0.45
                                      [101]	MPC_Z_MAN_EXPO    	N/A		0.10
                                      [102]	MPC_ACC_HOR    		N/A		3.0
                                      [103]	MPC_JERK_MAX    	N/A		40.0
                                      [104]	MPC_TILTMAX_AIR    	N/A		30.0
                                      [105]	MPC_ACC_HOR_MAX    	N/A		6.0
                                      [106]	MPC_ACC_UP_MAX    	N/A		3.0
                                      [107]	MPC_ACC_DOWN_MAX    	N/A		3.0
                                      [108]	MPC_VEL_MANUAL    	N/A		5.0
                                      [109]	MPC_XY_VEL_MAX    	N/A		5.0
                                      [110]	MPC_XY_CRUISE    	N/A		5.0
                                      [111]	MPC_Z_VEL_MAX_DN    	N/A		1.5
                                      [112]	MPC_Z_VEL_MAX_UP    	N/A		4.0
                                      [113]	MPC_LAND_SPEED    	N/A		1.0
                                      [114]	MPC_THR_MAX    		N/A		0.75
                                      [115]	MPC_THR_MIN    		N/A		0.12
                                      [116]	MPC_MANTHR_MIN    	N/A		0.12
                                      [117]	MPC_XY_P    		N/A		0.95
                                      [118]	MPC_XY_VEL_P_ACC    	N/A		3.00
                                      [119]	MPC_XY_VEL_I_ACC    	N/A		0.10
                                      [120]	MPC_XY_VEL_D_ACC    	N/A		0.00
                                      [121]	MPC_Z_P    		N/A		1.0
                                      [122]	MPC_Z_VEL_P_ACC    	N/A		8.0
                                      [123]	MPC_Z_VEL_I_ACC    	N/A		2.0
                                      [124]	MPC_Z_VEL_D_ACC    	N/A		0.0
                                      [125]	MPC_TKO_RAMP_T    	N/A		2.00
                                      [126]	MPC_TKO_SPEED    	N/A		1.50
                                      [127]	COM_SPOOLUP_TIME    	N/A		1.0
                                      [128]	LNDMC_ROT_MAX    	N/A		30.0
                                      [129]	COM_DISARM_LAND    	N/A		0.1
                                      [130]	COM_DISARM_PRFLT    	N/A		20
                                      
                                      [INFO] Setting params...
                                      
                                      [ERROR] Failed to set px4-parameters. Check voxl-px4 status for details.
                                      FAILED TO EXECUTE: voxl-configure-px4-params -np MRB-D0006
                                      This is likely because voxl-px4 on the SDSP failed to restart.
                                      Please try running voxl-configure-mpa again.
                                      If that doesn't work, power cycle and try again.
                                      
                                      checking /data/modalai/voxl-imu-server.cal
                                      checking /data/modalai/opencv_tracking_intrinsics.yml
                                      checking /data/modalai/opencv_stereo_front_intrinsics.yml
                                      checking /data/modalai/opencv_stereo_front_extrinsics.yml
                                      checking /data/modalai/opencv_stereo_rear_intrinsics.yml
                                      checking /data/modalai/opencv_stereo_rear_extrinsics.yml
                                      
                                      ------------------------------------------------------------------
                                               FAILED TO EXECUTE the following steps:
                                      voxl-configure-px4-params -np MRB-D0006
                                      
                                            Encountered Problems Configuring MPA Services :-/
                                              Some Services may not start up on next reboot
                                      
                                      checking /data/modalai/voxl-imu-server.cal
                                      checking /data/modalai/opencv_tracking_intrinsics.yml
                                      checking /data/modalai/opencv_stereo_front_intrinsics.yml
                                      checking /data/modalai/opencv_stereo_front_extrinsics.yml
                                      checking /data/modalai/opencv_stereo_rear_intrinsics.yml
                                      checking /data/modalai/opencv_stereo_rear_extrinsics.yml
                                      Calibration File Status:
                                      Missing /data/modalai/voxl-imu-server.cal 
                                      Missing /data/modalai/opencv_tracking_intrinsics.yml 
                                      Missing /data/modalai/opencv_stereo_front_intrinsics.yml 
                                      Missing /data/modalai/opencv_stereo_front_extrinsics.yml 
                                      Missing /data/modalai/opencv_stereo_rear_intrinsics.yml 
                                      Missing /data/modalai/opencv_stereo_rear_extrinsics.yml 
                                      Present /data/px4/param/parameters_gyro.cal 
                                      Present /data/px4/param/parameters_acc.cal 
                                      Present /data/px4/param/parameters_mag.cal 
                                      Present /data/px4/param/parameters_level.cal 
                                      
                                      Detected Missing Calibration Files
                                      please run the required cals
                                      https://docs.modalai.com/calibration/
                                      
                                                      PLEASE POWER CYCLE YOUR VOXL
                                      ------------------------------------------------------------------
                                      
                                      

                                      I power cycled VOXL2 after this message but still no luck. I still see some preflight check failing and couldn't arm the uav in manual mode. Even in indoor my GPS data is ok with HDOP of 0.9.

                                      Screenshot from 2023-06-30 13-47-14.png

                                      Do you see any problem with execution of voxl-configure-mpa?

                                      A 1 Reply Last reply Reply Quote 0
                                      • A
                                        Aaky @Aaky
                                        last edited by

                                        @Eric-Katzfey

                                        I ran mpa configuration while fresh installation of beta image and below are logs where PX4 parameters were set correctly. Please have a look.

                                        ------------------------------------------------------------------
                                                    Welcome to the voxl-configure-sku Wizard!
                                        
                                        [WARN] Detected both the old sku file /data/modalai/factory_mode.txt
                                        [WARN] and the new one: /data/modalai/sku.txt
                                        [WARN] Deleting the old one
                                        VOXL currently thinks it is in the following hardware:
                                        
                                        family code:   MRB-D0006 (sentinel)
                                        compute board: 4 (voxl2)
                                        hw version:    1
                                        cam config:    11
                                        SKU:           MRB-D0006-4-V1-C11
                                        
                                        If this is what you want, select 1 (accept and continue) to
                                        leave it as-is. Otherwise, select the desired product family:
                                        
                                        1) accept and continue	      9) flight-deck
                                        2) starling		     10) voxl-deck
                                        3) sentinel		     11) voxl2-flight-deck
                                        4) fpv			     12) voxl2-test-fixture
                                        5) m500			     13) voxl2-mini-test-fixture
                                        6) voxlcam		     14) voxl2-board-only
                                        7) seeker		     15) voxl2-mini-board-only
                                        8) rb5-flight
                                        #? 3
                                        3
                                        selected sentinel
                                        ------------------------------------------------------------------
                                        
                                        Please choose what camera config is on this drone
                                        
                                        The default camera config for RB5-Flight and Sentinel
                                        is 11 (hires+tracking+dual_stereo)
                                        
                                        q  Quit The Wizard
                                        0  None
                                        1  tracking(ov7251) + Stereo(ov7251)
                                        2  tracking(ov7251) Only
                                        3  Hires(imx214) + Stereo(ov7251) + tracking(ov7251)
                                        4  Hires(imx214) + tracking(ov7251)
                                        5  TOF + tracking(ov7251)
                                        6 Hires(imx214) + TOF + tracking(ov7251)
                                        7  TOF + Stereo(ov7251) + tracking(ov7251)
                                        8  Hires(imx214) Only
                                        9  TOF Only
                                        10 Stereo(ov7251) only
                                        11 tracking(ov7251) + Hires(imx214) + Dual Stereo
                                        12 Stereo(OV9782) only
                                        13 Hires(imx214) + Stereo(ov7251)
                                        14 Stereo(OV9782) + TOF + tracking(ov7251)
                                        15 Dual OV9782
                                        
                                        Cam Config Number: 6
                                        6
                                        ------------------------------------------------------------------
                                        
                                        Your answers would construct the following SKU:
                                        
                                        family code:   MRB-D0006 (sentinel)
                                        compute board: 4 (voxl2)
                                        hw version:    1
                                        cam config:    6
                                        SKU:           MRB-D0006-4-V1-C6
                                        
                                        Would you like to continue? This sku will be saved
                                        to persistent memory so VOXL will remember what it
                                        is installed in, even between system image flashes.
                                        
                                        1) save and continue
                                        2) quit
                                        3) restart wizard
                                        #? 1
                                        1
                                        Continuing
                                        
                                        DONE, MRB-D0006-4-V1-C6 has been written to /data/modalai/sku.txt
                                        Next you will likely want to run voxl-configure-mpa
                                        ------------------------------------------------------------------
                                        
                                        Wifi is currently set up as follows:
                                        	Current mode: softap
                                        	Current ssid: Aerotitan
                                        
                                        Station mode is for connecting to a normal wifi network.
                                        In softap mode, the VOXL will broadcast its own wifi network.
                                        Factory mode will set up softap with the following unique SSID:
                                        	VOXL-00:30:1a:50:1c:a1
                                        
                                        Please enter the intended Wi-Fi operation
                                        Options:
                                        	1) leave as-is
                                        	2) station
                                        	3) softap
                                        	4) factory
                                        Operation: 3
                                        3
                                        
                                        Please enter the SSID to broadcast
                                        SSID: Aerotitan
                                        Aerotitan
                                        
                                        Please enter a password, or leave blank to use the default password.
                                        Password [default: 1234567890]: 1234567890
                                        1234567890
                                        
                                        Configuring...
                                        editing /data/misc/wifi/hostapd.conf for softap mode, ssid is: Aerotitan
                                        creating new wpa_supplicant.conf for softap mode, ssid is: Aerotitan
                                        
                                        soft AP Setup Complete!
                                        Changes should be active in a few seconds
                                        SoftAP Configuration succeeded!
                                        
                                        enabling non-interactive mode
                                        ------------------------------------------------------------------
                                                       Welcome to voxl-configure-mpa!
                                        
                                        VOXL is currently thinks it is in the following hardware:
                                        
                                        family code:   MRB-D0006 (sentinel)
                                        compute board: 4 (voxl2)
                                        hw version:    1
                                        cam config:    6
                                        SKU:           MRB-D0006-4-V1-C6
                                        
                                        If this doesn't look right, quit and run voxl-configure-sku to
                                        set it correctly. Then run voxl-configure-mpa again.
                                        
                                        About to Execute:
                                        voxl-configure-extrinsics sentinel_v1
                                        voxl-configure-cameras 6 
                                        voxl-configure-cpu-monitor factory_enable
                                        voxl-configure-qvio factory_enable_imu_apps
                                        voxl-configure-dfs factory_disable
                                        voxl-configure-tag-detector factory_disable
                                        voxl-configure-tflite factory_disable
                                        voxl-configure-vision-hub factory_enable
                                        voxl-configure-mavlink-server factory_enable
                                        voxl-configure-portal enable
                                        voxl-configure-lepton disable
                                        voxl-configure-uvc disable
                                        voxl-configure-streamer factory_enable
                                        voxl-configure-modem disable
                                        voxl-configure-mavcam factory_enable
                                        voxl-configure-px4-imu-server factory_disable
                                        voxl-configure-imu factory_enable
                                        voxl-configure-flow-server disable
                                        voxl-configure-feature-tracker disable
                                        voxl-esc setup_sentinel_v1
                                        voxl-configure-px4 sentinel_v1
                                        voxl-configure-px4-params -np MRB-D0006
                                        
                                        enabling voxl-wait-for-fs service
                                        
                                        executing: voxl-configure-extrinsics sentinel_v1 
                                        wiping old extrinsics config file
                                        copying /usr/share/modalai/extrinsic_configs/sentinel_v1.conf to /etc/modalai/extrinsics.conf
                                        loading and updating file with voxl-inspect-extrinsics -q
                                        done configuring extrinsics
                                        Success!
                                        
                                        executing: voxl-configure-cameras 6  
                                        Camera Configuration: 6
                                        calling camera-server-config-helper tof:pmd-tof:0 hires:imx214:1 tracking:ov7251:2
                                        successfully wrote this camera config to disk:
                                        =================================================================
                                        configuration for 3 cameras:
                                        
                                        cam #0
                                            name:                tof
                                            sensor type:         pmd-tof
                                            isEnabled:           1
                                            camId:               0
                                            camId2:              -1
                                            fps:                 5
                                        
                                            en_preview:          1
                                            pre_width:           224
                                            pre_height:          1557
                                            pre_format:          tof
                                        
                                            en_small_video:      0
                                            small_video_width:   -1
                                            small_video_height:  -1
                                        
                                            en_large_video:      0
                                            large_video_width:   -1
                                            large_video_height:  -1
                                        
                                            en_snapshot:         0
                                            snap_width:          -1
                                            snap_height:         -1
                                        
                                            ae_mode:             off
                                            standby_enabled:     0
                                            decimator:           5
                                            independent_exposure:0
                                        
                                        cam #1
                                            name:                hires
                                            sensor type:         imx214
                                            isEnabled:           1
                                            camId:               1
                                            camId2:              -1
                                            fps:                 30
                                        
                                            en_preview:          0
                                            pre_width:           640
                                            pre_height:          480
                                            pre_format:          nv21
                                        
                                            en_small_video:      1
                                            small_video_width:   1024
                                            small_video_height:  768
                                        
                                            en_large_video:      1
                                            large_video_width:   4096
                                            large_video_height:  2160
                                        
                                            en_snapshot:         1
                                            snap_width:          4160
                                            snap_height:         3120
                                        
                                            ae_mode:             isp
                                            standby_enabled:     0
                                            decimator:           1
                                            independent_exposure:0
                                        
                                        cam #2
                                            name:                tracking
                                            sensor type:         ov7251
                                            isEnabled:           1
                                            camId:               2
                                            camId2:              -1
                                            fps:                 30
                                        
                                            en_preview:          1
                                            pre_width:           640
                                            pre_height:          480
                                            pre_format:          raw8
                                        
                                            en_small_video:      0
                                            small_video_width:   -1
                                            small_video_height:  -1
                                        
                                            en_large_video:      0
                                            large_video_width:   -1
                                            large_video_height:  -1
                                        
                                            en_snapshot:         0
                                            snap_width:          -1
                                            snap_height:         -1
                                        
                                            ae_mode:             lme_msv
                                            standby_enabled:     0
                                            decimator:           1
                                            independent_exposure:0
                                        
                                        =================================================================
                                        camera_server_config_helper is done
                                        copying required camera drivers in place
                                        /usr/share/modalai/chi-cdk/ov7251/com.qti.sensormodule.ov7251_3.bin
                                        /usr/share/modalai/chi-cdk/irs1645/com.qti.sensormodule.irs1645_0.bin
                                        /usr/share/modalai/chi-cdk/imx214/com.qti.sensormodule.imx214_2.bin
                                        enabling voxl-camera-server
                                        Created symlink /etc/systemd/system/multi-user.target.wants/voxl-camera-server.service → /etc/systemd/system/voxl-camera-server.service.
                                        
                                        ------------------------------------------------------------------
                                        Done Configuring Cameras
                                        Please power cycle VOXL to load new drivers
                                        camera server will start on next reboot
                                        ------------------------------------------------------------------
                                        Success!
                                        
                                        executing: voxl-configure-cpu-monitor factory_enable 
                                        wiping old config file
                                        Creating new config file: /etc/modalai/voxl-cpu-monitor.conf
                                        enabling  voxl-cpu-monitor systemd service
                                        Created symlink /etc/systemd/system/multi-user.target.wants/voxl-cpu-monitor.service → /etc/systemd/system/voxl-cpu-monitor.service.
                                        Done configuring voxl-cpu-monitor
                                        Success!
                                        
                                        executing: voxl-configure-qvio factory_enable_imu_apps 
                                        wiping old config file
                                        loading config file
                                        Creating new config file: /etc/modalai/voxl-qvio-server.conf
                                        enabling  voxl-qvio-server systemd service
                                        Created symlink /etc/systemd/system/multi-user.target.wants/voxl-qvio-server.service → /etc/systemd/system/voxl-qvio-server.service.
                                        Done configuring voxl-qvio-server
                                        Success!
                                        
                                        executing: voxl-configure-dfs factory_disable 
                                        wiping old config file
                                        Creating new config file: /etc/modalai/voxl-dfs-server.conf
                                        disabling voxl-dfs-server systemd service
                                        stopping voxl-dfs-server systemd service
                                        Done configuring voxl-dfs-server
                                        Success!
                                        
                                        executing: voxl-configure-tag-detector factory_disable 
                                        wiping old config file
                                        Creating new config file: /etc/modalai/voxl-tag-detector.conf
                                        disabling voxl-tag-detector systemd service
                                        stopping voxl-tag-detector systemd service
                                        Done configuring voxl-tag-detector
                                        Success!
                                        
                                        executing: voxl-configure-tflite factory_disable 
                                        wiping old config file
                                        Creating new config file: /etc/modalai/voxl-tflite-server.conf
                                        The config file was modified during parsing, saving the changes to disk
                                        disabling voxl-tflite-server systemd service
                                        stopping voxl-tflite-server systemd service
                                        Done configuring voxl-tflite-server
                                        Success!
                                        
                                        executing: voxl-configure-vision-hub factory_enable 
                                        wiping old config file
                                        Automatically migrating old config file /etc/modalai/voxl-vision-px4.conf to new location: /etc/modalai/voxl-vision-hub.conf
                                        The JSON config file data was modified during parsing, saving the changes to disk
                                        enabling  voxl-vision-hub systemd service
                                        Created symlink /etc/systemd/system/multi-user.target.wants/voxl-vision-hub.service → /etc/systemd/system/voxl-vision-hub.service.
                                        Done configuring voxl-vision-hub
                                        service will start on next reboot
                                        Success!
                                        
                                        executing: voxl-configure-mavlink-server factory_enable 
                                        wiping old config file
                                        Created new json file: /etc/modalai/voxl-mavlink-server.conf
                                        enabling  voxl-mavlink-server systemd service
                                        Created symlink /etc/systemd/system/multi-user.target.wants/voxl-mavlink-server.service → /etc/systemd/system/voxl-mavlink-server.service.
                                        Done configuring voxl-mavlink-server
                                        Success!
                                        
                                        executing: voxl-configure-portal enable 
                                        enabling  voxl-portal systemd service
                                        Created symlink /etc/systemd/system/multi-user.target.wants/voxl-portal.service → /etc/systemd/system/voxl-portal.service.
                                        Done configuring voxl-portal
                                        Success!
                                        
                                        executing: voxl-configure-lepton disable 
                                        disabling voxl-lepton-server systemd service
                                        stopping voxl-lepton-server systemd service
                                        Done configuring voxl-lepton-server
                                        Success!
                                        
                                        executing: voxl-configure-uvc disable 
                                        disabling voxl-uvc-server systemd service
                                        stopping voxl-uvc-server systemd service
                                        Done configuring voxl-uvc-server
                                        Success!
                                        
                                        executing: voxl-configure-streamer factory_enable 
                                        wiping old config file
                                        Creating new config file: /etc/modalai/voxl-streamer.conf
                                        writing /etc/modalai/voxl-streamer.conf to disk
                                        parsed config file
                                        enabling  voxl-streamer systemd service
                                        Created symlink /etc/systemd/system/multi-user.target.wants/voxl-streamer.service → /etc/systemd/system/voxl-streamer.service.
                                        Done configuring voxl-streamer, it will start on next reboot
                                        Success!
                                        
                                        executing: voxl-configure-modem disable 
                                        disabling voxl-modem systemd service
                                        stopping voxl-modem systemd service
                                        Done configuring voxl-modem
                                        Success!
                                        
                                        executing: voxl-configure-mavcam factory_enable 
                                        Creating new config file: /etc/modalai/voxl-mavcam-manager.conf
                                        writing /etc/modalai/voxl-mavcam-manager.conf to disk
                                        enabling  voxl-mavcam-manager systemd service
                                        Created symlink /etc/systemd/system/multi-user.target.wants/voxl-mavcam-manager.service → /etc/systemd/system/voxl-mavcam-manager.service.
                                        Done configuring voxl-mavcam-manager
                                        It will start automatically on the next reboot
                                        Success!
                                        
                                        executing: voxl-configure-px4-imu-server factory_disable 
                                        disabling voxl-px4-imu-server systemd service
                                        stopping voxl-px4-imu-server systemd service
                                        Done configuring voxl-px4-imu-server
                                        Success!
                                        
                                        executing: voxl-configure-imu factory_enable 
                                        wiping old config file
                                        Creating new config file: /etc/modalai/voxl-imu-server.conf
                                        missing gyro0_offset, removing old empty file
                                        enabling  voxl-imu-server systemd service
                                        Created symlink /etc/systemd/system/multi-user.target.wants/voxl-imu-server.service → /etc/systemd/system/voxl-imu-server.service.
                                        Done configuring voxl-imu-server
                                        Success!
                                        
                                        executing: voxl-configure-flow-server disable 
                                        disabling voxl-flow-server systemd service
                                        stopping voxl-flow-server systemd service
                                        Done configuring voxl-flow-server
                                        Success!
                                        
                                        executing: voxl-configure-feature-tracker disable 
                                        disabling voxl-feature-tracker systemd service
                                        stopping voxl-feature-tracker systemd service
                                        Done configuring voxl-feature-tracker
                                        Success!
                                        
                                        executing: voxl-esc setup_sentinel_v1 
                                        enabling bridge
                                        bridge enabled
                                        [INFO] Scanning for ESC...
                                        Received standard error event 2
                                        [INFO] M0117-1 detected
                                        [INFO] has for most recent firmware: 83faccfa
                                        [INFO] Expected ESC firmware info:
                                        	Firmware: modalai_esc_firmware_m0117_1_v0_38_83faccfa.bin
                                        	Firmware hash: 83faccfa
                                        
                                        [INFO] Number of ESCs with correct FW: 4
                                        [INFO] All of the ESCs have the correct firmware loaded
                                        uploading params file ../voxl-esc-params/Sentinel_V1/Sentinel_V1.xml
                                        Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) 
                                        [GCC 8.4.0]
                                        Found voxl-esc tools bin version: 1.2
                                        VOXL Platform: M0054
                                        Detected VOXL2 M0054 or M0104!
                                        Found previous connection information in .voxl_esc_cache ..
                                        Prioritizing /dev/slpi-uart-2 @ 2000000
                                        INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000
                                        Sending library name request: libslpi_uart_bridge_slpi.so
                                        Received standard error event 2
                                        Sending initialization request
                                        INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000
                                        INFO: Detected protocol: firmware
                                        INFO: Additional Information:
                                        INFO: ---------------------
                                        	ID         : 0
                                        	Board      : version 34: ModalAi 4-in-1 ESC (M0117-1)
                                        	UID        : 0x203034305743570C00270034
                                        	Firmware   : version   38, hash 83faccfa
                                        	Bootloader : version  183, hash 25317f42
                                        
                                        	ID         : 1
                                        	Board      : version 34: ModalAi 4-in-1 ESC (M0117-1)
                                        	UID        : 0x203034305743570C003A0054
                                        	Firmware   : version   38, hash 83faccfa
                                        	Bootloader : version  183, hash 25317f42
                                        
                                        	ID         : 2
                                        	Board      : version 34: ModalAi 4-in-1 ESC (M0117-1)
                                        	UID        : 0x203034305743570C00210050
                                        	Firmware   : version   38, hash 83faccfa
                                        	Bootloader : version  183, hash 25317f42
                                        
                                        	ID         : 3
                                        	Board      : version 34: ModalAi 4-in-1 ESC (M0117-1)
                                        	UID        : 0x203034305743570C00280028
                                        	Firmware   : version   38, hash 83faccfa
                                        	Bootloader : version  183, hash 25317f42
                                        
                                        ---------------------
                                        successfully pinged ESCs
                                        Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) 
                                        [GCC 8.4.0]
                                        Found voxl-esc tools bin version: 1.2
                                        
                                        INFO: Params file name : ../voxl-esc-params/Sentinel_V1/Sentinel_V1.xml 
                                        INFO: Params file size : 7591 bytes
                                        
                                        
                                        VOXL Platform: M0054
                                        Detected VOXL2 M0054 or M0104!
                                        Found previous connection information in .voxl_esc_cache ..
                                        Prioritizing /dev/slpi-uart-2 @ 2000000
                                        INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000
                                        Sending library name request: libslpi_uart_bridge_slpi.so
                                        Received standard error event 2
                                        Sending initialization request
                                        INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000
                                        INFO: ESCs detected:
                                        INFO: ---------------------
                                        ID: 0, SW: 38, HW: 34: ModalAi 4-in-1 ESC (M0117-1)
                                        ID: 1, SW: 38, HW: 34: ModalAi 4-in-1 ESC (M0117-1)
                                        ID: 2, SW: 38, HW: 34: ModalAi 4-in-1 ESC (M0117-1)
                                        ID: 3, SW: 38, HW: 34: ModalAi 4-in-1 ESC (M0117-1)
                                        ---------------------
                                        INFO: Loading XML config file...
                                        INFO: Uploading params...
                                        -- board config
                                        -- id config
                                        -- uart config
                                        -- tune config
                                            DONE
                                        INFO: Resetting ESCs...
                                            DONE
                                        disabling bridge
                                        bridge disabled
                                        Success!
                                        
                                        executing: voxl-configure-px4 sentinel_v1 
                                        wiping old config file
                                        enabling  voxl-px4 systemd service
                                        Created symlink /etc/systemd/system/multi-user.target.wants/voxl-px4.service → /etc/systemd/system/voxl-px4.service.
                                        Done configuring voxl-px4
                                        Success!
                                        
                                        executing: voxl-configure-px4-params -np MRB-D0006 
                                        [INFO] Voxl-px4 not currently running
                                        [INFO] Starting voxl-px4 service...
                                        [INFO] Voxl-px4 started successfully!
                                        [INFO] about to load the following param files:
                                        ('platforms/Sentinel_V1.params', 'EKF2_helpers/outdoor_gps_baro.params')
                                        
                                        [INFO] Loading file: /usr/share/modalai/px4_params/v1.14/platforms/Sentinel_V1.params
                                        [INFO] Scanning currently loaded parameters...
                                        
                                        The following parameters about to be loaded differ from those currently loaded:
                                        	NAME    		CURRENT    	NEW
                                        [1]	CBRK_IO_SAFETY    	N/A		22027
                                        [2]	CBRK_SUPPLY_CHK    	N/A		894281
                                        [3]	COM_CPU_MAX    		N/A		-1
                                        [4]	COM_OF_LOSS_T    	N/A		3.0
                                        [5]	NAV_ACC_RAD    		N/A		2.0
                                        [6]	GPS_UBX_DYNMODEL    	N/A		6
                                        [7]	RTL_RETURN_ALT    	N/A		30
                                        [8]	RTL_DESCEND_ALT    	N/A		10
                                        [9]	IMU_GYRO_RATEMAX    	N/A		800
                                        [10]	SYS_AUTOSTART    	N/A		4001
                                        [11]	MAV_TYPE    		N/A		2
                                        [12]	SENS_BOARD_ROT    	N/A		0
                                        [13]	BAT1_N_CELLS    	N/A		3
                                        [14]	BAT1_R_INTERNAL    	N/A		0.003
                                        [15]	BAT1_CAPACITY    	N/A		4700
                                        [16]	BAT1_V_CHARGED    	N/A		4.15
                                        [17]	BAT1_V_EMPTY    	N/A		3.50
                                        [18]	BAT_LOW_THR    		N/A		0.15
                                        [19]	BAT_CRIT_THR    	N/A		0.10
                                        [20]	BAT_EMERGEN_THR    	N/A		0.05
                                        [21]	MPC_THR_HOVER    	N/A		0.41
                                        [22]	THR_MDL_FAC    		N/A		0.80
                                        [23]	MODAL_IO_RPM_MAX    	N/A		7000
                                        [24]	MODAL_IO_RPM_MIN    	N/A		1000
                                        [25]	MODAL_IO_FUNC1    	N/A		103
                                        [26]	MODAL_IO_FUNC2    	N/A		102
                                        [27]	MODAL_IO_FUNC3    	N/A		104
                                        [28]	MODAL_IO_FUNC4    	N/A		101
                                        [29]	MODAL_IO_SDIR1    	N/A		0
                                        [30]	MODAL_IO_SDIR2    	N/A		0
                                        [31]	MODAL_IO_SDIR3    	N/A		0
                                        [32]	MODAL_IO_SDIR4    	N/A		0
                                        [33]	MODAL_IO_BAUD    	N/A		2000000
                                        [34]	MODAL_IO_CONFIG    	N/A		1
                                        [35]	MODAL_IO_MODE    	N/A		0
                                        [36]	MODAL_IO_REV    	N/A		0
                                        [37]	MODAL_IO_T_COSP    	N/A		0.990000009536743164
                                        [38]	MODAL_IO_T_DEAD    	N/A		20
                                        [39]	MODAL_IO_T_EXPO    	N/A		35
                                        [40]	MODAL_IO_T_MINF    	N/A		0.150000005960464478
                                        [41]	MODAL_IO_T_PERC    	N/A		90
                                        [42]	MODAL_IO_VLOG    	N/A		1
                                        [43]	MC_BAT_SCALE_EN    	N/A		0
                                        [44]	EKF2_IMU_POS_X    	N/A		0.033
                                        [45]	EKF2_IMU_POS_Y    	N/A		0.008
                                        [46]	EKF2_IMU_POS_Z    	N/A		-0.036
                                        [47]	EKF2_EV_POS_X    	N/A		0.0
                                        [48]	EKF2_EV_POS_Y    	N/A		0.0
                                        [49]	EKF2_EV_POS_Z    	N/A		0.0
                                        [50]	CA_AIRFRAME    		N/A		0
                                        [51]	CA_ROTOR_COUNT    	N/A		4
                                        [52]	CA_ROTOR0_PX    	N/A		0.17
                                        [53]	CA_ROTOR0_PY    	N/A		0.17
                                        [54]	CA_ROTOR1_PX    	N/A		-0.17
                                        [55]	CA_ROTOR1_PY    	N/A		-0.17
                                        [56]	CA_ROTOR2_PX    	N/A		0.17
                                        [57]	CA_ROTOR2_PY    	N/A		-0.17
                                        [58]	CA_ROTOR3_PX    	N/A		-0.17
                                        [59]	CA_ROTOR3_PY    	N/A		0.17
                                        [60]	CA_ROTOR0_AX    	N/A		0.0
                                        [61]	CA_ROTOR0_AY    	N/A		0.0
                                        [62]	CA_ROTOR1_AX    	N/A		0.0
                                        [63]	CA_ROTOR1_AY    	N/A		0.0
                                        [64]	CA_ROTOR2_AX    	N/A		0.0
                                        [65]	CA_ROTOR2_AY    	N/A		0.0
                                        [66]	CA_ROTOR3_AX    	N/A		0.0
                                        [67]	CA_ROTOR3_AY    	N/A		0.0
                                        [68]	CA_ROTOR0_KM    	N/A		0.05
                                        [69]	CA_ROTOR1_KM    	N/A		0.05
                                        [70]	CA_ROTOR2_KM    	N/A		-0.05
                                        [71]	CA_ROTOR3_KM    	N/A		-0.05
                                        [72]	MOT_SLEW_MAX    	N/A		0.0
                                        [73]	IMU_DGYRO_CUTOFF    	N/A		40.0
                                        [74]	IMU_ACCEL_CUTOFF    	N/A		40.0
                                        [75]	IMU_GYRO_CUTOFF    	N/A		40.0
                                        [76]	IMU_GYRO_DNF_EN    	N/A		1
                                        [77]	IMU_GYRO_DNF_HMC    	N/A		3
                                        [78]	IMU_GYRO_DNF_BW    	N/A		15
                                        [79]	MC_AIRMODE    		N/A		0
                                        [80]	MC_PITCH_P    		N/A		5.5
                                        [81]	MC_PITCHRATE_P    	N/A		0.080
                                        [82]	MC_PITCHRATE_I    	N/A		0.400
                                        [83]	MC_PITCHRATE_D    	N/A		0.00
                                        [84]	MC_PITCHRATE_K    	N/A		1.0
                                        [85]	MC_ROLL_P    		N/A		5.5
                                        [86]	MC_ROLLRATE_P    	N/A		0.080
                                        [87]	MC_ROLLRATE_I    	N/A		0.400
                                        [88]	MC_ROLLRATE_D    	N/A		0.00
                                        [89]	MC_ROLLRATE_K    	N/A		1.0
                                        [90]	MC_YAW_P    		N/A		2.0
                                        [91]	MC_YAWRATE_P    	N/A		0.13
                                        [92]	MC_YAWRATE_I    	N/A		0.30
                                        [93]	MC_YAWRATE_D    	N/A		0.0
                                        [94]	MC_YAWRATE_K    	N/A		1.0
                                        [95]	MC_ROLLRATE_MAX    	N/A		150.0
                                        [96]	MC_PITCHRATE_MAX    	N/A		150.0
                                        [97]	MC_YAWRATE_MAX    	N/A		150.0
                                        [98]	MPC_POS_MODE    	N/A		4
                                        [99]	MPC_YAW_EXPO    	N/A		0.30
                                        [100]	MPC_XY_MAN_EXPO    	N/A		0.45
                                        [101]	MPC_Z_MAN_EXPO    	N/A		0.10
                                        [102]	MPC_ACC_HOR    		N/A		3.0
                                        [103]	MPC_JERK_MAX    	N/A		40.0
                                        [104]	MPC_TILTMAX_AIR    	N/A		30.0
                                        [105]	MPC_ACC_HOR_MAX    	N/A		6.0
                                        [106]	MPC_ACC_UP_MAX    	N/A		3.0
                                        [107]	MPC_ACC_DOWN_MAX    	N/A		3.0
                                        [108]	MPC_VEL_MANUAL    	N/A		5.0
                                        [109]	MPC_XY_VEL_MAX    	N/A		5.0
                                        [110]	MPC_XY_CRUISE    	N/A		5.0
                                        [111]	MPC_Z_VEL_MAX_DN    	N/A		1.5
                                        [112]	MPC_Z_VEL_MAX_UP    	N/A		4.0
                                        [113]	MPC_LAND_SPEED    	N/A		1.0
                                        [114]	MPC_THR_MAX    		N/A		0.75
                                        [115]	MPC_THR_MIN    		N/A		0.12
                                        [116]	MPC_MANTHR_MIN    	N/A		0.12
                                        [117]	MPC_XY_P    		N/A		0.95
                                        [118]	MPC_XY_VEL_P_ACC    	N/A		3.00
                                        [119]	MPC_XY_VEL_I_ACC    	N/A		0.10
                                        [120]	MPC_XY_VEL_D_ACC    	N/A		0.00
                                        [121]	MPC_Z_P    		N/A		1.0
                                        [122]	MPC_Z_VEL_P_ACC    	N/A		8.0
                                        [123]	MPC_Z_VEL_I_ACC    	N/A		2.0
                                        [124]	MPC_Z_VEL_D_ACC    	N/A		0.0
                                        [125]	MPC_TKO_RAMP_T    	N/A		2.00
                                        [126]	MPC_TKO_SPEED    	N/A		1.50
                                        [127]	COM_SPOOLUP_TIME    	N/A		1.0
                                        [128]	LNDMC_ROT_MAX    	N/A		30.0
                                        [129]	COM_DISARM_LAND    	N/A		0.1
                                        [130]	COM_DISARM_PRFLT    	N/A		20
                                        
                                        [INFO] Setting params...
                                        
                                        
                                        [INFO] Px4 parameter configuration successful!
                                        
                                        [INFO] Loading file: /usr/share/modalai/px4_params/v1.14/EKF2_helpers/outdoor_gps_baro.params
                                        [INFO] Scanning currently loaded parameters...
                                        
                                        The following parameters about to be loaded differ from those currently loaded:
                                        	NAME    		CURRENT    	NEW
                                        [1]	SYS_HAS_MAG    		N/A		1
                                        [2]	SYS_HAS_GPS    		N/A		1
                                        [3]	EKF2_MAG_TYPE    	N/A		0
                                        [4]	EKF2_GPS_CTRL    	N/A		7
                                        [5]	EKF2_EV_CTRL    	N/A		0
                                        [6]	EKF2_AID_MASK    	N/A		0
                                        [7]	EKF2_HGT_REF    	N/A		0
                                        [8]	COM_ARM_WO_GPS    	N/A		1
                                        
                                        [INFO] Setting params...
                                        
                                        
                                        [INFO] Px4 parameter configuration successful!
                                        
                                        [INFO] Loading file: /data/px4/param/parameters_gyro.cal
                                        [INFO] Scanning currently loaded parameters...
                                        
                                        The following parameters about to be loaded differ from those currently loaded:
                                        	NAME    		CURRENT    	NEW
                                        [1]	CAL_GYRO0_ID    	N/A		2490378
                                        [2]	CAL_GYRO0_PRIO    	N/A		50
                                        [3]	CAL_GYRO0_XOFF    	N/A		0.0227608
                                        [4]	CAL_GYRO0_YOFF    	N/A		0.00552622
                                        [5]	CAL_GYRO0_ZOFF    	N/A		-0.0139491
                                        [6]	CAL_GYRO0_ROT    	N/A		-1
                                        
                                        [INFO] Setting params...
                                        
                                        
                                        [INFO] Px4 parameter configuration successful!
                                        
                                        [INFO] Loading file: /data/px4/param/parameters_level.cal
                                        [INFO] Scanning currently loaded parameters...
                                        
                                        The following parameters about to be loaded differ from those currently loaded:
                                        	NAME    		CURRENT    	NEW
                                        [1]	SENS_BOARD_X_OFF    	N/A		-4.80679
                                        [2]	SENS_BOARD_Y_OFF    	N/A		-2.07214
                                        
                                        [INFO] Setting params...
                                        
                                        
                                        [INFO] Px4 parameter configuration successful!
                                        
                                        [INFO] Loading file: /data/px4/param/parameters_mag.cal
                                        [INFO] Scanning currently loaded parameters...
                                        
                                        The following parameters about to be loaded differ from those currently loaded:
                                        	NAME    		CURRENT    	NEW
                                        [1]	CAL_MAG0_ID    		N/A		396809
                                        [2]	CAL_MAG0_PRIO    	N/A		75
                                        [3]	CAL_MAG0_XOFF    	N/A		0.0189662
                                        [4]	CAL_MAG0_YOFF    	N/A		-0.0148698
                                        [5]	CAL_MAG0_ZOFF    	N/A		0.163498
                                        [6]	CAL_MAG0_XSCALE    	N/A		1.01365
                                        [7]	CAL_MAG0_YSCALE    	N/A		0.922817
                                        [8]	CAL_MAG0_ZSCALE    	N/A		1.10712
                                        [9]	CAL_MAG0_XODIAG    	N/A		0.0136699
                                        [10]	CAL_MAG0_YODIAG    	N/A		0.0716552
                                        [11]	CAL_MAG0_ZODIAG    	N/A		0.0244222
                                        [12]	CAL_MAG0_XCOMP    	N/A		0
                                        [13]	CAL_MAG0_YCOMP    	N/A		0
                                        [14]	CAL_MAG0_ZCOMP    	N/A		0
                                        [15]	CAL_MAG0_ROT    	N/A		0
                                        
                                        [INFO] Setting params...
                                        
                                        
                                        [INFO] Px4 parameter configuration successful!
                                        [INFO] Done configuring for platform MRB-D0006
                                        Success!
                                        
                                        checking /data/modalai/voxl-imu-server.cal
                                        checking /data/modalai/opencv_tracking_intrinsics.yml
                                        checking /data/modalai/opencv_stereo_front_intrinsics.yml
                                        checking /data/modalai/opencv_stereo_front_extrinsics.yml
                                        checking /data/modalai/opencv_stereo_rear_intrinsics.yml
                                        checking /data/modalai/opencv_stereo_rear_extrinsics.yml
                                        
                                        ------------------------------------------------------------------
                                                SUCCESSFULLY CONFIGURED MPA SERVICES!
                                                Services will start up on next reboot
                                        
                                        checking /data/modalai/voxl-imu-server.cal
                                        checking /data/modalai/opencv_tracking_intrinsics.yml
                                        checking /data/modalai/opencv_stereo_front_intrinsics.yml
                                        checking /data/modalai/opencv_stereo_front_extrinsics.yml
                                        checking /data/modalai/opencv_stereo_rear_intrinsics.yml
                                        checking /data/modalai/opencv_stereo_rear_extrinsics.yml
                                        Calibration File Status:
                                        Missing /data/modalai/voxl-imu-server.cal 
                                        Missing /data/modalai/opencv_tracking_intrinsics.yml 
                                        Missing /data/modalai/opencv_stereo_front_intrinsics.yml 
                                        Missing /data/modalai/opencv_stereo_front_extrinsics.yml 
                                        Missing /data/modalai/opencv_stereo_rear_intrinsics.yml 
                                        Missing /data/modalai/opencv_stereo_rear_extrinsics.yml 
                                        Present /data/px4/param/parameters_gyro.cal 
                                        Present /data/px4/param/parameters_acc.cal 
                                        Present /data/px4/param/parameters_mag.cal 
                                        Present /data/px4/param/parameters_level.cal 
                                        
                                        Detected Missing Calibration Files
                                        please run the required cals
                                        https://docs.modalai.com/calibration/
                                        
                                                        PLEASE POWER CYCLE YOUR VOXL
                                        ------------------------------------------------------------------
                                        
                                        SDK Install Completed
                                        
                                        

                                        But even after this installation success as compared to previous installation I am facing same problem of not able to arm the UAV and GPS LED blinking red always. On the exact same indoor location where I am testing 1.14 firmware version I downgraded complete system image to platform 0.9.5 with PX4 version 1.12.31 and I am able to arm the UAV and holybro GPS LED blows Green and QGC goes in "Ready to fly condition."

                                        Please guide ahead.

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

                                          @Aaky At the PX4 console prompt can you enter the command listener input_rc? Is this a Sentinel drone or a custom drone? Can you calibrate the RC?

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                                            Aaky @Eric Katzfey
                                            last edited by Aaky

                                            @Eric-Katzfey This is custom drone with sentinel configuration via voxl-configure-mpa.

                                            I tried "px4-listener input_rc" and it say's "Never published". I am not using any RC at the moment and just relying on radio modem based link with QGC for controlling the UAV. Is RC essential?

                                            Also I was not getting console on VOXL-PX4 when I ran it from commandline so used px4-listener.

                                            A Eric KatzfeyE 2 Replies Last reply Reply Quote 0
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