m500 VOXL Flight sdk update to v1.1.x

[Darshit Desai]

I just updated my m500 voxl flight sdk to v1.1.x. In the documentation it says to update the flight core separately. But the documentation redirects it to this webpage https://docs.modalai.com/flight-core-v2-firmware/ which only has instructions of upgrading flight core v2. I am a bit confused here what is the difference between flight core v2 and voxl flight and do I need to upgrade the flight core of voxl flight after the sdk upgrade?

[Moderator]

@Darshit-Desai You are correct, you should use Flight Core v1 instructions for the Flight Core portion of VOXL Flight.

Flight Core Firmware

ModalAI technical documentation for VOXL and VOXL 2 Companion Computers for PX4 and ArduPilot Obstacle Avoidance and GPS-denied navigation, assembled in the USA

ModalAI Technical Docs (docs.modalai.com)

[Darshit Desai]

@Moderator Is the update procedure the same as this one for v1.14 firmware?

Update Flight Core Firmware

ModalAI technical documentation for VOXL and VOXL 2 Companion Computers for PX4 and ArduPilot Obstacle Avoidance and GPS-denied navigation, assembled in the USA

ModalAI Technical Docs (docs.modalai.com)

Also since I dont have the desired cable if I want to fallback to v0.9.5 I don't need to change anything in the firmware right?

Also when I try to go back v0.9.5 sdk and configure my qvio it always shows this error.

/ # voxl-configure-qvio
Starting Wizard
 
Do you want to reset the config file to factory defaults?
1) yes
2) no
#? 1
wiping old config file
loading config file
Creating new config file: /etc/modalai/voxl-qvio-server.conf
 
Do you want to enable the voxl-qvio-server service to allow
visual inertial odometry?
1) yes
2) no
#? 1
 
Now we are going to do a preliminary configuration of /etc/modalai/voxl-qvio-server.conf
 
Which config voxl-qvio-server use?

imu0_tracking          for VOXL Flight all-in-one board, M500
imu1_tracking          for VOXL1 and VOXL-CAM, Seeker V1
imu_px4_tracking       for RB5 Flight 5G
imu_apps_tracking      for VOXL2, Sentinel
imu_apps_stereo_lower  for Starling V2 stereo version

1) imu0_tracking	  3) imu_px4_tracking	    5) imu_apps_stereo_lower
2) imu1_tracking	  4) imu_apps_tracking
#? 1
enabling  voxl-qvio-server systemd service
starting  voxl-qvio-server systemd service
Done configuring voxl-qvio-server
/ # voxl-inspect-qvio 
waiting for server

 dt(ms) |    T_imu_wrt_vio (m)   |Roll Pitch Yaw (deg)|features|quality| state| error_codes |
   30.2 |    0.00    0.00    0.00|   0.0   -0.0    0.0|     0  |   -1% | FAIL | IMU_MISSING STALLED ^C
received SIGINT Ctrl-C

closing and exiting
/ #

[Moderator]

@Darshit-Desai your firmware should match what was used in the SDK, they are paired together

why would you go to SDK 0.9.5? It is really old and no longer supported

[Darshit Desai]

@Moderator I don't have the usb-jst connector for the firmware update and I think 0.95 that was the original factory sdk version

[Darshit Desai]

@Moderator

@Moderator said in m500 VOXL Flight sdk update to v1.1.x:

your firmware should match what was used in the SDK, they are paired together

What firmware matches the voxl-1 sdk 1.1.2 version

[Darshit Desai]

@Moderator I have got the cable for flight core update, I upgraded the sdk to 1.1.2 again but then I am following the instructions as shown in the below but nothing shows up in the firmware tab

Update Flight Core Firmware

ModalAI technical documentation for VOXL and VOXL 2 Companion Computers for PX4 and ArduPilot Obstacle Avoidance and GPS-denied navigation, assembled in the USA

ModalAI Technical Docs (docs.modalai.com)

[tom]

@Darshit-Desai The .px4 file is in the SDK release zip:

for FCv1: voxl_SDK_1.1.2/flight-core/modalai_fc-v1_1.14.0-2.0.63.px4

Follow the instructions here (ModalAI Build) with the above .px4 file:

Update Flight Core Firmware

ModalAI technical documentation for VOXL and VOXL 2 Companion Computers for PX4 and ArduPilot Obstacle Avoidance and GPS-denied navigation, assembled in the USA

ModalAI Technical Docs (docs.modalai.com)

[Darshit Desai]

@tom Yes but in the firmware page nothing shows up in QGC

@tom said in m500 VOXL Flight sdk update to v1.1.x:

Update Flight Core Firmware

ModalAI technical documentation for VOXL and VOXL 2 Companion Computers for PX4 and ArduPilot Obstacle Avoidance and GPS-denied navigation, assembled in the USA

ModalAI Technical Docs (docs.modalai.com)

[tom]

@Darshit-Desai Did you unplug power and re-connect power while keeping USB attached?

[Darshit Desai]

@tom I was able to finish the upgrade, but in QGC it shows something about actuators, when I open it opens the esc calibration related page, Do I need to calibrate esc again?

Edit: I found this page (https://docs.modalai.com/modal-esc-px4-user-guide/) on ESCs and added the parameters accordingly, the only ones I don't know are the min and max RPM, I am using the voxl 1 m500 with holybro 2216-920kv motors. Also I don't think the motors rotate when I try to using the sliders

[tom]

@Darshit-Desai ~~Can you try loading the FCv1 m500 params from here: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/blob/master/params/v1.14/platforms/M500_FCV1.param~~s

[Darshit Desai]

@tom V1 or V2? Because when I flash firmware it detects v2

[tom]

@Darshit-Desai Sorry yes v2 https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/blob/master/params/v1.14/platforms/M500_FCV2.params

[tom]

@tom It's hard for me to follow which hardware you have, so whichever one you have v1 or v2

[Darshit Desai]

@tom Yes I am also not sure what came with m500 I recently bought because the earlier ones had v1

Edit: The motor issue was resolved with this and I can spin the motors, I will have a flight with the propellers and confirm it

[Darshit Desai]

@tom On the next reboot it's showing esc failure in the logs

[13:38:12.651] Info: Kill-switch engaged
[13:38:13.768] Info: Kill-switch disengaged
[13:39:33.963] Info: Armed by RC
[13:39:34.096] Info: logging: opening log file sess114/log100.ulg
[13:39:34.296] Critical: Failsafe activated, triggering disarm
ESC failure
[13:39:34.296] Info: Disarmed by failsafe
[13:39:36.780] Info: Armed by RC
[13:39:36.781] Info: logging: opening log file sess114/log101.ulg
[13:39:37.131] Critical: Failsafe activated, triggering disarm
[13:39:37.131] Info: Disarmed by failsafe
[13:39:39.424] Info: Armed by RC
[13:39:39.465] Info: logging: opening log file sess114/log102.ulg
[13:39:39.787] Critical: Failsafe activated, triggering disarm
[13:39:39.787] Info: Disarmed by failsafe

And the motors try to spin up for a few seconds when arming and then instantly stop

When I move this sliders now the motors rotate but when I try to arm the drone using RC it shows the ESC failure error

[tom]

@Darshit-Desai If you upload the px4 log someone on our team can analyze it

[Darshit Desai]

@tom By px4 log you mean the one mentioned in the post earlier, How can I access the log file which is mentioned here in the QGC log?

@Darshit-Desai said in m500 VOXL Flight sdk update to v1.1.x:

[13:38:12.651] Info: Kill-switch engaged
[13:38:13.768] Info: Kill-switch disengaged
[13:39:33.963] Info: Armed by RC
[13:39:34.096] Info: logging: opening log file sess114/log100.ulg
[13:39:34.296] Critical: Failsafe activated, triggering disarm
ESC failure
[13:39:34.296] Info: Disarmed by failsafe
[13:39:36.780] Info: Armed by RC
[13:39:36.781] Info: logging: opening log file sess114/log101.ulg
[13:39:37.131] Critical: Failsafe activated, triggering disarm
[13:39:37.131] Info: Disarmed by failsafe
[13:39:39.424] Info: Armed by RC
[13:39:39.465] Info: logging: opening log file sess114/log102.ulg
[13:39:39.787] Critical: Failsafe activated, triggering disarm
[13:39:39.787] Info: Disarmed by failsafe

[tom]

@Darshit-Desai The logs can be downloaded through QGroundControl: https://docs.px4.io/v1.11/en/getting_started/flight_reporting.html#downloading-logs-from-the-flight-controller