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    Voxl2 Spektrum Receiver error

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    • Chase RileyC
      Chase Riley @Eric Katzfey
      last edited by

      @Eric-Katzfey can you help me out with this?

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

        @Chase-Riley I wan;t able to reproduce this and I had some other team members try and they couldn't either. It worked fine for all of us. So I'm guessing that something in your file system got corrupted somehow. The files for the actuator tab are stored in /data/px4/etc/extras. Can you take a look at those files with both the working version and the non-working version and see if they are the same?

        1 Reply Last reply Reply Quote 0
        • Chase RileyC
          Chase Riley @Eric Katzfey
          last edited by

          @Eric-Katzfey said in Voxl2 Spektrum Receiver error:

          @Chase-Riley I made version 1.14.0-2.0.54 with the Spektrum RC changes in it. You can get it with wget http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-px4_1.14.0-2.0.54-202310161035_arm64.deb. Can you try it out and see if it fixes your issue?

          @Eric-Katzfey do you still have the version of px4 you referenced here. The link now gives a 404 error?

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

            @Chase-Riley Yeah, that's was in our dev repo that has a lot of churn. But you can grab this one: http://voxl-packages.modalai.com/dists/qrb5165/sdk-1.0/binary-arm64/voxl-px4_1.14.0-2.0.55_arm64.deb if you want something close to that. But latest SDK 1.1.2 also has those changes and you should be on the latest.

            Chase RileyC 1 Reply Last reply Reply Quote 0
            • Chase RileyC
              Chase Riley @Eric Katzfey
              last edited by

              @Eric-Katzfey This error still exist in SDK 1.1.2. I have tried multiple settings on the DX8 for binding. I have tried other Receivers as well.

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

                @Chase-Riley So the first deb you tried fixed the Spektrum issue but now with 1.1.2 it's back? That was a very simple change that went into the codebase and it is still there so not sure what happened. Can you send the output of journalctl -b -u voxl-px4 so I can see if there are any error messages?

                Chase RileyC 1 Reply Last reply Reply Quote 0
                • Chase RileyC
                  Chase Riley @Eric Katzfey
                  last edited by

                  @Eric-Katzfey I had to trim the output to fit into a forum post.

                  voxl2:/$ journalctl -b -u voxl-px4
                  -- Logs begin at Thu 2023-03-02 12:58:02 UTC, end at Thu 2023-03-02 13:13:00 UTC. --
                  Mar 02 12:58:05 m0054 systemd[1]: Starting px4...
                  Mar 02 12:58:07 m0054 systemd[1]: Started px4.
                  Mar 02 12:58:07 m0054 voxl-px4[1878]: [INFO] Reading from /etc/modalai/voxl-px4.conf
                  Mar 02 12:58:07 m0054 voxl-px4[1878]: Found DSP signature file
                  Mar 02 12:58:07 m0054 voxl-px4[1878]: [INFO] Daemon mode enabled
                  Mar 02 12:58:07 m0054 voxl-px4[1878]: *************************
                  Mar 02 12:58:07 m0054 voxl-px4[1878]: GPS=AUTODETECT
                  Mar 02 12:58:07 m0054 voxl-px4[1878]: RC=SPEKTRUM
                  Mar 02 12:58:07 m0054 voxl-px4[1878]: ESC=VOXL_ESC
                  Mar 02 12:58:07 m0054 voxl-px4[1878]: POWER MANAGER=VOXLPM
                  Mar 02 12:58:07 m0054 voxl-px4[1878]: DISTANCE SENSOR=NONE
                  Mar 02 12:58:07 m0054 voxl-px4[1878]: OSD=DISABLE
                  Mar 02 12:58:07 m0054 voxl-px4[1878]: DAEMON_MODE=ENABLE
                  Mar 02 12:58:07 m0054 voxl-px4[1878]: SENSOR_CAL=ACTUAL
                  Mar 02 12:58:07 m0054 voxl-px4[1878]: EXTRA STEPS:
                  Mar 02 12:58:07 m0054 voxl-px4[1878]: *************************
                  Mar 02 12:58:07 m0054 voxl-px4[1878]: INFO  [px4] mlockall() enabled. PX4's virtual address space is locked into RAM.
                  Mar 02 12:58:07 m0054 voxl-px4[1878]: INFO  [px4] assuming working directory is rootfs, no symlinks needed.
                  Mar 02 12:58:07 m0054 voxl-px4[1878]: INFO  [muorb] Got muorb init command
                  Mar 02 12:58:07 m0054 voxl-px4[1878]: Sending initialization request
                  Mar 02 12:58:07 m0054 voxl-px4[1878]: Got topic data before configuration complete
                  Mar 02 12:58:07 m0054 voxl-px4[1878]: Got topic data before configuration complete
                  Mar 02 12:58:07 m0054 voxl-px4[1878]: *************************
                  Mar 02 12:58:07 m0054 voxl-px4[1878]: GPS: AUTODETECT
                  Mar 02 12:58:07 m0054 voxl-px4[1878]: RC: SPEKTRUM
                  Mar 02 12:58:07 m0054 voxl-px4[1878]: ESC: VOXL_ESC
                  Mar 02 12:58:07 m0054 voxl-px4[1878]: POWER MANAGER: VOXLPM
                  Mar 02 12:58:07 m0054 voxl-px4[1878]: DISTANCE SENSOR: NONE
                  Mar 02 12:58:07 m0054 voxl-px4[1878]: OSD: DISABLE
                  Mar 02 12:58:07 m0054 voxl-px4[1878]: EXTRA STEPS:
                  Mar 02 12:58:07 m0054 voxl-px4[1878]:         
                  Mar 02 12:58:07 m0054 voxl-px4[1878]: *************************
                  Mar 02 12:58:07 m0054 voxl-px4[1878]: Running on M0054
                  Mar 02 12:58:08 m0054 voxl-px4[1878]: INFO  [param] selected parameter default file /data/px4/param/parameters
                  Mar 02 12:58:10 m0054 voxl-px4[1878]: INFO  [parameters] BSON document size 4125 bytes, decoded 4125 bytes (INT32:57, FLOAT:136)
                  Mar 02 12:58:10 m0054 voxl-px4[1878]: Starting IMU driver with no rotation
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [qshell] Send cmd: 'icm42688p start -s -R 4'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [qshell] qshell return value timestamp: 11587369, local time: 11593616
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [qshell] Send cmd: 'icp101xx start -I -b 5'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [qshell] qshell return value timestamp: 11630444, local time: 11631222
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: Looking for qmc5883l magnetometer
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: muorb aggregator thread running
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] muorb protobuf initalize method succeeded
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] succesfully did ADVERTISE_TEST_TYPE
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Creating pthread test_MUORB
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097656
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] succesfully did SUBSCRIBE_TEST_TYPE
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Creating pthread test_MUORB
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097655
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] succesfully did TOPIC_TEST_TYPE
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Creating pthread test_MUORB
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097654
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] succesfully did UNSUBSCRIBE_TEST_TYPE
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Creating pthread test_MUORB
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097653
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] muorb test passed
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: ______  __   __    ___
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: | ___ \ \ \ / /   /   |
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: | |_/ /  \ V /   / /| |
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: |  __/   /   \  / /_| |
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: | |     / /^\ \ \___  |
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: \_|     \/   \/     |_/
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: px4 starting.
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [px4] startup script: /bin/sh /usr/bin/voxl-px4-start 0
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Advertising remote topic log_message
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [parameters] Starting param sync THREAD
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Starting param sync THREAD
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: before starting the qshell_entry task
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Creating pthread qshell
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: qshell entry.....
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 2097652
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Init app map initialized
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: after starting the qshell_entry task
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Marking DeviceNode(parameter_client_reset_response) as advertised in process_remote_topic
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Advertising remote topic parameter_update
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Marking DeviceNode(parameter_client_set_value_request) as advertised in process_remote_topic
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Marking DeviceNode(parameter_server_set_used_request) as advertised in process_remote_topic
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Marking DeviceNode(parameter_server_set_used_response) as advertised in process_remote_topic
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [logger] logger started (mode=all)
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: qshell gotten: icm42688p start -s -R 4
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg0 = 'icm42688p'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg1 = 'start'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg2 = '-s'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg3 = '-R'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg4 = '4'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: *** SPI Device ID 0x26000a 2490378
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic sensor_accel
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic sensor_gyro
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: ICM42688P::probe successful!
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: on SPI bus 1
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: icm42688p #0 on SPI bus 1
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:  rotation 4
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: >>> ICM42688P this: 3176ecd0
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Ok executing command: icm42688p start -s -R 4
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic qshell_retval
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: >>> ICM42688P this: 3176ecd0
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Register interrupt b21d31a4 e6201b3c 3176ecd0
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic sensor_gyro_fifo
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic sensor_accel_fifo
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic imu_server
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: qshell gotten: icp101xx start -I -b 5
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg0 = 'icp101xx'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg1 = 'start'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg2 = '-I'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg3 = '-b'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg4 = '5'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: *** I2C Device ID 0xb76329 12018473
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: icp101xx #0 on I2C bus 5
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:  address 0x63
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Ok executing command: icp101xx start -I -b 5
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in procesINFO  [qshell] Send cmd: 'qmc5883l start -R 10 -X -b 1'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [qshell] cmd returned with: -1
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [qshell] qshell return value timestamp: 11661692, local time: 11664384
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [qshell] Command failed
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: Looking for ist8310 magnetometer
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [qshell] Send cmd: 'ist8310 start -R 10 -X -b 1'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [qshell] qshell return value timestamp: 11691188, local time: 11692742
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [qshell] Send cmd: 'gps start'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [qshell] qshell return value timestamp: 11724704, local time: 11726454
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: Looking for ncp5623c RGB LED
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [qshell] Send cmd: 'rgbled_ncp5623c start -X -b 1 -f 400 -a 56'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [qshell] qshell return value timestamp: 11752678, local time: 11753969
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: Starting VOXL ESC driver
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [qshell] Send cmd: 'voxl_esc start'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [qshell] qshell return value timestamp: 11835821, local time: 11838037
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: Starting Spektrum RC
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [qshell] Send cmd: 'spektrum_rc start'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [qshell] qshell return value timestamp: 11886393, local time: 11888078
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: s_remote_topic
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: qshell gotten: qmc5883l start -R 10 -X -b 1
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg0 = 'qmc5883l'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg1 = 'start'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg2 = '-R'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg3 = '10'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg4 = '-X'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg5 = '-b'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg6 = '1'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: *** I2C Device ID 0x80d09 527625
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: i2c probe failed
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: PX4_qshell: no instance started (no device on bus?)
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Failed to execute command: qmc5883l start -R 10 -X -b 1
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: qshell gotten: ist8310 start -R 10 -X -b 1
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg0 = 'ist8310'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg1 = 'start'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg2 = '-R'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg3 = '10'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg4 = '-X'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg5 = '-b'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg6 = '1'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: *** I2C Device ID 0x60e09 396809
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: ist8310 #0 on I2C bus 1
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:  (external)
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:  address 0xE
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:  rotation 10
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Ok executing command: ist8310 start -R 10 -X -b 1
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: >>> ICM42688P this: 3176ecd0
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: qshell gotten: gps start
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg0 = 'gps'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg1 = 'start'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Creating pthread gps
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Successfully created px4 task PX4_gps with tid 2097647
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Ok executing command: gps start
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: qshell gotten: rgbled_ncp5623c start -X -b 1 -f 400 -a 56
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg0 = 'rgbled_ncp5623c'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg1 = 'start'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg2 = '-X'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg3 = '-b'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg4 = '1'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg5 = '-f'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg6 = '400'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg7 = '-a'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg8 = '56'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: *** I2C Device ID 0x7b3809 8075273
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: rgbled_ncp5623c #0 on I2C bus 1
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:  (external)
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:  address 0x38
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Ok executing command: rgbled_ncp5623c start -X -b 1 -f 400 -a 56
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic sensor_mag
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: qshell gotten: voxl_esc start
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg0 = 'voxl_esc'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg1 = 'start'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic actuator_outputs
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Ok executing command: voxl_esc start
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Opened UART ESC device
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic sensor_baro
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: qshell gotten: spektrum_rc start
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg0 = 'spektrum_rc'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg1 = 'start'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Creating pthread spektrum_rc_main
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Successfully created px4 task PX4_spektrum_rc_main with tid 2097644
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Ok executing command: spektrum_rc start
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic actuator_outputs_debug
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic esc_status
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: qshell gotten: voxlpm start -X -b 2
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg0 = 'voxlpm'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg1 = 'start'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg2 = '-X'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg3 = '-b'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg4 = '2'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: *** I2C Device ID 0xd24411 13779985
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Set i2c address 0x6a, fd 4
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Set i2c addINFO  [qshell] Send cmd: 'voxlpm start -X -b 2'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [qshell] qshell return value timestamp: 11923833, local time: 11926013
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [qshell] Send cmd: 'sensors start'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [qshell] qshell return value timestamp: 12118075, local time: 12122006
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: ress 0x44, fd 4
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic battery_status
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: voxlpm #0 on I2C bus 2
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:  (external)
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:  address 0x44
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Ok executing command: voxlpm start -X -b 2
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic power_monitor
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: qshell gotten: sensors start
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg0 = 'sensors'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg1 = 'start'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic sensor_selection
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic sensors_status_imu
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic vehicle_acceleration
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic vehicle_angular_velocity
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic sensor_combined
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic vehicle_air_data
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic vehicle_gps_position
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic sensors_status_baro
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Timeout waiting for parameter_server_set_used_response for CAL_MAG_COMP_TYP
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic vehicle_magnetometer
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic sensor_preflight_mag
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic vehicle_imu
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic vehicle_imu_status
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Ok executing command: sensors start
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic sensors_status_mag
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: qshell gotten: ekf2 start
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg0 = 'ekf2'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg1 = 'start'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RCINFO  [qshell] Send cmd: 'ekf2 start'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [qshell] qshell return value timestamp: 12374104, local time: 12378323
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [qshell] Send cmd: 'mc_pos_control start'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [qshell] qshell return value timestamp: 12482484, local time: 12483852
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [qshell] Send cmd: 'mc_att_control start'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [qshell] qshell return value timestamp: 12525883, local time: 12527670
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: : Invalid DSM frame. 16 bytes. Protocol byte 0x00
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic vehicle_attitude
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic vehicle_local_position
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic estimator_event_flags
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic estimator_innovation_test_ratios
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic estimator_innovation_variances
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic estimator_innovations
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic estimator_sensor_bias
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic estimator_states
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic estimator_status_flags
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic estimator_status
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Ok executing command: ekf2 start
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic ekf2_timestamps
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic vehicle_odometry
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic estimator_aid_src_baro_hgt
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic estimator_aid_src_fake_pos
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic estimator_aid_src_fake_hgt
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic estimator_aid_src_gravity
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: qshell gotten: mc_pos_control start
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg0 = 'mc_pos_control'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg1 = 'start'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic takeoff_status
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Ok executing command: mc_pos_control start
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic estimator_aid_src_mag_heading
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic estimator_aid_src_mag
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: qshell gotten: mc_att_control start
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg0 = 'mc_att_control'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg1 = 'start'
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Ok executing command: mc_att_control start
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                  Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertisedINFO  [qshell] Send cmd: 'mc_rate_control start'
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO  [qshell] qshell return value timestamp: 12616998, local time: 12618394
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO  [qshell] Send cmd: 'mc_hover_thrust_estimator start'
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO  [qshell] qshell return value timestamp: 12678757, local time: 12680493
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO  [qshell] Send cmd: 'mc_autotune_attitude_control start'
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO  [qshell] qshell return value timestamp: 12721830, local time: 12722851
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO  [qshell] Send cmd: 'land_detector start multicopter'
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO  [qshell] qshell return value timestamp: 12767035, local time: 12769446
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO  [qshell] Send cmd: 'manual_control start'
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO  [qshell] qshell return value timestamp: 12821435, local time: 12823707
                  Mar 02 12:58:12 m0054 voxl-px4[1878]:  in process_remote_topic
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: qshell gotten: mc_rate_control start
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg0 = 'mc_rate_control'
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg1 = 'start'
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic rate_ctrl_status
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Ok executing command: mc_rate_control start
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: qshell gotten: mc_hover_thrust_estimator start
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg0 = 'mc_hover_thrust_estimator'
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg1 = 'start'
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Ok executing command: mc_hover_thrust_estimator start
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: qshell gotten: mc_autotune_attitude_control start
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg0 = 'mc_autotune_attitude_control'
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg1 = 'start'
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO  [uORB] Advertising remote topic autotune_attitude_control_status
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Ok executing command: mc_autotune_attitude_control start
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO  [muorb] SLPI: qshell gotten: land_detector start multicopter
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg0 = 'land_detector'
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg1 = 'start'
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO  [muorb] SLPI:   arg2 = 'multicopter'
                  Mar 02 12:58:12 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                  
                  
                  
                  
                  Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                  • Eric KatzfeyE
                    Eric Katzfey ModalAI Team @Chase Riley
                    last edited by

                    @Chase-Riley said in Voxl2 Spektrum Receiver error:

                    ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00

                    Yep, there's the error. That's the correct size but the code is expecting either 0x01 or 0x02 as valid protocols, not 0x00. Does it report 0x00 every single time or does it change? Is this the same transmitter you used earlier? Seems like it must be something different as that one was reporting 0x01, not 0x00. I can build a new version that also allows 0x00 and see if that fixes anything.

                    Chase RileyC 1 Reply Last reply Reply Quote 0
                    • Chase RileyC
                      Chase Riley @Eric Katzfey
                      last edited by Chase Riley

                      @Eric-Katzfey it seems to change. I have seen different during testing. Same transmitter.

                      Chase RileyC 1 Reply Last reply Reply Quote 0
                      • Chase RileyC
                        Chase Riley @Chase Riley
                        last edited by Chase Riley

                        @Chase-Riley Actually it may change with the frame rate in the transmitter. I just ran it 5 times without changing the settings and it stayed as 0x00.

                        Update. I powered down the transmitter and when I ran again i received 0x5a

                        Eric KatzfeyE 3 Replies Last reply Reply Quote 0
                        • Eric KatzfeyE
                          Eric Katzfey ModalAI Team @Chase Riley
                          last edited by

                          @Chase-Riley Okay, well I'll just make a custom build for you that removes the check on that byte completely but that's probably not the right thing to do. But at least it will get us farther down the road. I'll try to think of some other useful debugging information to output as well.

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

                            @Chase-Riley Seems like maybe the data on the serial line is getting corrupted somehow

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

                              @Chase-Riley Actually, can you start the driver with the -v flag so that it produces more output and send me the log from that?

                              Chase RileyC 2 Replies Last reply Reply Quote 0
                              • Chase RileyC
                                Chase Riley @Eric Katzfey
                                last edited by

                                @Eric-Katzfey I am out of the office for the night. I will get back to you first thing in the morning EST. If you could try the custom file that would be great. It may help me continue testing while we work on debugging this issue more.

                                1 Reply Last reply Reply Quote 0
                                • Chase RileyC
                                  Chase Riley @Eric Katzfey
                                  last edited by

                                  @Eric-Katzfey Here is the log with the -v argument added to the Spektrum Driver Start.

                                  voxl2:/$ voxl-px4 -d
                                  [INFO] Reading from /etc/modalai/voxl-px4.conf
                                  Found DSP signature file
                                  [INFO] Disabling daemon mode
                                  
                                  *************************
                                  GPS=AUTODETECT
                                  RC=SPEKTRUM
                                  ESC=VOXL_ESC
                                  POWER MANAGER=VOXLPM
                                  DISTANCE SENSOR=NONE
                                  OSD=DISABLE
                                  DAEMON_MODE=DISABLE
                                  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  [px4] startup script: /bin/sh /usr/bin/voxl-px4-start 0
                                  INFO  [muorb] SLPI: Advertising remote topic log_message
                                  INFO  [parameters] Starting param sync THREAD
                                  
                                  *************************
                                  GPS: AUTODETECT
                                  RC: SPEKTRUM
                                  ESC: VOXL_ESC
                                  POWER MANAGER: VOXLPM
                                  DISTANCE SENSOR: NONE
                                  OSD: DISABLE
                                  EXTRA STEPS:
                                  	
                                  *************************
                                  
                                  INFO  [muorb] SLPI: Starting param sync THREAD
                                  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 4125 bytes, decoded 4125 bytes (INT32:57, FLOAT:136)
                                  INFO  [logger] logger started (mode=all)
                                  Starting IMU driver with no rotation
                                  INFO  [qshell] Send cmd: 'icm42688p start -s -R 4'
                                  INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                  INFO  [muorb] SLPI: qshell gotten: icm42688p start -s -R 4
                                  INFO  [muorb] SLPI:   arg0 = 'icm42688p'
                                  
                                  INFO  [muorb] SLPI:   arg1 = 'start'
                                  
                                  INFO  [muorb] SLPI:   arg2 = '-s'
                                  
                                  INFO  [muorb] SLPI:   arg3 = '-R'
                                  
                                  INFO  [muorb] SLPI:   arg4 = '4'
                                  
                                  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:  rotation 4
                                  INFO  [muorb] SLPI: >>> ICM42688P this: 3176cce0
                                  INFO  [muorb] SLPI: 
                                  
                                  INFO  [muorb] SLPI: Ok executing command: icm42688p start -s -R 4
                                  INFO  [uORB] Advertising remote topic qshell_retval
                                  INFO  [muorb] SLPI: >>> ICM42688P this: 3176cce0
                                  INFO  [qshell] qshell return value timestamp: 197304564, local time: 197310221
                                  INFO  [muorb] SLPI: >>> ICM42688P this: 3176cce0
                                  INFO  [muorb] SLPI: Register interrupt b21d31a4 e6201b3c 3176cce0
                                  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: 197356803, local time: 197358238
                                  Looking for qmc5883l magnetometer
                                  INFO  [qshell] Send cmd: 'qmc5883l start -R 10 -X -b 1'
                                  INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                  INFO  [muorb] SLPI: qshell gotten: qmc5883l start -R 10 -X -b 1
                                  INFO  [muorb] SLPI:   arg0 = 'qmc5883l'
                                  
                                  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 0x80d09 527625
                                  ERROR [muorb] SLPI: i2c probe failed
                                  INFO  [muorb] SLPI: PX4_qshell: no instance started (no device on bus?)
                                  ERROR [muorb] SLPI: Failed to execute command: qmc5883l start -R 10 -X -b 1
                                  INFO  [qshell] cmd returned with: -1
                                  INFO  [qshell] qshell return value timestamp: 197389684, local time: 197391710
                                  ERROR [qshell] Command failed
                                  Looking for ist8310 magnetometer
                                  INFO  [muorb] SLPI: >>> ICM42688P this: 3176cce0
                                  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: 197437606, local time: 197440108
                                  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 2097647
                                  INFO  [muorb] SLPI: Ok executing command: gps start
                                  INFO  [qshell] qshell return value timestamp: 197463075, local time: 197465432
                                  Looking for ncp5623c RGB LED
                                  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: 197515519, local time: 197517065
                                  INFO  [uORB] Advertising remote topic sensor_mag
                                  Starting VOXL ESC driver
                                  INFO  [qshell] Send cmd: 'voxl_esc start'
                                  INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                  INFO  [muorb] SLPI: qshell gotten: voxl_esc start
                                  INFO  [muorb] SLPI:   arg0 = 'voxl_esc'
                                  
                                  INFO  [muorb] SLPI:   arg1 = 'start'
                                  
                                  INFO  [uORB] Advertising remote topic sensor_baro
                                  INFO  [uORB] Advertising remote topic actuator_outputs
                                  INFO  [muorb] SLPI: ubx msg 0x0107 invalid len 46584
                                  INFO  [muorb] SLPI: Ok executing command: voxl_esc start
                                  INFO  [muorb] SLPI: Opened UART ESC device
                                  INFO  [qshell] qshell return value timestamp: 197621321, local time: 197622953
                                  Starting Spektrum RC
                                  INFO  [qshell] Send cmd: 'spektrum_rc start -v'
                                  INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                  INFO  [muorb] SLPI: qshell gotten: spektrum_rc start -v
                                  INFO  [muorb] SLPI:   arg0 = 'spektrum_rc'
                                  
                                  INFO  [muorb] SLPI:   arg1 = 'start'
                                  
                                  INFO  [muorb] SLPI:   arg2 = '-v'
                                  
                                  INFO  [muorb] SLPI: Creating pthread spektrum_rc_main
                                  
                                  INFO  [muorb] SLPI: Successfully created px4 task PX4_spektrum_rc_main with tid 2097644
                                  INFO  [muorb] SLPI: Ok executing command: spektrum_rc start -v
                                  INFO  [muorb] SLPI: Spektrum RC: Enabling verbose mode
                                  INFO  [muorb] SLPI: Spektrum RC: dsm_init succeeded
                                  INFO  [qshell] qshell return value timestamp: 197674334, local time: 197676244
                                  INFO  [uORB] Advertising remote topic actuator_outputs_debug
                                  INFO  [uORB] Advertising remote topic esc_status
                                  INFO  [muorb] SLPI: Spektrum RC: Read no bytes from UART
                                  ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                                  ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 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 4
                                  INFO  [muorb] SLPI: Set i2c address 0x44, fd 4
                                  ERROR [muorb] SLPI: i2c probe failed
                                  INFO  [muorb] SLPI: PX4_qshell: no instance started (no device on bus?)
                                  ERROR [muorb] SLPI: Failed to execute command: voxlpm start -X -b 2
                                  ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                                  INFO  [qshell] cmd returned with: -1
                                  INFO  [qshell] qshell return value timestamp: 197707182, local time: 197710461
                                  ERROR [qshell] Command failed
                                  ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                                  ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                                  ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                                  ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 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: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                                  INFO  [uORB] Advertising remote topic vehicle_acceleration
                                  ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                                  INFO  [uORB] Advertising remote topic vehicle_angular_velocity
                                  ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                                  INFO  [uORB] Advertising remote topic sensor_combined
                                  ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                                  ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                                  ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                                  ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                                  ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                                  INFO  [uORB] Advertising remote topic vehicle_air_data
                                  ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                                  ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                                  ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                                  ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                                  ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                                  ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00
                                  
                                  Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                                  • Eric KatzfeyE
                                    Eric Katzfey ModalAI Team @Chase Riley
                                    last edited by

                                    @Chase-Riley Interesting. Okay, so in this case it's always 0x00. But you say you have seen other random values? Can you capture a log with that happening?

                                    Chase RileyC 1 Reply Last reply Reply Quote 0
                                    • Chase RileyC
                                      Chase Riley @Eric Katzfey
                                      last edited by Chase Riley

                                      @Eric-Katzfey Here is the log you requested. To get a different value than 0x00 I just powered down and then powered back up the transmitter. I also ran it again after this test and received 0x5a.

                                      voxl2:/$ voxl-px4 -d
                                      [INFO] Reading from /etc/modalai/voxl-px4.conf
                                      Found DSP signature file
                                      [INFO] Disabling daemon mode
                                      
                                      *************************
                                      GPS=AUTODETECT
                                      RC=SPEKTRUM
                                      ESC=VOXL_ESC
                                      POWER MANAGER=VOXLPM
                                      DISTANCE SENSOR=NONE
                                      OSD=DISABLE
                                      DAEMON_MODE=DISABLE
                                      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] SLPI: Creating pthread test_MUORB
                                      
                                      INFO  [muorb] succesfully did TOPIC_TEST_TYPE
                                      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: AUTODETECT
                                      RC: SPEKTRUM
                                      ESC: VOXL_ESC
                                      POWER MANAGER: VOXLPM
                                      DISTANCE SENSOR: NONE
                                      OSD: DISABLE
                                      EXTRA STEPS:
                                      	
                                      *************************
                                      
                                      INFO  [muorb] SLPI: Starting param sync THREAD
                                      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 4125 bytes, decoded 4125 bytes (INT32:57, FLOAT:136)
                                      INFO  [logger] logger started (mode=all)
                                      Starting IMU driver with no rotation
                                      INFO  [qshell] Send cmd: 'icm42688p start -s -R 4'
                                      INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                      INFO  [muorb] SLPI: qshell gotten: icm42688p start -s -R 4
                                      INFO  [muorb] SLPI:   arg0 = 'icm42688p'
                                      
                                      INFO  [muorb] SLPI:   arg1 = 'start'
                                      
                                      INFO  [muorb] SLPI:   arg2 = '-s'
                                      
                                      INFO  [muorb] SLPI:   arg3 = '-R'
                                      
                                      INFO  [muorb] SLPI:   arg4 = '4'
                                      
                                      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:  rotation 4
                                      INFO  [muorb] SLPI: >>> ICM42688P this: 3176ccf0
                                      INFO  [muorb] SLPI: 
                                      
                                      INFO  [muorb] SLPI: Ok executing command: icm42688p start -s -R 4
                                      INFO  [uORB] Advertising remote topic qshell_retval
                                      INFO  [muorb] SLPI: >>> ICM42688P this: 3176ccf0
                                      INFO  [qshell] qshell return value timestamp: 140652268, local time: 140655765
                                      INFO  [muorb] SLPI: >>> ICM42688P this: 3176ccf0
                                      INFO  [muorb] SLPI: Register interrupt b21d31a4 e6201b3c 3176ccf0
                                      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: 140688809, local time: 140690531
                                      Looking for qmc5883l magnetometer
                                      INFO  [qshell] Send cmd: 'qmc5883l start -R 10 -X -b 1'
                                      INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                      INFO  [muorb] SLPI: qshell gotten: qmc5883l start -R 10 -X -b 1
                                      INFO  [muorb] SLPI:   arg0 = 'qmc5883l'
                                      
                                      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 0x80d09 527625
                                      ERROR [muorb] SLPI: i2c probe failed
                                      INFO  [muorb] SLPI: PX4_qshell: no instance started (no device on bus?)
                                      ERROR [muorb] SLPI: Failed to execute command: qmc5883l start -R 10 -X -b 1
                                      INFO  [qshell] cmd returned with: -1
                                      INFO  [qshell] qshell return value timestamp: 140728848, local time: 140731229
                                      ERROR [qshell] Command failed
                                      Looking for 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: 140766613, local time: 140767902
                                      INFO  [muorb] SLPI: >>> ICM42688P this: 3176ccf0
                                      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 2097647
                                      INFO  [muorb] SLPI: Ok executing command: gps start
                                      INFO  [qshell] qshell return value timestamp: 140792157, local time: 140794315
                                      Looking for ncp5623c RGB LED
                                      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: 140826063, local time: 140827364
                                      Starting VOXL ESC driver
                                      INFO  [uORB] Advertising remote topic sensor_mag
                                      INFO  [qshell] Send cmd: 'voxl_esc start'
                                      INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                      INFO  [muorb] SLPI: qshell gotten: voxl_esc start
                                      INFO  [muorb] SLPI:   arg0 = 'voxl_esc'
                                      
                                      INFO  [muorb] SLPI:   arg1 = 'start'
                                      
                                      INFO  [uORB] Advertising remote topic actuator_outputs
                                      INFO  [uORB] Advertising remote topic sensor_baro
                                      INFO  [muorb] SLPI: Ok executing command: voxl_esc start
                                      INFO  [muorb] SLPI: Opened UART ESC device
                                      INFO  [qshell] qshell return value timestamp: 140915998, local time: 140917432
                                      Starting Spektrum RC
                                      INFO  [qshell] Send cmd: 'spektrum_rc start -v'
                                      INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                      INFO  [muorb] SLPI: qshell gotten: spektrum_rc start -v
                                      INFO  [muorb] SLPI:   arg0 = 'spektrum_rc'
                                      
                                      INFO  [muorb] SLPI:   arg1 = 'start'
                                      
                                      INFO  [muorb] SLPI:   arg2 = '-v'
                                      
                                      INFO  [muorb] SLPI: Creating pthread spektrum_rc_main
                                      
                                      INFO  [muorb] SLPI: Successfully created px4 task PX4_spektrum_rc_main with tid 2097644
                                      INFO  [muorb] SLPI: Ok executing command: spektrum_rc start -v
                                      INFO  [muorb] SLPI: Spektrum RC: Enabling verbose mode
                                      INFO  [muorb] SLPI: Spektrum RC: dsm_init succeeded
                                      INFO  [qshell] qshell return value timestamp: 140957493, local time: 140958599
                                      INFO  [muorb] SLPI: Spektrum RC: Read no bytes from UART
                                      ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x2d
                                      INFO  [uORB] Advertising remote topic actuator_outputs_debug
                                      INFO  [uORB] Advertising remote topic esc_status
                                      INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                      INFO  [qshell] Send cmd: 'voxlpm start -X -b 2'
                                      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'
                                      
                                      ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x2d
                                      INFO  [muorb] SLPI: *** I2C Device ID 0xd24411 13779985
                                      INFO  [muorb] SLPI: Set i2c address 0x6a, fd 4
                                      INFO  [muorb] SLPI: Set i2c address 0x44, fd 4
                                      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: 140988963, local time: 140990201
                                      INFO  [uORB] Advertising remote topic power_monitor
                                      ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x2d
                                      ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x2d
                                      ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x2d
                                      ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x2d
                                      
                                      Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                                      • Eric KatzfeyE
                                        Eric Katzfey ModalAI Team @Chase Riley
                                        last edited by

                                        @Chase-Riley Okay, I'm preparing a new Debian that just completely removes that protocol byte check and, when verbose debug information is selected, will dump the complete frame contents about once a second so we can see what is actually being received at the driver.

                                        Chase RileyC 1 Reply Last reply Reply Quote 0
                                        • Chase RileyC
                                          Chase Riley @Eric Katzfey
                                          last edited by

                                          @Eric-Katzfey Ok. Looking forward to trying it out.

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

                                            @Chase-Riley You can get it with wget https://storage.googleapis.com/modalai_public/forum/voxl-px4_1.14.66-6.0.0_arm64.deb

                                            Chase RileyC 1 Reply Last reply Reply Quote 0
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