Voxl2 Spektrum Receiver error

ben grocholsky

@Eric-Katzfey I've seen a similar issue with a DX7 transmitter paired to an off the shelf Sentinel. The binding worked but no data made it through the dsm parser. In that case the packets looked like:

INFO  [muorb] SLPI: 0x1c 0x01 0x04 0xb4 0x15 0xf0 0x09 0xfe 0x0d 0xfe 0x01 0xc2 0x13 0x56 0x1b 0x57
INFO  [muorb] SLPI: 0x1c 0x01 0x06 0xef 0x15 0xf0 0x0a 0x2f 0x0d 0xfe 0x01 0xc2 0x13 0x56 0x1b 0x57
INFO  [muorb] SLPI: 0x1c 0x01 0x04 0xc6 0x15 0xf0 0x09 0x0f 0x0d 0xfe 0x01 0xc2 0x13 0x56 0x1b 0x57
INFO  [muorb] SLPI: 0x1c 0x01 0x04 0xe3 0x15 0xf0 0x0b 0x04 0x0d 0xfe 0x01 0xc2 0x13 0x56 0x1b 0x57
INFO  [muorb] SLPI: 0x1c 0x01 0x07 0x56 0x15 0xf0 0x09 0xd7 0x0d 0xfe 0x01 0xc2 0x13 0x56 0x1b 0x57
INFO  [muorb] SLPI: 0x1c 0x01 0x05 0x51 0x15 0xf0 0x08 0xa7 0x0d 0xfe 0x01 0xc2 0x13 0x56 0x1b 0x57

This line of the code never sees rx_buf[1] 0x02 bit high and first_correct_frame_received never goes true.

I'm not familiar enough with DSM to recommend a safe fix. (a minor change to the line above made data flow but was not robust when power cycling the transmitter...) Just confirming I've seen some spektrum transmitter hardware not work with the voxl2 parser.

Eric Katzfey

@ben-grocholsky Thanks Ben! Yes, and it sure would be nice to see the end of the error line to see what that protocol byte is. Unfortunately it gets truncated in the output. @Chase-Riley do you have the ability to rebuild px4?

Eric Katzfey

@Chase-Riley As Ben suggested some DSM transmitters may cause it to use a different flavor of the protocol and break the driver code. Is it possible to try a different model of transmitter?

ben grocholsky

@Eric-Katzfey changing to accept 0x01 or 0x02 in rx_buf[1] appears to make my DX7 transmitter work. input_rc -> RC_CHANNELS shows up and starts/stops when powering the transmitter on/off. Any thoughts on if this is an acceptable change?

} else if (((newbytes != DSM_FRAME_SIZE) || ((rx_buf[1] & 0x0F) != 0x02)) && (! first_correct_frame_received)) {

to

} else if (((newbytes != DSM_FRAME_SIZE) || (((rx_buf[1] & 0x0F) != 0x02) && ((rx_buf[1] & 0x0F) != 0x01))) && (! first_correct_frame_received)) {

INFO  [muorb] SLPI: Spektrum RC: Read no bytes from UART
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: Spektrum RC: DSM message parsed successfully
INFO  [muorb] SLPI: Spektrum RC: Publishing input_rc
INFO  [muorb] SLPI: 0xff 0x01 0x06 0x08 0x17 0x42 0x0a 0x00 0x0d 0xfd 0x00 0xa9 0x10 0xaa 0x1b 0x57
INFO  [muorb] SLPI: Spektrum RC: Read no bytes from UART
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: Spektrum RC: DSM message parsed successfully
INFO  [muorb] SLPI: Spektrum RC: Publishing input_rc
INFO  [muorb] SLPI: 0xff 0x01 0x06 0x08 0x17 0x42 0x0a 0x00 0x0d 0xfd 0x00 0xa9 0x10 0xaa 0x1b 0x57

@Chase-Riley if needed, I can send you a deb file that will print out lots of debugs. Not safe for flying but hopefully it could help understanding what's happening.

Chase Riley

@Eric-Katzfey I can certainly try to rebuild px4. Just to confirm this would be done using a docker image (https://gitlab.com/voxl-public/rb5-flight/rb5-flight-px4-build-docker) correct?

@ben-grocholsky That would be great if you could send me over the deb file to see if we can figure this out.

Eric Katzfey

@Chase-Riley Yes, in that Docker. If you can rebuild then you can add Ben's patch and see if that solves your issue. If you cannot figure out how to build I could make a special deb for you to test out.

Chase Riley

@Eric-Katzfey I am attempting to rebuild px4, however there is a bit of a learning curve for me. If a custom deb file would be easy for you to throw together I would be willing to test that why I am working through the rebuild process.

ben grocholsky

@Chase-Riley Here's a debug deb to try while you're working out building custom voxl-px4 voxl-px4_1.14.0-2.0.50_DSMDEBUG_arm64.deb
It'll print out a bunch of info if you stop the service systemctl stop voxl-px4 and run voxl-px4 manually in a shell. If the 0x01 protocol byte is the issue you're having, then this version will start publishing RC data to uorb/mavlink. Otherwise, at least you'll be able to see what the raw data packets look like.

Chase Riley

@ben-grocholsky @Eric-Katzfey My apologies for the delay. I ran voxl-px4 using Ben's custom deb file. Below is a snippet of the data.

voxl2:/$ voxl-px4
[INFO] Reading from /etc/modalai/voxl-px4.conf
Found DSP signature file
[INFO] Daemon mode enabled

*************************
GPS=HOLYBRO
RC=SPEKTRUM
POWER MANAGER=VOXLPM
DISTANCE SENSOR=NONE
OSD=DISABLE
DAEMON_MODE=ENABLE
SENSOR_CAL=ACTUAL
EXTRA STEPS:
*************************

INFO  [px4] mlockall() enabled. PX4's virtual address space is locked into RAM.
INFO  [px4] assuming working directory is rootfs, no symlinks needed.
INFO  [muorb] Got muorb init command
Sending initialization request
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
INFO  [muorb] SLPI: muorb aggregator thread running
INFO  [muorb] muorb protobuf initalize method succeeded
INFO  [muorb] SLPI: Creating pthread test_MUORB

INFO  [muorb] succesfully did ADVERTISE_TEST_TYPE
INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097656
INFO  [muorb] SLPI: Creating pthread test_MUORB

INFO  [muorb] succesfully did SUBSCRIBE_TEST_TYPE
INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097655
INFO  [muorb] succesfully did TOPIC_TEST_TYPE
INFO  [muorb] SLPI: Creating pthread test_MUORB

INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097654
INFO  [muorb] succesfully did UNSUBSCRIBE_TEST_TYPE
INFO  [muorb] SLPI: Creating pthread test_MUORB

INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097653
INFO  [muorb] muorb test passed
INFO  [muorb] SLPI: Advertising remote topic log_message

______  __   __    ___ 
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [px4] startup script: /bin/sh /usr/bin/voxl-px4-start 0
INFO  [parameters] Starting param sync THREAD

*************************
GPS: HOLYBRO
RC: SPEKTRUM
POWER MANAGER: VOXLPM
DISTANCE SENSOR: NONE
OSD: DISABLE
EXTRA STEPS:
	
*************************

Running on M0054
INFO  [muorb] SLPI: Starting param sync THREAD
INFO  [muorb] SLPI: before starting the qshell_entry task
INFO  [muorb] SLPI: Creating pthread qshell

INFO  [muorb] SLPI: qshell entry.....
INFO  [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 2097652
INFO  [muorb] SLPI: Init app map initialized
INFO  [muorb] SLPI: after starting the qshell_entry task
INFO  [param] selected parameter default file /data/px4/param/parameters
INFO  [muorb] SLPI: Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic
INFO  [uORB] Marking DeviceNode(parameter_client_reset_response) as advertised in process_remote_topic
INFO  [muorb] SLPI: Advertising remote topic parameter_update
INFO  [muorb] SLPI: Marking DeviceNode(parameter_client_set_value_request) as advertised in process_remote_to
INFO  [uORB] Marking DeviceNode(parameter_server_set_used_request) as advertised in process_remote_topic
INFO  [muorb] SLPI: Marking DeviceNode(parameter_server_set_used_response) as advertised in process_remote_to
INFO  [uORB] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic
INFO  [parameters] BSON document size 3333 bytes, decoded 3333 bytes (INT32:50, FLOAT:104)
INFO  [logger] logger started (mode=all)
Starting IMU driver with no rotation
INFO  [qshell] Send cmd: 'icm42688p start -s'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: icm42688p start -s
INFO  [muorb] SLPI:   arg0 = 'icm42688p'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI:   arg2 = '-s'

INFO  [muorb] SLPI: *** SPI Device ID 0x26000a 2490378
INFO  [uORB] Advertising remote topic sensor_accel
INFO  [uORB] Advertising remote topic sensor_gyro
INFO  [muorb] SLPI: ICM42688P::probe successful!
INFO  [muorb] SLPI: on SPI bus 1
INFO  [muorb] SLPI: icm42688p #0 on SPI bus 1
INFO  [muorb] SLPI: 

INFO  [muorb] SLPI: >>> ICM42688P this: 3176eb30
INFO  [muorb] SLPI: Ok executing command: icm42688p start -s
INFO  [uORB] Advertising remote topic qshell_retval
INFO  [muorb] SLPI: >>> ICM42688P this: 3176eb30
INFO  [qshell] qshell return value timestamp: 30285270, local time: 30290082
INFO  [muorb] SLPI: >>> ICM42688P this: 3176eb30
INFO  [muorb] SLPI: Register interrupt b21d3164 e6205e9c 3176eb30
INFO  [uORB] Advertising remote topic sensor_gyro_fifo
INFO  [uORB] Advertising remote topic sensor_accel_fifo
INFO  [uORB] Advertising remote topic imu_server
INFO  [qshell] Send cmd: 'icp101xx start -I -b 5'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: icp101xx start -I -b 5
INFO  [muorb] SLPI:   arg0 = 'icp101xx'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI:   arg2 = '-I'

INFO  [muorb] SLPI:   arg3 = '-b'

INFO  [muorb] SLPI:   arg4 = '5'

INFO  [muorb] SLPI: *** I2C Device ID 0xb76329 12018473
INFO  [muorb] SLPI: icp101xx #0 on I2C bus 5
INFO  [muorb] SLPI:  address 0x63
INFO  [muorb] SLPI: 

INFO  [muorb] SLPI: Ok executing command: icp101xx start -I -b 5
INFO  [qshell] qshell return value timestamp: 30338284, local time: 30340198
Starting ist8310 magnetometer
INFO  [qshell] Send cmd: 'ist8310 start -R 10 -X -b 1'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: ist8310 start -R 10 -X -b 1
INFO  [muorb] SLPI:   arg0 = 'ist8310'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI:   arg2 = '-R'

INFO  [muorb] SLPI:   arg3 = '10'

INFO  [muorb] SLPI:   arg4 = '-X'

INFO  [muorb] SLPI:   arg5 = '-b'

INFO  [muorb] SLPI:   arg6 = '1'

INFO  [muorb] SLPI: *** I2C Device ID 0x60e09 396809
INFO  [muorb] SLPI: ist8310 #0 on I2C bus 1
INFO  [muorb] SLPI:  (external)
INFO  [muorb] SLPI:  address 0xE
INFO  [muorb] SLPI:  rotation 10
INFO  [muorb] SLPI: 

INFO  [muorb] SLPI: Ok executing command: ist8310 start -R 10 -X -b 1
INFO  [qshell] qshell return value timestamp: 30374600, local time: 30376477
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: gps start
INFO  [muorb] SLPI:   arg0 = 'gps'

INFO  [qshell] Send cmd: 'gps start'
INFO  [muorb] SLPI: >>> ICM42688P this: 3176eb30
INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI: Creating pthread gps

INFO  [muorb] SLPI: Successfully created px4 task PX4_gps with tid 2097648
INFO  [muorb] SLPI: Ok executing command: gps start
INFO  [qshell] qshell return value timestamp: 30402693, local time: 30404579
Starting Holybro LED driver
INFO  [qshell] Send cmd: 'rgbled_ncp5623c start -X -b 1 -f 400 -a 56'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: rgbled_ncp5623c start -X -b 1 -f 400 -a 56
INFO  [muorb] SLPI:   arg0 = 'rgbled_ncp5623c'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI:   arg2 = '-X'

INFO  [muorb] SLPI:   arg3 = '-b'

INFO  [muorb] SLPI:   arg4 = '1'

INFO  [muorb] SLPI:   arg5 = '-f'

INFO  [muorb] SLPI:   arg6 = '400'

INFO  [muorb] SLPI:   arg7 = '-a'

INFO  [muorb] SLPI:   arg8 = '56'

INFO  [muorb] SLPI: *** I2C Device ID 0x7b3809 8075273
INFO  [muorb] SLPI: rgbled_ncp5623c #0 on I2C bus 1
INFO  [muorb] SLPI:  (external)
INFO  [muorb] SLPI:  address 0x38
INFO  [muorb] SLPI: 

INFO  [muorb] SLPI: Ok executing command: rgbled_ncp5623c start -X -b 1 -f 400 -a 56
INFO  [qshell] qshell return value timestamp: 30457005, local time: 30458459
INFO  [uORB] Advertising remote topic sensor_mag
INFO  [qshell] Send cmd: 'modal_io start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: modal_io start
INFO  [muorb] SLPI:   arg0 = 'modal_io'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [uORB] Advertising remote topic actuator_outputs
INFO  [muorb] SLPI: Ok executing command: modal_io start
INFO  [muorb] SLPI: Opened UART ESC device
INFO  [qshell] qshell return value timestamp: 30550352, local time: 30552275
INFO  [uORB] Advertising remote topic sensor_baro
Starting Spektrum RC
INFO  [qshell] Send cmd: 'spektrum_rc start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: spektrum_rc start
INFO  [muorb] SLPI:   arg0 = 'spektrum_rc'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI: Creating pthread spektrum_rc_main

INFO  [muorb] SLPI: Successfully created px4 task PX4_spektrum_rc_main with tid 2097645
INFO  [muorb] SLPI: Ok executing command: spektrum_rc start
INFO  [qshell] qshell return value timestamp: 30599384, local time: 30600883
INFO  [muorb] SLPI: Spektrum RC: Read no bytes from UART
INFO  [uORB] Advertising remote topic actuator_outputs_debug
INFO  [uORB] Advertising remote topic esc_status
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x65 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x67 0x00
INFO  [qshell] Send cmd: 'voxlpm start -X -b 2'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: voxlpm start -X -b 2
INFO  [muorb] SLPI:   arg0 = 'voxlpm'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI:   arg2 = '-X'

INFO  [muorb] SLPI:   arg3 = '-b'

INFO  [muorb] SLPI:   arg4 = '2'

INFO  [muorb] SLPI: *** I2C Device ID 0xd24411 13779985
INFO  [muorb] SLPI: Set i2c address 0x6a, fd 3
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00
INFO  [muorb] SLPI: Set i2c address 0x44, fd 3
INFO  [uORB] Advertising remote topic battery_status
INFO  [muorb] SLPI: voxlpm #0 on I2C bus 2
INFO  [muorb] SLPI:  (external)
INFO  [muorb] SLPI:  address 0x44
INFO  [muorb] SLPI: 

INFO  [muorb] SLPI: Ok executing command: voxlpm start -X -b 2
INFO  [qshell] qshell return value timestamp: 30657353, local time: 30659016
INFO  [uORB] Advertising remote topic power_monitor
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x61 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x63 0x00
INFO  [qshell] Send cmd: 'sensors start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: sensors start
INFO  [muorb] SLPI:   arg0 = 'sensors'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [uORB] Advertising remote topic sensor_selection
INFO  [uORB] Advertising remote topic sensors_status_imu
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00
INFO  [uORB] Advertising remote topic vehicle_acceleration
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x65 0x00
INFO  [uORB] Advertising remote topic vehicle_angular_velocity
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00
INFO  [uORB] Advertising remote topic sensor_combined
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x67 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x61 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x67 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x63 0x00
INFO  [uORB] Advertising remote topic vehicle_air_data
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x65 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00
INFO  [uORB] Advertising remote topic sensors_status_baro
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x67 0x00
ERROR [muorb] SLPI: Timeout waiting for parameter_server_set_used_response for SENS_GPS_MASK
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x61 0x00
INFO  [uORB] Advertising remote topic vehicle_gps_position
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x61 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00
INFO  [uORB] Advertising remote topic vehicle_magnetometer
INFO  [uORB] Advertising remote topic sensor_preflight_mag
INFO  [uORB] Advertising remote topic sensors_status_mag
INFO  [uORB] Advertising remote topic vehicle_imu
INFO  [uORB] Advertising remote topic vehicle_imu_status
INFO  [muorb] SLPI: Ok executing command: sensors start
INFO  [qshell] qshell return value timestamp: 30853798, local time: 30856869
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x63 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x65 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00
INFO  [qshell] Send cmd: 'ekf2 start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: ekf2 start
INFO  [muorb] SLPI:   arg0 = 'ekf2'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x67 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x61 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x63 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x65 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x67 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: Spektrum RC: DSM message parsed successfully
INFO  [uORB] Advertising remote topic input_rc
INFO  [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x61 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: Spektrum RC: DSM message parsed successfully
INFO  [muorb] SLPI: Spektrum RC: Publishing input_rc
INFO  [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: Spektrum RC: DSM message parsed successfully
INFO  [muorb] SLPI: Spektrum RC: Publishing input_rc
INFO  [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x63 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x65 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x67 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x67 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x61 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: Spektrum RC: DSM message parsed successfully
INFO  [muorb] SLPI: Spektrum RC: Publishing input_rc
INFO  [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x63 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: Spektrum RC: DSM message parsed successfully
INFO  [muorb] SLPI: Spektrum RC: Publishing input_rc
INFO  [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x65 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x61 0x00
INFO  [uORB] Advertising remote topic vehicle_attitude
INFO  [uORB] Advertising remote topic vehicle_local_position
INFO  [uORB] Advertising remote topic estimator_event_flags
INFO  [uORB] Advertising remote topic estimator_innovation_test_ratios
INFO  [uORB] Advertising remote topic estimator_innovation_variances
INFO  [uORB] Advertising remote topic estimator_innovations
INFO  [uORB] Advertising remote topic estimator_sensor_bias
INFO  [uORB] Advertising remote topic estimator_states
INFO  [uORB] Advertising remote topic estimator_status_flags
INFO  [uORB] Advertising remote topic estimator_status
INFO  [muorb] SLPI: Ok executing command: ekf2 start
INFO  [qshell] qshell return value timestamp: 31159822, local time: 31165232
INFO  [uORB] Advertising remote topic ekf2_timestamps
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [uORB] Advertising remote topic vehicle_odometry
INFO  [uORB] Advertising remote topic estimator_aid_src_baro_hgt
INFO  [uORB] Advertising remote topic estimator_aid_src_fake_pos
INFO  [uORB] Advertising remote topic estimator_aid_src_fake_hgt
INFO  [uORB] Advertising remote topic estimator_aid_src_mag_heading
INFO  [uORB] Advertising remote topic estimator_aid_src_mag
INFO  [uORB] Advertising remote topic estimator_aid_src_gravity
INFO  [muorb] SLPI: Spektrum RC: DSM message parsed successfully
INFO  [muorb] SLPI: Spektrum RC: Publishing input_rc
INFO  [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x67 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: Spektrum RC: DSM message parsed successfully
INFO  [muorb] SLPI: Spektrum RC: Publishing input_rc
INFO  [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: Spektrum RC: DSM message parsed successfully
INFO  [muorb] SLPI: Spektrum RC: Publishing input_rc
INFO  [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x61 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: Spektrum RC: DSM message parsed successfully
INFO  [muorb] SLPI: Spektrum RC: Publishing input_rc
INFO  [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00
INFO  [muorb] SLPI: Spektrum RC: Read 16 bytes from UART
INFO  [muorb] SLPI: Spektrum RC: DSM message parsed successfully
INFO  [muorb] SLPI: Spektrum RC: Publishing input_rc
INFO  [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x63 0x00
INFO  [qshell] Send cmd: 'mc_pos_control start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: mc_pos_control start
INFO  [muorb] SLPI:   arg0 = 'mc_pos_control'

Chase Riley

@ben-grocholsky @Eric-Katzfey I attempted to run voxl-px4 again after a power cycle and encountered this error. Similar to the error before but looks to be showing the info that was cut off in the previous deb file.

voxl2:/$ voxl-px4
[INFO] Reading from /etc/modalai/voxl-px4.conf
Found DSP signature file
[INFO] Daemon mode enabled

*************************
GPS=HOLYBRO
RC=SPEKTRUM
POWER MANAGER=VOXLPM
DISTANCE SENSOR=NONE
OSD=DISABLE
DAEMON_MODE=ENABLE
SENSOR_CAL=ACTUAL
EXTRA STEPS:
*************************

INFO  [px4] mlockall() enabled. PX4's virtual address space is locked into RAM.
INFO  [px4] assuming working directory is rootfs, no symlinks needed.
INFO  [muorb] Got muorb init command
Sending initialization request
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
INFO  [muorb] SLPI: muorb aggregator thread running
INFO  [muorb] muorb protobuf initalize method succeeded
INFO  [muorb] succesfully did ADVERTISE_TEST_TYPE
INFO  [muorb] SLPI: Creating pthread test_MUORB

INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097656
INFO  [muorb] succesfully did SUBSCRIBE_TEST_TYPE
INFO  [muorb] SLPI: Creating pthread test_MUORB

INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097655
INFO  [muorb] succesfully did TOPIC_TEST_TYPE
INFO  [muorb] SLPI: Creating pthread test_MUORB

INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097654
INFO  [muorb] succesfully did UNSUBSCRIBE_TEST_TYPE
INFO  [muorb] SLPI: Creating pthread test_MUORB

INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097653
INFO  [muorb] muorb test passed

______  __   __    ___ 
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [muorb] SLPI: Advertising remote topic log_message
INFO  [px4] startup script: /bin/sh /usr/bin/voxl-px4-start 0
INFO  [parameters] Starting param sync THREAD
INFO  [muorb] SLPI: Starting param sync THREAD

*************************
GPS: HOLYBRO
RC: SPEKTRUM
POWER MANAGER: VOXLPM
DISTANCE SENSOR: NONE
OSD: DISABLE
EXTRA STEPS:
	
*************************

Running on M0054
INFO  [muorb] SLPI: before starting the qshell_entry task
INFO  [muorb] SLPI: Creating pthread qshell

INFO  [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 2097652
INFO  [muorb] SLPI: qshell entry.....
INFO  [muorb] SLPI: after starting the qshell_entry task
INFO  [muorb] SLPI: Init app map initialized
INFO  [param] selected parameter default file /data/px4/param/parameters
INFO  [muorb] SLPI: Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic
INFO  [uORB] Marking DeviceNode(parameter_client_reset_response) as advertised in process_remote_topic
INFO  [muorb] SLPI: Advertising remote topic parameter_update
INFO  [muorb] SLPI: Marking DeviceNode(parameter_client_set_value_request) as advertised in process_remote_to
INFO  [uORB] Marking DeviceNode(parameter_server_set_used_request) as advertised in process_remote_topic
INFO  [muorb] SLPI: Marking DeviceNode(parameter_server_set_used_response) as advertised in process_remote_to
INFO  [uORB] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic
INFO  [parameters] BSON document size 3333 bytes, decoded 3333 bytes (INT32:50, FLOAT:104)
INFO  [logger] logger started (mode=all)
Starting IMU driver with no rotation
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [qshell] Send cmd: 'icm42688p start -s'
INFO  [muorb] SLPI: qshell gotten: icm42688p start -s
INFO  [muorb] SLPI:   arg0 = 'icm42688p'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI:   arg2 = '-s'

INFO  [muorb] SLPI: *** SPI Device ID 0x26000a 2490378
INFO  [uORB] Advertising remote topic sensor_accel
INFO  [uORB] Advertising remote topic sensor_gyro
INFO  [muorb] SLPI: ICM42688P::probe successful!
INFO  [muorb] SLPI: on SPI bus 1
INFO  [muorb] SLPI: icm42688p #0 on SPI bus 1
INFO  [muorb] SLPI: 

INFO  [muorb] SLPI: >>> ICM42688P this: 3176eb30
INFO  [muorb] SLPI: Ok executing command: icm42688p start -s
INFO  [uORB] Advertising remote topic qshell_retval
INFO  [muorb] SLPI: >>> ICM42688P this: 3176eb30
INFO  [qshell] qshell return value timestamp: 262948496, local time: 262952979
INFO  [muorb] SLPI: >>> ICM42688P this: 3176eb30
INFO  [muorb] SLPI: Register interrupt b21d3164 e6205e9c 3176eb30
INFO  [uORB] Advertising remote topic sensor_gyro_fifo
INFO  [uORB] Advertising remote topic sensor_accel_fifo
INFO  [uORB] Advertising remote topic imu_server
INFO  [qshell] Send cmd: 'icp101xx start -I -b 5'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: icp101xx start -I -b 5
INFO  [muorb] SLPI:   arg0 = 'icp101xx'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI:   arg2 = '-I'

INFO  [muorb] SLPI:   arg3 = '-b'

INFO  [muorb] SLPI:   arg4 = '5'

INFO  [muorb] SLPI: *** I2C Device ID 0xb76329 12018473
INFO  [muorb] SLPI: icp101xx #0 on I2C bus 5
INFO  [muorb] SLPI:  address 0x63
INFO  [muorb] SLPI: 

INFO  [muorb] SLPI: Ok executing command: icp101xx start -I -b 5
INFO  [qshell] qshell return value timestamp: 262991650, local time: 262992261
Starting ist8310 magnetometer
INFO  [qshell] Send cmd: 'ist8310 start -R 10 -X -b 1'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: ist8310 start -R 10 -X -b 1
INFO  [muorb] SLPI:   arg0 = 'ist8310'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI:   arg2 = '-R'

INFO  [muorb] SLPI:   arg3 = '10'

INFO  [muorb] SLPI:   arg4 = '-X'

INFO  [muorb] SLPI:   arg5 = '-b'

INFO  [muorb] SLPI:   arg6 = '1'

INFO  [muorb] SLPI: *** I2C Device ID 0x60e09 396809
INFO  [muorb] SLPI: ist8310 #0 on I2C bus 1
INFO  [muorb] SLPI:  (external)
INFO  [muorb] SLPI:  address 0xE
INFO  [muorb] SLPI:  rotation 10
INFO  [muorb] SLPI: 

INFO  [muorb] SLPI: Ok executing command: ist8310 start -R 10 -X -b 1
INFO  [qshell] qshell return value timestamp: 263025555, local time: 263026330
INFO  [qshell] Send cmd: 'gps start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: gps start
INFO  [muorb] SLPI:   arg0 = 'gps'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI: Creating pthread gps

INFO  [muorb] SLPI: Successfully created px4 task PX4_gps with tid 2097648
INFO  [muorb] SLPI: Ok executing command: gps start
INFO  [qshell] qshell return value timestamp: 263048076, local time: 263048948
Starting Holybro LED driver
INFO  [muorb] SLPI: >>> ICM42688P this: 3176eb30
INFO  [qshell] Send cmd: 'rgbled_ncp5623c start -X -b 1 -f 400 -a 56'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: rgbled_ncp5623c start -X -b 1 -f 400 -a 56
INFO  [muorb] SLPI:   arg0 = 'rgbled_ncp5623c'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI:   arg2 = '-X'

INFO  [muorb] SLPI:   arg3 = '-b'

INFO  [muorb] SLPI:   arg4 = '1'

INFO  [muorb] SLPI:   arg5 = '-f'

INFO  [muorb] SLPI:   arg6 = '400'

INFO  [muorb] SLPI:   arg7 = '-a'

INFO  [muorb] SLPI:   arg8 = '56'

INFO  [muorb] SLPI: *** I2C Device ID 0x7b3809 8075273
INFO  [muorb] SLPI: rgbled_ncp5623c #0 on I2C bus 1
INFO  [muorb] SLPI:  (external)
INFO  [muorb] SLPI:  address 0x38
INFO  [muorb] SLPI: 

INFO  [muorb] SLPI: Ok executing command: rgbled_ncp5623c start -X -b 1 -f 400 -a 56
INFO  [qshell] qshell return value timestamp: 263082514, local time: 263084020
INFO  [qshell] Send cmd: 'modal_io start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: modal_io start
INFO  [muorb] SLPI:   arg0 = 'modal_io'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [uORB] Advertising remote topic sensor_mag
INFO  [uORB] Advertising remote topic actuator_outputs
INFO  [muorb] SLPI: Ok executing command: modal_io start
INFO  [muorb] SLPI: Opened UART ESC device
INFO  [qshell] qshell return value timestamp: 263170284, local time: 263173206
Starting Spektrum RC
INFO  [uORB] Advertising remote topic sensor_baro
INFO  [qshell] Send cmd: 'spektrum_rc start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: spektrum_rc start
INFO  [muorb] SLPI:   arg0 = 'spektrum_rc'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI: Creating pthread spektrum_rc_main

INFO  [muorb] SLPI: Successfully created px4 task PX4_spektrum_rc_main with tid 2097645
INFO  [muorb] SLPI: Ok executing command: spektrum_rc start
INFO  [qshell] qshell return value timestamp: 263217799, local time: 263218642
INFO  [muorb] SLPI: Spektrum RC: Read no bytes from UART
INFO  [uORB] Advertising remote topic actuator_outputs_debug
INFO  [uORB] Advertising remote topic esc_status
ERROR [muorb] SLPI: Spektrum RC: Got 6 bytes. Protocol byte is 0x52
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: voxlpm start -X -b 2
INFO  [muorb] SLPI:   arg0 = 'voxlpm'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI:   arg2 = '-X'

INFO  [muorb] SLPI:   arg3 = '-b'

INFO  [muorb] SLPI:   arg4 = '2'

INFO  [muorb] SLPI: *** I2C Device ID 0xd24411 13779985
INFO  [qshell] Send cmd: 'voxlpm start -X -b 2'
INFO  [muorb] SLPI: Set i2c address 0x6a, fd 3
INFO  [muorb] SLPI: Set i2c address 0x44, fd 3
INFO  [uORB] Advertising remote topic battery_status
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
INFO  [muorb] SLPI: voxlpm #0 on I2C bus 2
INFO  [muorb] SLPI:  (external)
INFO  [muorb] SLPI:  address 0x44
INFO  [muorb] SLPI: 

INFO  [muorb] SLPI: Ok executing command: voxlpm start -X -b 2
INFO  [uORB] Advertising remote topic power_monitor
INFO  [qshell] qshell return value timestamp: 263251129, local time: 263253445
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
INFO  [qshell] Send cmd: 'sensors start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: sensors start
INFO  [muorb] SLPI:   arg0 = 'sensors'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [uORB] Advertising remote topic sensor_selection
INFO  [uORB] Advertising remote topic sensors_status_imu
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
INFO  [uORB] Advertising remote topic vehicle_acceleration
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
INFO  [uORB] Advertising remote topic vehicle_angular_velocity
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
INFO  [uORB] Advertising remote topic sensor_combined
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
INFO  [uORB] Advertising remote topic vehicle_air_data
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
INFO  [uORB] Advertising remote topic vehicle_gps_position
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Timeout waiting for parameter_server_set_used_response for SENS_MAG_MODE
INFO  [uORB] Advertising remote topic sensors_status_baro
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
INFO  [uORB] Advertising remote topic vehicle_magnetometer
INFO  [uORB] Advertising remote topic sensor_preflight_mag
INFO  [uORB] Advertising remote topic vehicle_imu
INFO  [uORB] Advertising remote topic vehicle_imu_status
INFO  [muorb] SLPI: Ok executing command: sensors start
INFO  [uORB] Advertising remote topic sensors_status_mag
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
INFO  [qshell] qshell return value timestamp: 263462076, local time: 263466609
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
INFO  [qshell] Send cmd: 'ekf2 start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: ekf2 start
INFO  [muorb] SLPI:   arg0 = 'ekf2'

INFO  [muorb] SLPI:   arg1 = 'start'

ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
INFO  [uORB] Advertising remote topic vehicle_attitude
INFO  [uORB] Advertising remote topic vehicle_local_position
INFO  [uORB] Advertising remote topic estimator_event_flags
INFO  [uORB] Advertising remote topic estimator_innovation_test_ratios
INFO  [uORB] Advertising remote topic estimator_innovation_variances
INFO  [uORB] Advertising remote topic estimator_innovations
INFO  [uORB] Advertising remote topic estimator_sensor_bias
INFO  [uORB] Advertising remote topic estimator_states
INFO  [uORB] Advertising remote topic estimator_status_flags
INFO  [uORB] Advertising remote topic estimator_status
INFO  [muorb] SLPI: Ok executing command: ekf2 start
INFO  [qshell] qshell return value timestamp: 263750947, local time: 263755362
INFO  [uORB] Advertising remote topic ekf2_timestamps
INFO  [uORB] Advertising remote topic vehicle_odometry
INFO  [uORB] Advertising remote topic estimator_aid_src_baro_hgt
INFO  [uORB] Advertising remote topic estimator_aid_src_fake_pos
INFO  [uORB] Advertising remote topic estimator_aid_src_fake_hgt
INFO  [uORB] Advertising remote topic estimator_aid_src_mag_heading
INFO  [uORB] Advertising remote topic estimator_aid_src_mag
INFO  [uORB] Advertising remote topic estimator_aid_src_gravity
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
INFO  [qshell] Send cmd: 'mc_pos_control start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: mc_pos_control start
INFO  [muorb] SLPI:   arg0 = 'mc_pos_control'

INFO  [muorb] SLPI:   arg1 = 'start'

ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
INFO  [uORB] Advertising remote topic takeoff_status
INFO  [muorb] SLPI: Ok executing command: mc_pos_control start
INFO  [qshell] qshell return value timestamp: 263841868, local time: 263843014
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
INFO  [qshell] Send cmd: 'mc_att_control start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: mc_att_control start
INFO  [muorb] SLPI:   arg0 = 'mc_att_control'

INFO  [muorb] SLPI:   arg1 = 'start'

ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
INFO  [muorb] SLPI: Ok executing command: mc_att_control start
INFO  [qshell] qshell return value timestamp: 263905079, local time: 263906174
INFO  [muorb] SLPI: baudrate set to 9600
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
INFO  [muorb] SLPI: Sending initial CFG_VALSET. Attempt: 1
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
INFO  [qshell] Send cmd: 'mc_rate_control start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: mc_rate_control start
INFO  [muorb] SLPI:   arg0 = 'mc_rate_control'

INFO  [muorb] SLPI:   arg1 = 'start'

ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
INFO  [uORB] Advertising remote topic rate_ctrl_status
INFO  [muorb] SLPI: Ok executing command: mc_rate_control start
INFO  [qshell] qshell return value timestamp: 264001370, local time: 264002881
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
INFO  [qshell] Send cmd: 'mc_hover_thrust_estimator start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: mc_hover_thrust_estimator start
INFO  [muorb] SLPI:   arg0 = 'mc_hover_thrust_estimator'

INFO  [muorb] SLPI:   arg1 = 'start'

ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
INFO  [muorb] SLPI: Ok executing command: mc_hover_thrust_estimator start
INFO  [qshell] qshell return value timestamp: 264045767, local time: 264046812
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
INFO  [qshell] Send cmd: 'mc_autotune_attitude_control start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: mc_autotune_attitude_control start
INFO  [muorb] SLPI:   arg0 = 'mc_autotune_attitude_control'

INFO  [muorb] SLPI:   arg1 = 'start'

ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00
INFO  [uORB] Advertising remote topic autotune_attitude_control_status
INFO  [muorb] SLPI: Ok executing command: mc_autotune_attitude_control start
INFO  [qshell] qshell return value timestamp: 264095634, local time: 264096726
ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00

ben grocholsky

@Chase-Riley In the first of these two runs you were getting 0x01 protocol byte like I see on my DX7 transmitter. In that state with this binary you should see rc_input uorb messages and be able to try the Radio Calibration tool tab on QGroundControl.

In the second run you're seeing 0x00 protocol byte and unfortunately I'm not sure what that means.

If you can get the first case working repeatedly using one of the voxl-bind-spektrum options -t -f -s then we're on the path to a fix. Which did you use and have you tried them all?

Chase Riley

@ben-grocholsky I am using a DX8 Transmitter during these test. Would the voxl-bind-spektrum be needed/do anything if I am not using the Spektrum bind board from Modal AI? I currently have the Spektrum receiver hooked directly to J19 on the VOXL2. When I was using SDK .0.9.5 I had the same receiver connected to the VOXL I/O board, and it worked great. Unfortunately the I/O board is not supported in SDK 1.0.0.

ben grocholsky

@Chase-Riley I didn't realize that had changed in V1.0. If you have access to a an alternative px4 fmu you could use the QGC pairing function to change the spektrum mode connected to that fmu and then plug it back into the voxl2. That could help check if one of the three options is more reliable. I'm not sure why you saw different data packets on a restart. Need to resolve that or try a different transmitter.

Chase Riley

@ben-grocholsky @Eric-Katzfey I got it to work using by using the DSM2 binding method with another Px4 FMU. I do have a question though. I am now not able to get the actuators tab to show up in QGC for my ModalAI ESC. Would you DEB file have something to do with this? I have checked all my params in QGC and all seems to be correct. This was just the only other variable I could think of and wanted to check. Should I go back to running a standard DEB file? If so where would I find that now that I am running the custom debug one?

Eric Katzfey

@Chase-Riley The standard px4 Debian package will set up the data correctly such that the actuators tab will be visible. For SDK 1.0 the packages are all available at http://voxl-packages.modalai.com/dists/qrb5165/sdk-1.0/binary-arm64/. To grab the px4 package use wget http://voxl-packages.modalai.com/dists/qrb5165/sdk-1.0/binary-arm64/voxl-px4_1.14.0-2.0.34_arm64.deb

Chase Riley

@Eric-Katzfey Unfortunately once I switch back to the standard Debian package the Spektrum error is back. I had it working every power up with the Debian Package from Ben.

ben grocholsky

@Eric-Katzfey the test deb file was just voxl-dev branch with the one line change to accept (0x02|0x01) protocol bytes with the error output shortened below 80 characters + debug print bools and macros in DSM parsing forced on. I can fly that one line change on a Sentinel to look for any unexpected consequences. It'd be great to coordinate on how to get such a change merged into the dev branch and a non-debug deb to Chase.

Eric Katzfey

@ben-grocholsky That would be great! Just submit a PR and I can merge it in and then cut a new release.

ben grocholsky

@Eric-Katzfey https://github.com/modalai/px4-firmware/pull/42

Chase Riley

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ModalAI Forum

Voxl2 Spektrum Receiver error