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    VOXL 2 IMU Server not running

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    • Harshill DaggupatiH
      Harshill Daggupati
      last edited by Harshill Daggupati

      I have re-flashed voxl 2 multiple times, ran all the configuration commands from voxl-inspect-sku, voxl-configure-sku, voxl-check-calibration to voxl-configure-mpa and nothing works. I have re-flashed multiple older and newer versions and also reset the /data folder, so as to not persist between re-flashes, but that did not help too. The IMUs were working and all of a sudden they stopped.

      I ran the voxl-inspect-imu imu0 command, and it gives a blank output:

      waiting for server at /run/mpa/imu0/

      in the /run/mpa folder, there does not exist any imu0 or imu1 folder, only imu_px4 exists, which upon running voxl-inspect-imu imu_px4 --all gives a blank output

      Acc in m/s^2, gyro in rad/s, temp in C, time in ms

gravity| accl_x accl_y accl_z| gyro_x  gyro_y  gyro_z |  Temp | timestamp |  dt  |

      The IMU server is enabled but not running, here is the output of the command voxl-imu-server :

      voxl2:/$ voxl-imu-server 
loading calibration file
voxl-imu-server currently has no calibration file
=================================================================
calibration for IMU0:
Gyro Offsets (rad/s): X:   0.000 Y:   0.000 Z:   0.000
Accl Offsets (m/s^2): X:   0.000 Y:   0.000 Z:   0.000
Accl Scale          : X:   1.000 Y:   1.000 Z:   1.000

has_baseline_temp:      0
gyro_baseline_temp (C):  30.000
accl_baseline_temp (C):  30.000

has_temp_cal:          0
gyro_drift_coeff: X:   0.000000   0.000000   0.000000
gyro_drift_coeff: Y:   0.000000   0.000000   0.000000
gyro_drift_coeff: Z:   0.000000   0.000000   0.000000
accl_drift_coeff: X:   0.000000   0.000000   0.000000
accl_drift_coeff: Y:   0.000000   0.000000   0.000000
accl_drift_coeff: Z:   0.000000   0.000000   0.000000

calibration for IMU1:
Gyro Offsets (rad/s): X:   0.000 Y:   0.000 Z:   0.000
Accl Offsets (m/s^2): X:   0.000 Y:   0.000 Z:   0.000
Accl Scale          : X:   1.000 Y:   1.000 Z:   1.000

has_baseline_temp:      0
gyro_baseline_temp (C):  30.000
accl_baseline_temp (C):  30.000

has_temp_cal:          0
gyro_drift_coeff: X:   0.000000   0.000000   0.000000
gyro_drift_coeff: Y:   0.000000   0.000000   0.000000
gyro_drift_coeff: Z:   0.000000   0.000000   0.000000
accl_drift_coeff: X:   0.000000   0.000000   0.000000
accl_drift_coeff: Y:   0.000000   0.000000   0.000000
accl_drift_coeff: Z:   0.000000   0.000000   0.000000

calibration for IMU2:
Gyro Offsets (rad/s): X:   0.000 Y:   0.000 Z:   0.000
Accl Offsets (m/s^2): X:   0.000 Y:   0.000 Z:   0.000
Accl Scale          : X:   1.000 Y:   1.000 Z:   1.000

has_baseline_temp:      0
gyro_baseline_temp (C):  30.000
accl_baseline_temp (C):  30.000

has_temp_cal:          0
gyro_drift_coeff: X:   0.000000   0.000000   0.000000
gyro_drift_coeff: Y:   0.000000   0.000000   0.000000
gyro_drift_coeff: Z:   0.000000   0.000000   0.000000
accl_drift_coeff: X:   0.000000   0.000000   0.000000
accl_drift_coeff: Y:   0.000000   0.000000   0.000000
accl_drift_coeff: Z:   0.000000   0.000000   0.000000

calibration for IMU3:
Gyro Offsets (rad/s): X:   0.000 Y:   0.000 Z:   0.000
Accl Offsets (m/s^2): X:   0.000 Y:   0.000 Z:   0.000
Accl Scale          : X:   1.000 Y:   1.000 Z:   1.000

has_baseline_temp:      0
gyro_baseline_temp (C):  30.000
accl_baseline_temp (C):  30.000

has_temp_cal:          0
gyro_drift_coeff: X:   0.000000   0.000000   0.000000
gyro_drift_coeff: Y:   0.000000   0.000000   0.000000
gyro_drift_coeff: Z:   0.000000   0.000000   0.000000
accl_drift_coeff: X:   0.000000   0.000000   0.000000
accl_drift_coeff: Y:   0.000000   0.000000   0.000000
accl_drift_coeff: Z:   0.000000   0.000000   0.000000

=================================================================
loading config file
=================================================================
imu_apps_enable:                 1
imu_apps_bus:                    3
imu_apps_sample_rate_hz:         1000.0
imu_apps_lp_cutoff_freq_hz:      92.0
imu_apps_rotate_common_frame:    1
imu_apps_fifo_poll_rate_hz:      100.0

aux_imu1_enable:                 0
aux_imu1_bus:                    1
aux_imu1_sample_rate_hz:         1000.0
aux_imu1_lp_cutoff_freq_hz:      92.0
aux_imu1_fifo_poll_rate_hz:      100.0

aux_imu2_enable:                 0
aux_imu2_spi_bus:                14
aux_imu2_sample_rate_hz:         1000.0
aux_imu2_lp_cutoff_freq_hz:      92.0
aux_imu2_fifo_poll_rate_hz:      100.0

aux_imu3_enable:                 0
aux_imu3_spi_bus:                5
aux_imu3_sample_rate_hz:         1000.0
aux_imu3_lp_cutoff_freq_hz:      92.0
aux_imu3_fifo_poll_rate_hz:      100.0
=================================================================
detected ICM42688 on spi bus[id] 3
Detected board M0054
Initializing IMU0
using ODR=1000.00hz which is the nearest the icm42688 can get to 1000.0
ERROR: in icm42688_basic_read read all 0's
ERROR: failed to read data from IMU0
ERROR: failed to init at least one IMU

      Here are the journalctl logs after running the command systemctl start voxl-imu-server:

      
Aug 16 10:02:14 m0054 systemd[1]: Starting voxl-imu-server...
Aug 16 10:02:15 m0054 systemd[1]: Started voxl-imu-server.
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: ERROR: in icm42688_basic_read read all 0's
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: ERROR: failed to read data from IMU0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: ERROR: failed to init at least one IMU
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: loading calibration file
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: voxl-imu-server currently has no calibration file
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: ==================================================
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: calibration for IMU0:
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: Gyro Offsets (rad/s): X:   0.000 Y:   0.000 Z:   0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: Accl Offsets (m/s^2): X:   0.000 Y:   0.000 Z:   0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: Accl Scale          : X:   1.000 Y:   1.000 Z:   1
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: has_baseline_temp:      0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: gyro_baseline_temp (C):  30.000
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: accl_baseline_temp (C):  30.000
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: has_temp_cal:          0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: gyro_drift_coeff: X:   0.000000   0.000000   0.000
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: gyro_drift_coeff: Y:   0.000000   0.000000   0.000
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: gyro_drift_coeff: Z:   0.000000   0.000000   0.000
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: accl_drift_coeff: X:   0.000000   0.000000   0.000
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: accl_drift_coeff: Y:   0.000000   0.000000   0.000
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: accl_drift_coeff: Z:   0.000000   0.000000   0.000
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: calibration for IMU1:
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: Gyro Offsets (rad/s): X:   0.000 Y:   0.000 Z:   0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: Accl Offsets (m/s^2): X:   0.000 Y:   0.000 Z:   0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: Accl Scale          : X:   1.000 Y:   1.000 Z:   1
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: has_baseline_temp:      0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: gyro_baseline_temp (C):  30.000
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: accl_baseline_temp (C):  30.000
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: has_temp_cal:          0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: gyro_drift_coeff: X:   0.000000   0.000000   0.000
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: gyro_drift_coeff: Y:   0.000000   0.000000   0.000
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: gyro_drift_coeff: Z:   0.000000   0.000000   0.000
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: accl_drift_coeff: X:   0.000000   0.000000   0.000
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: accl_drift_coeff: Y:   0.000000   0.000000   0.000
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: accl_drift_coeff: Z:   0.000000   0.000000   0.000
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: calibration for IMU2:
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: Gyro Offsets (rad/s): X:   0.000 Y:   0.000 Z:   0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: Accl Offsets (m/s^2): X:   0.000 Y:   0.000 Z:   0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: Accl Scale          : X:   1.000 Y:   1.000 Z:   1
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: has_baseline_temp:      0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: gyro_baseline_temp (C):  30.000
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: accl_baseline_temp (C):  30.000
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: has_temp_cal:          0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: gyro_drift_coeff: X:   0.000000   0.000000   0.000
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: gyro_drift_coeff: Y:   0.000000   0.000000   0.000
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: gyro_drift_coeff: Z:   0.000000   0.000000   0.000
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: accl_drift_coeff: X:   0.000000   0.000000   0.000
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: accl_drift_coeff: Y:   0.000000   0.000000   0.000
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: accl_drift_coeff: Z:   0.000000   0.000000   0.000
Aug 16 10:02:15 m0054 systemd[1]: voxl-imu-server.service: Main process exited, code=exited, st
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: calibration for IMU3:
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: Gyro Offsets (rad/s): X:   0.000 Y:   0.000 Z:   0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: Accl Offsets (m/s^2): X:   0.000 Y:   0.000 Z:   0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: Accl Scale          : X:   1.000 Y:   1.000 Z:   1
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: has_baseline_temp:      0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: gyro_baseline_temp (C):  30.000
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: accl_baseline_temp (C):  30.000
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: has_temp_cal:          0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: gyro_drift_coeff: X:   0.000000   0.000000   0.000
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: gyro_drift_coeff: Y:   0.000000   0.000000   0.000
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: gyro_drift_coeff: Z:   0.000000   0.000000   0.000
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: accl_drift_coeff: X:   0.000000   0.000000   0.000
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: accl_drift_coeff: Y:   0.000000   0.000000   0.000
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: accl_drift_coeff: Z:   0.000000   0.000000   0.000
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: [66B blob data]
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: loading config file
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: ==================================================
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: imu_apps_enable:                 1
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: imu_apps_bus:                    3
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: imu_apps_sample_rate_hz:         1000.0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: imu_apps_lp_cutoff_freq_hz:      92.0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: imu_apps_rotate_common_frame:    1
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: imu_apps_fifo_poll_rate_hz:      100.0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: aux_imu1_enable:                 0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: aux_imu1_bus:                    1
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: aux_imu1_sample_rate_hz:         1000.0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: aux_imu1_lp_cutoff_freq_hz:      92.0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: aux_imu1_fifo_poll_rate_hz:      100.0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: aux_imu2_enable:                 0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: aux_imu2_spi_bus:                14
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: aux_imu2_sample_rate_hz:         1000.0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: aux_imu2_lp_cutoff_freq_hz:      92.0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: aux_imu2_fifo_poll_rate_hz:      100.0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: aux_imu3_enable:                 0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: aux_imu3_spi_bus:                5
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: aux_imu3_sample_rate_hz:         1000.0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: aux_imu3_lp_cutoff_freq_hz:      92.0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: aux_imu3_fifo_poll_rate_hz:      100.0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: ==================================================
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: detected ICM42688 on spi bus[id] 3
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: Detected board M0054
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: Initializing IMU0
Aug 16 10:02:15 m0054 voxl-imu-server[5347]: using ODR=1000.00hz which is the nearest the icm42
Aug 16 10:02:15 m0054 systemd[1]: voxl-imu-server.service: Failed with result 'exit-code'.
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