VOXL2 SDK 1.0.0-beta6 voxl-px4 couldn't arm UAV (GPS LED always RED blinking)
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@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?
@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 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?@Aaky What is the contents of /data/modalai/sku.txt?
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@Aaky What is the contents of /data/modalai/sku.txt?
@Eric-Katzfey Perhaps run
voxl-configure-mpa -f sentinelto reconfigure the system and then reboot and try again -
@Eric-Katzfey Perhaps run
voxl-configure-mpa -f sentinelto reconfigure the system and then reboot and try again@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?
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@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?
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 CompletedBut 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.
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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 CompletedBut 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.
@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 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?
@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.
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@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.
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@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 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.
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@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.
@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.
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@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.
@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?
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@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?
@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.
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@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?
@Eric-Katzfey One more update. I got all preflight checks cleared by again keeping my UAV in outdoor conditions with joystick RC connected. Now GPS LED glows green. Now I am getting one preflight check problem which is regarding "ESC failure". I tried disabling ModalAI ESC with MODAL_IO_CONFIG = Disabled, but still I am facing problem but I think by connecting ESC this problem should be solved.
On a seperate note, Is VOXL2 IO board (M0065) supported now on PX4 1.14 on new SDK? I have use case where I need to connect servo to PX4 (Only option I see is with M0065 + PWM breakout board) along with MODALAI ESC. Please provide some information on this point.
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@Eric-Katzfey One more update. I got all preflight checks cleared by again keeping my UAV in outdoor conditions with joystick RC connected. Now GPS LED glows green. Now I am getting one preflight check problem which is regarding "ESC failure". I tried disabling ModalAI ESC with MODAL_IO_CONFIG = Disabled, but still I am facing problem but I think by connecting ESC this problem should be solved.
On a seperate note, Is VOXL2 IO board (M0065) supported now on PX4 1.14 on new SDK? I have use case where I need to connect servo to PX4 (Only option I see is with M0065 + PWM breakout board) along with MODALAI ESC. Please provide some information on this point.
@Aaky No, M0065 is not yet supported with 1.14.0. We will be supporting that product on 1.14.0 in a future release.
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@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.
@Aaky What format is that logs file? Is it an archive?
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