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

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

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

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

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

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

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

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

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

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

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

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

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

            @Eric-Katzfey

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

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

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

            Please guide ahead.

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

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

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

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

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

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

                A Eric KatzfeyE 2 Replies Last reply Reply Quote 0
                • A
                  Aaky @Aaky
                  last edited by

                  @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.

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

                    @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.

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

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

                        @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?

                        A 2 Replies Last reply Reply Quote 0
                        • A
                          Aaky @Eric Katzfey
                          last edited by 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.

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

                            @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.

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

                              @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.

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

                                @Aaky What format is that logs file? Is it an archive?

                                1 Reply Last reply Reply Quote 0
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