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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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    • 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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