adb is not working after tflite deployment.

[bijay gaudel]

@tom Here are the outputs of the above commands:

[tom]

@bijay-gaudel How about:

journalctl -u voxl-px4
journalctl -u voxl-vision-px4
journalctl -u voxl-mavlink-server

[bijay gaudel]

@tom

[tom]

@bijay-gaudel Let's reset all of the services to their default / working state for RB5, can you run the following:

# configure services to defaults
voxl-configure-mpa -f rb5-flight

# modify /etc/modalai/voxl-vision-px4 with your correct qgc_ip
vi  /etc/modalai/voxl-vision-px4

# reboot rb5
adb reboot

The services seem to be having issue in this current state based off of the WARNING

[bijay gaudel]

This post is deleted!

[bgaudel]

@tom /etc/modalai/voxl-vision-px4 file seems empty.

but /etc/modalai/voxl-vision-px4.config have data as:

rb5:/$ cat /etc/modalai/voxl-vision-px4.conf
/**
 * VOXL Vision PX4 Configuration File
 *
 * version: don't touch this, used to keep track of changing config file formats
 *
 * ##############################################################################
 * ## Networking
 * ##############################################################################
 *
 * qgc_ip:
 *         Manually inform voxl-vision-px4 of the IP address of your QGC Ground
 *         Controller by providing the IP address of your ground station computer
 *         in the “qgc_ip” field of the config file. This field is also configured
 *         as one of the first questions in the configuration wizard.
 *         If you wish to rely on QGC to initiate the connection to VOXL you can
 *         leave this field as-is, blank, or “NULL”. Mavlink data is sent to this
 *         IP on port 14550 by default, but this can be changed with the
 *         qgc_udp_port_number config value.
 *
 * en_secondary_qgc:
 *         Enable manually setting a second QGC ground station IP address.
 *
 * secondary_qgc_ip:
 *         IP address for optional second QGC connection. Note that many more mavlink
 *         connections can be made as long as they are initialized by the other device.
 *
 * qgc_udp_port_number:
 *         Port to use for manual and automatic QGC connections, default 14550
 *
 * udp_mtu:
 *         Max size of UDP packet to send to QGC. Multiple mavlink messages will be
 *         combined into one UDP packet to reduce network traffic. Set this to 0 to
 *         send one UDP packet for every mavlink message. Default is 512 which
 *         allows several mavlink messages per UDP packet.
 *
 * en_localhost_mavlink_udp:
 *         If you are running MAVROS/MAVSDK onboard VOXL and wish to open access to
 *         PX4 through a localhost UDP port simply ensure the follow feature is
 *         enabled. This is set to true by default. This will allow one local process
 *         to communicate with PX4 via port 14551 by default, NOT 14550 which is
 *         reserved for connections outside the board. These separation prevents
 *         conflicts between the two sockets. Both MAVROS and MAVSDK can be
 *         configured to use this port.
 *
 * localhost_udp_port_number:
 *         Port number for localhost UDP socket, default 14551
 *
 * ##############################################################################
 * ## VIO
 * ##############################################################################
 *
 * en_vio:
 *         Enable processing of VIO data from MPA to be sent to PX4 as mavlink
 *         odometry messages. Enabled by default.
 *
 * vio_pipe:
 *         Which pipe to subscribe to VIO data. Must be a standard libmodal-pipe
 *         vio_data_t type. Default is qvio
 *
 * en_send_vio_to_qgc:
 *         Enable sending of VIO odometry messages to QGC for debug.
 *         Note PX4 also sends odometry messages to QGC, so look for
 *         the messages in mavlink-inspector marked as from component 197
 *
 * en_reset_vio_if_initialized_inverted:
 *         For VIO algorithms like qVIO that can initialize in any orientation
 *         and output their estimate of the gravity vector, we suggest leaving
 *         this enabled to allow vvpx4 to automatically send the reset signal
 *         back to the VIO pipe if VIO was initialized upside-down or sufficiently
 *         off-level. Helpful if the user powers on a drone while carrying it to
 *         the flight area and VIO starts too early.
 *
 * vio_warmup_s:
 *         Wait this for this amount of time of having good VIO data before
 *         actually starting to send to PX4. This helps stop EKF2 getting
 *         confused if VIO flickers in and out while struggling to init.
 *         Set to 0 to disable the feature.
 *
 * send_odom_while_failed:
 *         Off by default. Reserved for the future when PX4 supports quality field
 *
 * ##############################################################################
 * ## APQ8096-only Features
 * ##############################################################################
 *
 * en_set_clock_from_gps:
 *         Enable setting the VOXL system time to GPS time if no NTP server can be
 *         reached via network to set the time.
 *
 * en_force_onboard_mav1_mode:
 *         Force PX4 to use onboard mode for mavlink 1 channel which is the channel
 *         apq8096 (VOXL1) uses to communicate UART Mavlink with PX4. Not applicable
 *         to qrb5165-based platforms. Sets the MAV1_MODE PX4 param.
 *
 * en_reset_px4_on_error:
 *         Trigger a reboot of PX4 one some of PX4's unrecoverable errors,
 *         Not applicable to qrb5165
 *         Yaw estimate error & High Accelerometer Bias and both detected
 *
 * ##############################################################################
 * ## Misc Features
 * ##############################################################################
 *
 * horizon_cal_tolerance:
 *         Allowable standard deviation in roll/pitch values to consider the drone
 *         stable enough in flight to do a PX4 horizon calibration. Default is 0.45,
 *         you can increase this slightly if flying in a small indoor area or with
 *         a drone that does not hold still very well.
 *         See https://docs.modalai.com/calibrate-px4-horizon/
 *
 * ##############################################################################
 * ## offboard mode config
 * ##############################################################################
 *
 * offboard_mode: The following are valid strings
 *     off: VVPX4 will not send any offboard commands to PX4
 *     figure_eight: Default value, VVPX4 commands PX4 to fly a figure 8 path
 *     follow_tag: Drone will follow an apriltag around. Very dangerous, not
 *                 recommended for customer use, for ModalAI R&D only.
 *     trajectory: VVPX4 receives polynomial trajectories by pipe and commands
 *                 PX4 to follow the trajectory path. Still in development.
 *
 * follow_tag_id:
 *         Apriltag ID to follow in follow_tag mode
 *
 * figure_eight_move_home:
 *         Enable by default, resets the center of the figure 8 path to wherever
 *         the drone is when flipped into offboard mode. When disabled, the drone
 *         will quickly fly back to the XYZ point 0,0,-1.5 in VIO frame before
 *         starting the figure 8. Disabling this feature can be dangerous if VIO
 *         has drifted significantly.
 *
 * robot_radius:
 *         Robot radius to use when checking collisions within the trajectory monitor.
 * 		   The trajectory monitor is only active when in trajectory mode
 *
 * collision_sampling_dt:
 *         The time step to sample along the polynomials by when checking for collisions
 * 		   in the collision monitor.
 *
 * max_lookahead_distance:
 *         Maximum distance to look along the trajectory. Sensor data further out can be
 * 		   unrealiable so keeping this value small reduces false positives
 *
 * ##############################################################################
 * ## Fixed Frame Tag Relocalization
 * ##############################################################################
 *
 * en_tag_fixed_frame:
 *         Enable fixed frame relocalization via voa_inputs.
 *         See: https://docs.modalai.com/voxl-vision-px4-apriltag-relocalization/
 *
 * fixed_frame_filter_len:
 *         Length of the moving average filter to use for smooth relocalization
 *         when a tag is detected. Default is 5, a longer filter will result in
 *         smoother behavior when a new tag comes into view. Set to 1 to do no
 *         filtering at all and assume every tag detection is accurate.
 *
 * en_transform_mavlink_pos_setpoints_from_fixed_frame:
 *         When enabled, mavlink position_target_local_ned_t commands received on
 *         via UDP will be assumed to be in fixed frame and are then transformed
 *         to local frame before being sent to PX4. This allows offboard mode
 *         position commands from MAVROS/MAVSDK to be in fixed frame relative to
 *         voa_inputs even though PX4/EKF2 operates in local frame relative to where
 *         VIO initialized.
 *
 * ##############################################################################
 * ## Collision Prevention (VOA)
 * ## Settings for configuring data sent to PX4 for Collision Prevention
 * ##############################################################################
 *
 * en_voa:
 *         Enable processing of DFS and TOF data to be sent to PX4 as mavlink
 *         obstacle_distance messages for collision prevention in position mode.
 *
 * en_send_voa_to_qgc:
 *         Enable sending of VOA obstacle_distance messages to QGC for debug.
 *
 * voa_lower_bound_m & voa_upper_bound_m:
 *         VOA ignores obstacles above and below the upper and lower bounds.
 *         Remember, Z points downwards in body and NED frames, so the lower bound
 *         is a positive number, and the upper bound is a negative number.
 *         Defaults are lower: 0.15  upper: -0.15 Units are in meters.
 *
 * voa_memory_s:
 *         number of seconds to keep track of sensor readings for VOA
 *         default: 1.0
 *
 * voa_inputs:
 *         Array of pipes to subscribe to for use with VOA, up to 10 supported
 *         Each entry has 4 fields:
 *
 *         enabled: true or false, it's safe to leave this enabled when the pipe is missing
 *         type: can be point_cloud, tof, or rangefinder
 *         input_pipe: pipe name, e.g. stereo_front_pc, rangefinders, tof, etc
 *         frame: frame of reference, should be listed in /etc/modalai/extrinsics/conf
 *
 */
{
	"config_file_version":	1,
	"qgc_ip":	"172.16.0.204",
	"en_secondary_qgc":	false,
	"secondary_qgc_ip":	"192.168.1.214",
	"qgc_udp_port_number":	14550,
	"udp_mtu":	512,
	"en_localhost_mavlink_udp":	true,
	"localhost_udp_port_number":	14551,
	"vio_pipe":	"qvio",
	"en_vio":	true,
	"en_send_vio_to_qgc":	false,
	"en_reset_vio_if_initialized_inverted":	true,
	"vio_warmup_s":	3,
	"send_odom_while_failed":	false,
	"horizon_cal_tolerance":	0.5,
	"offboard_mode":	"off",
	"follow_tag_id":	0,
	"figure_eight_move_home":	true,
	"robot_radius":	0.300000011920929,
	"collision_sampling_dt":	0.1,
	"max_lookahead_distance":	1,
	"en_tag_fixed_frame":	false,
	"fixed_frame_filter_len":	5,
/**
 * VOXL Vision PX4 Configuration File
 *
 * version: don't touch this, used to keep track of changing config file formats
 *
 * ##############################################################################
 * ## Networking
 * ##############################################################################
 *
 * qgc_ip:
 *         Manually inform voxl-vision-px4 of the IP address of your QGC Ground
 *         Controller by providing the IP address of your ground station computer
 *         in the �~@~\qgc_ip�~@~] field of the config file. This field is also configured
 *         as one of the first questions in the configuration wizard.
 *         If you wish to rely on QGC to initiate the connection to VOXL you can
 *         leave this field as-is, blank, or �~@~\NULL�~@~]. Mavlink data is sent to this
 *         IP on port 14550 by default, but this can be changed with the
 *         qgc_udp_port_number config value.
 *
 * en_secondary_qgc:
 *         Enable manually setting a second QGC ground station IP address.
 *
 * secondary_qgc_ip:
 *         IP address for optional second QGC connection. Note that many more mavlink
 *         connections can be made as long as they are initialized by the other device.
 *
 * qgc_udp_port_number:
 *         Port to use for manual and automatic QGC connections, default 14550
 *
 * udp_mtu:
 *         Max size of UDP packet to send to QGC. Multiple mavlink messages will be
 *         combined into one UDP packet to reduce network traffic. Set this to 0 to
 *         send one UDP packet for every mavlink message. Default is 512 which
 *         allows several mavlink messages per UDP packet.
 *
 * en_localhost_mavlink_udp:
 *         If you are running MAVROS/MAVSDK onboard VOXL and wish to open access to
 *         PX4 through a localhost UDP port simply ensure the follow feature is
 *         enabled. This is set to true by default. This will allow one local process
 *         to communicate with PX4 via port 14551 by default, NOT 14550 which is
 *         reserved for connections outside the board. These separation prevents
 *         conflicts between the two sockets. Both MAVROS and MAVSDK can be
 *         configured to use this port.
 *
 * localhost_udp_port_number:
 *         Port number for localhost UDP socket, default 14551
 *
 * ##############################################################################
 * ## VIO
 * ##############################################################################
 *
 * en_vio:
 *         Enable processing of VIO data from MPA to be sent to PX4 as mavlink
 *         odometry messages. Enabled by default.
 *
 * vio_pipe:
 *         Which pipe to subscribe to VIO data. Must be a standard libmodal-pipe
 *         vio_data_t type. Default is qvio
 *
 * en_send_vio_to_qgc:
 *         Enable sending of VIO odometry messages to QGC for debug.
 *         Note PX4 also sends odometry messages to QGC, so look for
 *         the messages in mavlink-inspector marked as from component 197
 *
 * en_reset_vio_if_initialized_inverted:
 *         For VIO algorithms like qVIO that can initialize in any orientation
 *         and output their estimate of the gravity vector, we suggest leaving
 *         this enabled to allow vvpx4 to automatically send the reset signal
 *         back to the VIO pipe if VIO was initialized upside-down or sufficiently
 *         off-level. Helpful if the user powers on a drone while carrying it to
 *         the flight area and VIO starts too early.
 *
 * vio_warmup_s:
 *         Wait this for this amount of time of having good VIO data before
 *         actually starting to send to PX4. This helps stop EKF2 getting
 *         confused if VIO flickers in and out while struggling to init.
 *         Set to 0 to disable the feature.
 *
 * send_odom_while_failed:
 *         Off by default. Reserved for the future when PX4 supports quality field
 *
 * ##############################################################################
 * ## APQ8096-only Features
 * ##############################################################################
 *
 * en_set_clock_from_gps:
 *         Enable setting the VOXL system time to GPS time if no NTP server can be
 *         reached via network to set the time.
 *
 * en_force_onboard_mav1_mode:
 *         Force PX4 to use onboard mode for mavlink 1 channel which is the channel
 *         apq8096 (VOXL1) uses to communicate UART Mavlink with PX4. Not applicable
 *         to qrb5165-based platforms. Sets the MAV1_MODE PX4 param.
 *
 * en_reset_px4_on_error:
 *         Trigger a reboot of PX4 one some of PX4's unrecoverable errors,
 *         Not applicable to qrb5165
 *         Yaw estimate error & High Accelerometer Bias and both detected
 *
 * ##############################################################################
 * ## Misc Features
 * ##############################################################################
 *
 * horizon_cal_tolerance:
 *         Allowable standard deviation in roll/pitch values to consider the drone
 *         stable enough in flight to do a PX4 horizon calibration. Default is 0.45,
 *         you can increase this slightly if flying in a small indoor area or with
 *         a drone that does not hold still very well.
 *         See https://docs.modalai.com/calibrate-px4-horizon/
 *
 * ##############################################################################
 * ## offboard mode config
 * ##############################################################################
 *
 * offboard_mode: The following are valid strings
 *     off: VVPX4 will not send any offboard commands to PX4
 *     figure_eight: Default value, VVPX4 commands PX4 to fly a figure 8 path
 *     follow_tag: Drone will follow an apriltag around. Very dangerous, not
 *                 recommended for customer use, for ModalAI R&D only.
 *     trajectory: VVPX4 receives polynomial trajectories by pipe and commands
 *                 PX4 to follow the trajectory path. Still in development.
 *
 * follow_tag_id:
 *         Apriltag ID to follow in follow_tag mode
 *
 * figure_eight_move_home:
 *         Enable by default, resets the center of the figure 8 path to wherever
 *         the drone is when flipped into offboard mode. When disabled, the drone
 *         will quickly fly back to the XYZ point 0,0,-1.5 in VIO frame before
 *         starting the figure 8. Disabling this feature can be dangerous if VIO
 *         has drifted significantly.
 *
 * robot_radius:
 *         Robot radius to use when checking collisions within the trajectory monitor.
 *                 The trajectory monitor is only active when in trajectory mode
 *
 * collision_sampling_dt:
 *         The time step to sample along the polynomials by when checking for collisions
 *                 in the collision monitor.
 *
 * max_lookahead_distance:
 *         Maximum distance to look along the trajectory. Sensor data further out can be
 *                 unrealiable so keeping this value small reduces false positives
 *
 * ##############################################################################
 * ## Fixed Frame Tag Relocalization
 * ##############################################################################
 *
 * en_tag_fixed_frame:
 *         Enable fixed frame relocalization via voa_inputs.
 *         See: https://docs.modalai.com/voxl-vision-px4-apriltag-relocalization/
 *
 * fixed_frame_filter_len:
 *         Length of the moving average filter to use for smooth relocalization
 *         when a tag is detected. Default is 5, a longer filter will result in
 *         smoother behavior when a new tag comes into view. Set to 1 to do no
 *         filtering at all and assume every tag detection is accurate.
 *
 * en_transform_mavlink_pos_setpoints_from_fixed_frame:
 *         When enabled, mavlink position_target_local_ned_t commands received on
 *         via UDP will be assumed to be in fixed frame and are then transformed
 *         to local frame before being sent to PX4. This allows offboard mode
 *         position commands from MAVROS/MAVSDK to be in fixed frame relative to
 *         voa_inputs even though PX4/EKF2 operates in local frame relative to where
 *         VIO initialized.
 *
 * ##############################################################################
 * ## Collision Prevention (VOA)
 * ## Settings for configuring data sent to PX4 for Collision Prevention
 * ##############################################################################
 *
 * en_voa:
 *         Enable processing of DFS and TOF data to be sent to PX4 as mavlink
 *         obstacle_distance messages for collision prevention in position mode.
 *
 * en_send_voa_to_qgc:
 *         Enable sending of VOA obstacle_distance messages to QGC for debug.
 *
 * voa_lower_bound_m & voa_upper_bound_m:
 *         VOA ignores obstacles above and below the upper and lower bounds.
 *         Remember, Z points downwards in body and NED frames, so the lower bound
 *         is a positive number, and the upper bound is a negative number.
 *         Defaults are lower: 0.15  upper: -0.15 Units are in meters.
 *
 * voa_memory_s:
 *         number of seconds to keep track of sensor readings for VOA
 *         default: 1.0
 *
 * voa_inputs:
 *         Array of pipes to subscribe to for use with VOA, up to 10 supported
 *         Each entry has 4 fields:
 *
 *         enabled: true or false, it's safe to leave this enabled when the pipe is missing
 *         type: can be point_cloud, tof, or rangefinder
 *         input_pipe: pipe name, e.g. stereo_front_pc, rangefinders, tof, etc
 *         frame: frame of reference, should be listed in /etc/modalai/extrinsics/conf
 *
 */
{
        "config_file_version":  1,
        "qgc_ip":       "172.16.0.204",
 *
 * voa_inputs:
 *         Array of pipes to subscribe to for use with VOA, up to 10 supported
 *         Each entry has 4 fields:
 *
 *         enabled: true or false, it's safe to leave this enabled when the pipe is missing
 *         type: can be point_cloud, tof, or rangefinder
 *         input_pipe: pipe name, e.g. stereo_front_pc, rangefinders, tof, etc
 *         frame: frame of reference, should be listed in /etc/modalai/extrinsics/conf
 *
 */
{
        "config_file_version":  1,
        "qgc_ip":       "172.16.0.204",
        "en_secondary_qgc":     false,
        "secondary_qgc_ip":     "192.168.1.214",
        "qgc_udp_port_number":  14550,
        "udp_mtu":      512,
        "en_localhost_mavlink_udp":     true,
        "localhost_udp_port_number":    14551,
        "vio_pipe":     "qvio",
        "en_vio":       true,
        "en_send_vio_to_qgc":   false,
        "en_reset_vio_if_initialized_inverted": true,
        "vio_warmup_s": 3,
        "send_odom_while_failed":       false,
        "horizon_cal_tolerance":        0.5,
        "offboard_mode":        "off",
        "follow_tag_id":        0,
        "figure_eight_move_home":       true,
        "robot_radius": 0.300000011920929,
        "collision_sampling_dt":        0.1,
        "max_lookahead_distance":       1,
        "en_tag_fixed_frame":   false,
        "fixed_frame_filter_len":       5,

The qgc_ip in this file is correct IP address of my PC.

[tom]

@bgaudel Apologies, the .conf was what I meant. Are you still having the same issue?

[bgaudel]

@tom yes, still not able to connect with QGC

The output of voxl-px4 command is:

Does this look okay? What other settings and files should I pay attention for?

[tom]

@bgaudel voxl-px4 is already running in the background, there's no need to try to start any of the processes manually from the command line.

Now that you've gone through voxl-configure-mpa, can you try these commands again so we can get some info:

journalctl -u voxl-px4
journalctl -u voxl-vision-px4
journalctl -u voxl-mavlink-server

[bgaudel]

@tom Here is the output of these commands: