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    Sentinel ESC blue leds don't remain solid or flash

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    • 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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