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

[Aaky]

@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 Katzfey]

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

[Aaky]

@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 Katzfey]

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

[Aaky]

@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 Katzfey]

@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?

[Aaky]

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

[Eric Katzfey]

@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?

[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 Katzfey]

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

[Eric Katzfey]

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

[Aaky]

@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.

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

[Aaky]

@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 Katzfey]

@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?

[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.

[Aaky]

@Eric-Katzfey Any update on this issue?

In my opinion you should be able to replicate this problem easily on your end with fresh flashed beta image.

Please help ahead.

[Eric Katzfey]

@Aaky Even if getting RC commands over data link from QGC it will still publish input_rc topics. You need that to be able to arm in manual mode.

[Aaky]

@Eric-Katzfey Hi Eric, I did connect joystick and enabled mavlink based RC to UAV. This worked to arm the UAV in manual mode but in GPS mode, arming is still not working and blocking me to start using your newer beta image along with PX4 1.14 firmware version. GPS continues to blink red even in good GPS conditions outdoor and never allows to arm even after proper calibration process for MAG, Accel and Gyro.

Please help to debug this further.

[Eric Katzfey]

@Aaky Well that sounds like some progress. When you transition from manual mode to position mode does it allow the transition? Does QGC or voxl-px4 give you any messages at all?

[Aaky]

@Eric-Katzfey
I upgraded to official SDK 1.0.0 version now. I am able to transition from manual to position mode on QGC with my joystick connected as RC source. But when I try to arm in position mode QGC again say's "ARM_DISARM command temperorily rejected".

Please check logs on this link. When in position mode if I try to arm I do not get any preflight check failure message on PX4 logs.

GPS LED still blinks RED continously even in good GPS area outdoor.

Please help to debug further.