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    Sentinel ESC blue leds don't remain solid or flash

    Starling & Starling 2
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    • I
      iparra
      last edited by

      Hi,

      Apparently everything is working fine but rotors won't start. After inspecting the starling I noticed the ESC leds are not solid or flashing as they are supposed to be. They flash a couple of times during power up but then remain off.

      I'm not sure if this has anything to do with it but I detected it after installing voxl-mapper package.

      What kind of checks can I perform?

      Alex KushleyevA 1 Reply Last reply Reply Quote 0
      • Alex KushleyevA
        Alex Kushleyev ModalAI Team @iparra
        last edited by

        @iparra , Can you please let us know which version of the SDK you are using?

        Also, were you able to spin up motors during previous tests and now you are not able to?

        You can do a quick check of the ESCs using the following commands:

        #stop px4
systemctl stop voxl-px4

#run ESC scanner
cd /usr/share/modalai/voxl-esc-tools/
./voxl-esc-scan.py

        This tool will attempt to detect ESCs and will let you know if it can detect all 4 ESC channels. You can also verify the params:

        ./voxl-esc-verify-params.py
        Alex KushleyevA I 2 Replies Last reply Reply Quote 0
        • Alex KushleyevA
          Alex Kushleyev ModalAI Team @Alex Kushleyev
          last edited by

          also, if you use one of our latest px4 packages (http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-px4_1.14.0-2.0.69-202402061301_arm64.deb), you can check PX4's ESC initialization status:

          #run px4 in foreground and grep for VOXL_ESC:
voxl-px4 -d | grep VOXL_ESC

INFO  [muorb] SLPI: VOXL_ESC: Starting VOXL ESC driver
INFO  [muorb] SLPI: VOXL_ESC: Opening UART ESC device 2, baud rate 2000000
INFO  [muorb] SLPI: VOXL_ESC: Successfully opened UART ESC device
INFO  [muorb] SLPI: VOXL_ESC: Detecting ESCs...
INFO  [muorb] SLPI: VOXL_ESC: 	ESC ID     : 0
INFO  [muorb] SLPI: VOXL_ESC: 	Board Type : 37: ModalAi 4-in-1 ESC (M0134-1)
INFO  [muorb] SLPI: VOXL_ESC: 	Unique ID  : 0x203330385246571900480024
INFO  [muorb] SLPI: VOXL_ESC: 	Firmware   : version   39, hash eb6fb500
INFO  [muorb] SLPI: VOXL_ESC: 	Bootloader : version  183, hash b4fa2cf8
INFO  [muorb] SLPI: VOXL_ESC: 	Reply time : 1646us
INFO  [muorb] SLPI: VOXL_ESC:
INFO  [muorb] SLPI: VOXL_ESC: 	ESC ID     : 1
INFO  [muorb] SLPI: VOXL_ESC: 	Board Type : 37: ModalAi 4-in-1 ESC (M0134-1)
INFO  [muorb] SLPI: VOXL_ESC: 	Unique ID  : 0x2033303852465719004D004D
INFO  [muorb] SLPI: VOXL_ESC: 	Firmware   : version   39, hash eb6fb500
INFO  [muorb] SLPI: VOXL_ESC: 	Bootloader : version  183, hash b4fa2cf8
INFO  [muorb] SLPI: VOXL_ESC: 	Reply time : 621us
INFO  [muorb] SLPI: VOXL_ESC:
INFO  [muorb] SLPI: VOXL_ESC: 	ESC ID     : 2
INFO  [muorb] SLPI: VOXL_ESC: 	Board Type : 37: ModalAi 4-in-1 ESC (M0134-1)
INFO  [muorb] SLPI: VOXL_ESC: 	Unique ID  : 0x203330385246571900500042
INFO  [muorb] SLPI: VOXL_ESC: 	Firmware   : version   39, hash eb6fb500
INFO  [muorb] SLPI: VOXL_ESC: 	Bootloader : versiINFO  [qshell] Send cmd: 'voxl_esc start'
INFO  [muorb] SLPI: VOXL_ESC: 	Reply time : 1120us
INFO  [muorb] SLPI: VOXL_ESC:
INFO  [muorb] SLPI: VOXL_ESC: 	ESC ID     : 3
INFO  [muorb] SLPI: VOXL_ESC: 	Board Type : 37: ModalAi 4-in-1 ESC (M0134-1)
INFO  [muorb] SLPI: VOXL_ESC: 	Unique ID  : 0x2033303852465719004D0050
INFO  [muorb] SLPI: VOXL_ESC: 	Firmware   : version   39, hash eb6fb500
INFO  [muorb] SLPI: VOXL_ESC: 	Bootloader : version  183, hash b4fa2cf8
INFO  [muorb] SLPI: VOXL_ESC: 	Reply time : 617us
INFO  [muorb] SLPI: VOXL_ESC:
INFO  [muorb] SLPI: VOXL_ESC: Use extened rpm packet : 1
INFO  [muorb] SLPI: VOXL_ESC: All ESCs successfully detected

          If all goes well, you should see messages similar to above. If you don't see any VOXL_ESC messages, you are probably using an older PX4 package.

          1 Reply Last reply Reply Quote 0
          • I
            iparra @Alex Kushleyev
            last edited by

            @Alex-Kushleyev Hi, The drone was working as expected. Then, we installed from package voxl-mapper and performed some tests without the rotors for a week, just holding the drone. When we were confortable with the voxl-mapping we tried to perform some tests on the maps and the paths created and then we realized It didn't work.

            The outputs:

            voxl2:/usr/share/modalai/voxl-esc-tools$ ./voxl-esc-scan.py
            Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00)
            [GCC 8.4.0]
            dpkg-query: no packages found matching voxl-esc-board-detect.py
            dpkg-query: no packages found matching voxl-esc-calibrate.py
            dpkg-query: no packages found matching voxl-esc-led.py
            dpkg-query: no packages found matching voxl-esc-neopixel-test.py
            dpkg-query: no packages found matching voxl-esc-scan.py
            dpkg-query: no packages found matching voxl-esc-spin-helper.sh
            dpkg-query: no packages found matching voxl-esc-spin-sine.py
            dpkg-query: no packages found matching voxl-esc-spin-step.py
            dpkg-query: no packages found matching voxl-esc-spin.py
            dpkg-query: no packages found matching voxl-esc-tools-bin
            dpkg-query: no packages found matching voxl-esc-upload-firmware-all.sh
            dpkg-query: no packages found matching voxl-esc-upload-firmware.py
            dpkg-query: no packages found matching voxl-esc-upload-params.py
            dpkg-query: no packages found matching voxl-esc-verify-params.py
            dpkg-query: no packages found matching voxl_esc_setup_paths.py
            dpkg-query: no packages found matching voxl_serial.py
            Found voxl-esc tools bin version: 1.4
            VOXL Platform: M0054
            Detected RB5 Flight, VOXL2 M0054 or M0104!
            INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000
            Sending library name request: libslpi_qrb5165_io.so
            Received standard error event 2
            Sending initialization request
            Got topic data before configuration complete
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received 99 bytes of data from SLPI while SLPI uart not in use (topic aggregation)
            WARNING: Received 92 bytes of data from SLPI while SLPI uart not in use (topic aggregation)
            INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000, protocol: firmware
            WARNING: Received 286 bytes of data from SLPI while SLPI uart not in use (topic aggregation)
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            WARNING: Received data from SLPI for unrecognized topic aggregation, discarding data
            terminate called after throwing an instance of 'qmi_error'
            what(): qmi_client_send_msg_sync() failed, (client_id=)0, result=0: qmi service error (-2)
            Aborted
            voxl2:/usr/share/modalai/voxl-esc-tools$ ./voxl-esc-verify-params.py
            Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00)
            [GCC 8.4.0]
            dpkg-query: no packages found matching voxl-esc-board-detect.py
            dpkg-query: no packages found matching voxl-esc-calibrate.py
            dpkg-query: no packages found matching voxl-esc-led.py
            dpkg-query: no packages found matching voxl-esc-neopixel-test.py
            dpkg-query: no packages found matching voxl-esc-scan.py
            dpkg-query: no packages found matching voxl-esc-spin-helper.sh
            dpkg-query: no packages found matching voxl-esc-spin-sine.py
            dpkg-query: no packages found matching voxl-esc-spin-step.py
            dpkg-query: no packages found matching voxl-esc-spin.py
            dpkg-query: no packages found matching voxl-esc-tools-bin
            dpkg-query: no packages found matching voxl-esc-upload-firmware-all.sh
            dpkg-query: no packages found matching voxl-esc-upload-firmware.py
            dpkg-query: no packages found matching voxl-esc-upload-params.py
            dpkg-query: no packages found matching voxl-esc-verify-params.py
            dpkg-query: no packages found matching voxl_esc_setup_paths.py
            dpkg-query: no packages found matching voxl_serial.py
            Found voxl-esc tools bin version: 1.4
            VOXL Platform: M0054
            Detected RB5 Flight, VOXL2 M0054 or M0104!
            INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000
            Sending library name request: libslpi_qrb5165_io.so
            Received standard error event 2
            Sending initialization request
            INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000
            INFO: Success! Params in all ESCs are valid and identical.

            Alex KushleyevA 1 Reply Last reply Reply Quote 0
            • I
              iparra
              last edited by

              Output of the initialization status

              voxl2:/usr/share/modalai/voxl-esc-tools$ voxl-px4 -d | grep VOXL_ESC
              ESC=VOXL_ESC
              ESC: VOXL_ESC

              Versions of all the packages (I'm not sure about the SDK version)

              voxl2:/usr/share/modalai/voxl-esc-tools$ dpkg -l | grep voxl
              ii libvoxl-cci-direct 0.2.1 arm64 Library for CCI direct interface
              ii libvoxl-cutils 0.1.1 arm64 ModalAI's c utils
              ii mv-voxl 0.1-r0 arm64 mv version 0.1-r0
              ii royale-331-spectre-4-7 1.1.1 arm64 Royale/Spectre build for voxl platforms
              ii rtl8812au 5.6.4.2-git-r0 arm64 RTL8812au kernel driver (wifi) and supplemental files for enabling wifi on voxl2
              ii voxl-bind-spektrum 0.1.0 arm64 Utility to trigger Spektrum Bind
              ii voxl-camera-calibration 0.5.3 arm64 On-board camera calibration for VOXL
              ii voxl-camera-server 1.8.9 arm64 publishes camera frames over named pipe interface
              ii voxl-ceres-solver 2:1.14.0-10 arm64 ceres-solver for voxl
              ii voxl-configurator 0.4.8 arm64 tools to configure and test MPA
              ii voxl-cpu-monitor 0.4.7 arm64 publishes CPU Data over MPA pipe and provides fan tools
              ii voxl-docker-support 1.3.0 arm64 tools to improve the usability of docker on VOXL
              ii voxl-elrs 0.1.3 arm64 Tool to flash TX/RX with ELRS FW
              ii voxl-esc 1.3.7 arm64 Tools for ModalAI's VOXL ESC
              ii voxl-feature-tracker 0.3.2 arm64 track features on voxl
              ii voxl-flow-server 0.3.3 arm64 optical flow from feature tracker
              ii voxl-gphoto2-server 0.0.10 arm64 Gstreamer-based application to pull raw video frames from PTP cameras
              ii voxl-jpeg-turbo 2.1.3-5 arm64 libjpeg_turbo build for voxl
              ii voxl-lepton-server 1.2.0 arm64 Application to interface with flir lepton camera
              ii voxl-libgphoto2 0.0.4 arm64 Library to control digital cameras over USB
              ii voxl-libuvc 1.0.7 arm64 cross-platform library for USB video devices
              ii voxl-logger 0.3.5 arm64 misc tools for modal pipe architecture
              ii voxl-mapper 0.2.0 arm64 voxl-mapper
              ii voxl-mavcam-manager 0.5.3 arm64 ModalAI implementation of the Mavlink camera protocol
              ii voxl-mavlink 0.1.1 arm64 mavlink headers
              ii voxl-mavlink-server 1.3.2 arm64 MPA interface for mavlink over UART or UDP
              ii voxl-modem 1.0.8 arm64 VOXL Modem Utils
              ii voxl-mongoose 7.7.0-1 arm64 mongoose build for voxl
              ii voxl-mpa-to-ros 0.3.7 arm64 ROSNode converting MPA pipes
              ii voxl-mpa-tools 1.1.3 arm64 misc tools for modal pipe architecture
              ii voxl-neopixel-manager 0.0.3 arm64 background service to manage neopixel LEDs
              ii voxl-nlopt 2.5.0-4 arm64 nlopt
              ii voxl-opencv 4.5.5-2 arm64 opencv built for VOXL
              ii voxl-portal 0.6.3 arm64 Debug web interface for VOXL
              ii voxl-px4 1.14.0-2.0.63 arm64 ModalAI PX4 flight controller
              ii voxl-px4-imu-server 0.1.2 arm64 fetches imu data from PX4 running on QRB5165 DSP and publishes over MPA
              ii voxl-px4-params 0.3.3 arm64 Tool to help configure px4-parameters
              ii voxl-qvio-server 1.0.0 arm64 publishes QVIO data over named pipe interface
              ii voxl-remote-id 0.0.9 arm64 Remote ID broadcasting tool
              ii voxl-streamer 0.7.4 arm64 Gstreamer-based application to handle RTSP streaming
              ii voxl-suite 1.1.3 arm64 voxl-suite for QRB5165
              ii voxl-tag-detector 0.0.4 arm64 Detect apriltags for MPA
              ii voxl-tflite-server 0.3.1 arm64 client of voxl-camera-server that does deep learning
              ii voxl-utils 1.3.8 arm64 ModalAI common on-target utilities for VOXL
              ii voxl-uvc-server 0.1.6 arm64 libuvc application to handle UVC camera frame output to MPA
              ii voxl-vision-hub 1.7.3 arm64 main hub managing communication between VOXL MPA services and autopilots
              ii voxl-voxblox 1.1.5 arm64 voxblox library api
              ii voxl2-system-image 1.7.1-r0 arm64 Meta package that is used to track system image version for DEPENDS in debian packages
              ii voxl2-wlan 1.0-r0 arm64 Packages for voxl2 that enable wifi dongle compatibility

              1 Reply Last reply Reply Quote 0
              • Alex KushleyevA
                Alex Kushleyev ModalAI Team @iparra
                last edited by

                @iparra , did you stop px4 before running the esc tools?

                maybe you need to disable px4 and reboot if that does not help:

                systemct disable voxl-px4
reboot

                to re-enable px4 later:

                systemct enable voxl-px4
reboot
                I 1 Reply Last reply Reply Quote 0
                • I
                  iparra @Alex Kushleyev
                  last edited by

                  @Alex-Kushleyev I upgraded with apt and repeated the tests

                  voxl2:/usr/share/modalai/voxl-esc-tools$ ./voxl-esc-scan.py
                  Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00)
                  [GCC 8.4.0]
                  dpkg-query: no packages found matching voxl-esc-board-detect.py
                  dpkg-query: no packages found matching voxl-esc-calibrate.py
                  dpkg-query: no packages found matching voxl-esc-led.py
                  dpkg-query: no packages found matching voxl-esc-neopixel-test.py
                  dpkg-query: no packages found matching voxl-esc-scan.py
                  dpkg-query: no packages found matching voxl-esc-spin-helper.sh
                  dpkg-query: no packages found matching voxl-esc-spin-sine.py
                  dpkg-query: no packages found matching voxl-esc-spin-step.py
                  dpkg-query: no packages found matching voxl-esc-spin.py
                  dpkg-query: no packages found matching voxl-esc-tools-bin
                  dpkg-query: no packages found matching voxl-esc-upload-firmware-all.sh
                  dpkg-query: no packages found matching voxl-esc-upload-firmware.py
                  dpkg-query: no packages found matching voxl-esc-upload-params.py
                  dpkg-query: no packages found matching voxl-esc-verify-params.py
                  dpkg-query: no packages found matching voxl_esc_setup_paths.py
                  dpkg-query: no packages found matching voxl_serial.py
                  Found voxl-esc tools bin version: 1.6
                  VOXL Platform: M0054
                  Detected RB5 Flight, VOXL2 M0054 or M0104!
                  INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000
                  Sending library name request: libslpi_qrb5165_io.so
                  Received standard error event 2
                  Sending initialization request
                  INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000, protocol: firmware

                  INFO: ESC Information:
                  INFO: ---------------------
                  ID : 0
                  Board : version 37: ModalAi 4-in-1 ESC (M0134-1)
                  UID : 0x203330385246571800240035
                  Firmware : version 39, hash 3d7ee4eb
                  Bootloader : version 183, hash b4fa2cf8

                      ID         : 1
    Board      : version 37: ModalAi 4-in-1 ESC (M0134-1)
    UID        : 0x20333038524657180025004D
    Firmware   : version   39, hash 3d7ee4eb
    Bootloader : version  183, hash b4fa2cf8

    ID         : 2
    Board      : version 37: ModalAi 4-in-1 ESC (M0134-1)
    UID        : 0x203330385246571800230029
    Firmware   : version   39, hash 3d7ee4eb
    Bootloader : version  183, hash b4fa2cf8

    ID         : 3
    Board      : version 37: ModalAi 4-in-1 ESC (M0134-1)
    UID        : 0x203330385246571800240021
    Firmware   : version   39, hash 3d7ee4eb
    Bootloader : version  183, hash b4fa2cf8

                  voxl2:/usr/share/modalai/voxl-esc-tools$ voxl-px4 -d
                  [INFO] Reading from /etc/modalai/voxl-px4.conf
                  Found DSP signature file
                  [INFO] Disabling daemon mode

                  GPS=MRO_M10136A
                  RC=CRSF_RAW
                  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
                  INFO [muorb] muorb protobuf initalize method succeeded
                  INFO [muorb] succesfully did ADVERTISE_TEST_TYPE
                  ERROR [muorb] Test timed out waiting for response
                  INFO [parameters] Starting param sync THREAD

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

                  px4 starting.

                  INFO [px4] startup script: /bin/sh /usr/bin/voxl-px4-start 0

                  GPS: MRO_M10136A
                  RC: CRSF_RAW
                  ESC: VOXL_ESC
                  POWER MANAGER: VOXLPM
                  DISTANCE SENSOR: NONE
                  OSD: DISABLE
                  EXTRA STEPS:

                  Running on M0054
                  INFO [param] selected parameter default file /data/px4/param/parameters
                  ERROR [parameters] Timeout waiting for parameter_client_reset_response
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for BAT1_CAPACITY
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for BAT1_N_CELLS
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for BAT1_R_INTERNAL
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for BAT1_V_CHARGED
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for BAT1_V_EMPTY
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for BAT_CRIT_THR
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_ACC0_ID
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_ACC0_PRIO
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_ACC0_XOFF
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_ACC0_YOFF
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_ACC0_ZOFF
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_GYRO0_ID
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_GYRO0_PRIO
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_GYRO0_XOFF
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_GYRO0_YOFF
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_GYRO0_ZOFF
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_MAG0_ID
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_MAG0_PRIO
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_MAG0_ROT
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_MAG0_XODIAG
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_MAG0_XOFF
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_MAG0_XSCALE
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_MAG0_YODIAG
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_MAG0_YOFF
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_MAG0_YSCALE
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_MAG0_ZODIAG
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_MAG0_ZOFF
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_MAG0_ZSCALE
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_ROTOR0_PX
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_ROTOR0_PY
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_ROTOR1_PX
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_ROTOR1_PY
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_ROTOR2_KM
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_ROTOR2_PX
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_ROTOR2_PY
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_ROTOR3_KM
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_ROTOR3_PX
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_ROTOR3_PY
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_ROTOR_COUNT
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CBRK_SUPPLY_CHK
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for COM_ARM_SDCARD
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for COM_CPU_MAX
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for COM_DISARM_LAND
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for COM_DISARM_PRFLT
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for COM_FLIGHT_UUID
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for COM_FLTMODE1
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for COM_FLTMODE4
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for COM_FLTMODE6
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for COM_OF_LOSS_T
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for COM_SPOOLUP_TIME
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_ABL_LIM
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_EV_QMIN
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_GPS_CTRL
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_HGT_REF
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_IMU_POS_X
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_IMU_POS_Y
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_IMU_POS_Z
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_MAG_TYPE
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_RNG_CTRL
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for GPS_UBX_DYNMODEL
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for IMU_ACCEL_CUTOFF
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for IMU_DGYRO_CUTOFF
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for IMU_GYRO_CUTOFF
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for IMU_GYRO_DNF_EN
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for IMU_GYRO_RATEMAX
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for LNDMC_ROT_MAX
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for LNDMC_TRIG_TIME
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for LND_FLIGHT_T_LO
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MAV_TYPE
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MC_PITCHRATE_D
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MC_PITCHRATE_I
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MC_PITCHRATE_MAX
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MC_PITCHRATE_P
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MC_PITCH_P
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MC_ROLLRATE_D
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MC_ROLLRATE_I
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MC_ROLLRATE_MAX
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MC_ROLLRATE_P
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MC_ROLL_P
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MC_YAWRATE_I
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MC_YAWRATE_MAX
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MC_YAWRATE_P
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_ACC_HOR_MAX
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_ACC_UP_MAX
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_JERK_MAX
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_LAND_SPEED
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_THR_HOVER
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_THR_MAX
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_THR_MIN
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_TILTMAX_AIR
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_TKO_RAMP_T
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_VEL_MANUAL
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_XY_CRUISE
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_XY_MAN_EXPO
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_XY_P
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_XY_VEL_D_ACC
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_XY_VEL_I_ACC
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_XY_VEL_MAX
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_XY_VEL_P_ACC
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_YAW_EXPO
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_Z_MAN_EXPO
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_Z_P
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_Z_VEL_MAX_DN
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_Z_VEL_MAX_UP
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_Z_VEL_P_ACC
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_Z_V_AUTO_DN
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_Z_V_AUTO_UP
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for NAV_ACC_RAD
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC12_MAX
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC12_MIN
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC12_TRIM
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC5_MAX
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC5_MIN
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC6_MAX
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC6_MIN
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC7_MAX
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC7_MIN
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC8_MAX
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC8_MIN
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC_CHAN_CNT
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC_MAP_FLTMODE
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC_MAP_KILL_SW
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC_MAP_PITCH
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC_MAP_ROLL
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC_MAP_THROTTLE
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC_MAP_YAW
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RTL_DESCEND_ALT
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RTL_RETURN_ALT
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for SENS_BOARD_X_OFF
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for SENS_BOARD_Y_OFF
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for SYS_AUTOSTART
                  ERROR [parameters] Timeout waiting for parameter_client_set_value_response for THR_MDL_FAC
                  INFO [parameters] BSON document size 2888 bytes, decoded 2888 bytes (INT32:33, FLOAT:99)
                  INFO [logger] logger started (mode=all)
                  Starting IMU driver with no rotation
                  INFO [qshell] Send cmd: 'icm42688p start -s'
                  ERROR [qshell] command timed out
                  ERROR [qshell] Command failed
                  INFO [qshell] Send cmd: 'icp101xx start -I -b 5'
                  ERROR [qshell] command timed out
                  ERROR [qshell] Command failed
                  Looking for qmc5883l magnetometer
                  INFO [qshell] Send cmd: 'qmc5883l start -R 10 -X -b 1'
                  ERROR [qshell] command timed out
                  ERROR [qshell] Command failed
                  Looking for ist8310 magnetometer
                  INFO [qshell] Send cmd: 'ist8310 start -R 10 -X -b 1'
                  ERROR [qshell] command timed out
                  ERROR [qshell] Command failed
                  INFO [qshell] Send cmd: 'gps start'
                  ERROR [qshell] command timed out
                  ERROR [qshell] Command failed
                  Looking for ncp5623c RGB LED
                  INFO [qshell] Send cmd: 'rgbled_ncp5623c start -X -b 1 -f 400 -a 56'
                  ERROR [qshell] command timed out
                  ERROR [qshell] Command failed
                  Starting VOXL ESC driver
                  INFO [qshell] Send cmd: 'voxl_esc start'
                  ERROR [qshell] command timed out
                  ERROR [qshell] Command failed
                  Starting CRSF RC driver
                  INFO [qshell] Send cmd: 'crsf_rc start -d 7'
                  ERROR [qshell] command timed out
                  ERROR [qshell] Command failed
                  INFO [qshell] Send cmd: 'voxlpm start -X -b 2'
                  ERROR [qshell] command timed out
                  ERROR [qshell] Command failed
                  INFO [qshell] Send cmd: 'sensors start'
                  ERROR [qshell] command timed out
                  ERROR [qshell] Command failed
                  INFO [qshell] Send cmd: 'ekf2 start'
                  ERROR [qshell] command timed out
                  ERROR [qshell] Command failed
                  INFO [qshell] Send cmd: 'mc_pos_control start'

                  Alex KushleyevA 1 Reply Last reply Reply Quote 0
                  • Alex KushleyevA
                    Alex Kushleyev ModalAI Team @iparra
                    last edited by

                    @iparra,

                    Sometimes after running voxl-esc tools you need to reboot volx2 before you can run PX4 again. Can you please try that and check the PX4 log for VOXL_ESC messages?

                    Based on the output of voxl-esc scan, your ESCs are all detected, so there is no issue in communication there.

                    Another thing to try is the actuator test in QGC, which can let you spin up motors one by one (make sure to remove propellers before testing for safety)

                    I 1 Reply Last reply Reply Quote 0
                    • I
                      iparra @Alex Kushleyev
                      last edited by

                      @Alex-Kushleyev Using QGC seems that we have lost some configuration of the rotors. It says "One or more actuator still needs to be assigned an output"
                      I attached a screen capture
                      configuration.png

                      Alex KushleyevA 1 Reply Last reply Reply Quote 0
                      • Alex KushleyevA
                        Alex Kushleyev ModalAI Team @iparra
                        last edited by

                        Yes, it looks like your params for VOXL ESC have been wiped.

                        If you take a look at this document : https://docs.modalai.com/voxl-px4-files/ , it points you here : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params and specifically for Sentinel here are the params you can load using QGC :

                        https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/blob/master/params/v1.14/platforms/Sentinel_V1.params?ref_type=heads

                        You can try just setting the VOXL ESC motor mapping and verify it using actuator test, but if those params got wiped for some reason, it is possible that other params also got wiped, so it may be best to restore the default Sentinel params.

                        I 1 Reply Last reply Reply Quote 0
                        • I
                          iparra @Alex Kushleyev
                          last edited by

                          @Alex-Kushleyev Thank you Alex, we have a Starling with Voxl 2 so I assume we need Starling_V2.params

                          We also read that there's a backup of the params on /etc/modalai/voxl-px4-set-default-parameters.config. We have checked and that file exists. We will try to restore the params and get back to you.

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

                            @iparra That file is not a backup of parameters. It is only used if there are no saved parameters and will just populate a few reasonable default values for certain VOXL2 parameters.

                            I 1 Reply Last reply Reply Quote 0
                            • I
                              iparra @Eric Katzfey
                              last edited by

                              @Eric-Katzfey We loaded the default parameters with QGC and everything is back to normal.

                              Thank you for your help!

                              1 Reply Last reply Reply Quote 0
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