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    Position mode works, but offboard mode don't

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    • D
      Dawid Mościcki @Alex Kushleyev
      last edited by 19 Feb 2024, 08:51

      @Alex-Kushleyev Any updates on reviewing this issue ? TBH i'm scared to take off this drone from ground again without finding cause of that strange behavior ...

      1 Reply Last reply Reply Quote 0
      • Z
        Zachary Lowell 0 ModalAI Team
        last edited by 19 Feb 2024, 20:58

        @Alex-Kushleyev said in Position mode works, but offboard mode don't:

        for

        @Dawid-Mościcki I would say it is safe for now to just fly via position mode or mannual mode and have a kill switch linked to the rC controller. Then you can try swapping over to positio mode. Then try your offboard code.

        If the esc chimes when booted then it is getting the right data to control the motors.

        D 1 Reply Last reply 20 Feb 2024, 18:34 Reply Quote 0
        • D
          Dawid Mościcki @Zachary Lowell 0
          last edited by 20 Feb 2024, 18:34

          @Zachary-Lowell-0 that crash happened in position mode .......

          1 Reply Last reply Reply Quote 0
          • Z
            Zachary Lowell 0 ModalAI Team
            last edited by 23 Feb 2024, 18:44

            Got it - if you are certain this is an issue in the parameters of PX4, you can reconfigure the MPA to match that of the m500 - just run voxl-configure-mpa and it will then ask for the drone you are using. Then it will parse through all the config files for the m500 and setup the MPA and px4. Then reboot and everything should be back to factory defaults.

            D 1 Reply Last reply 12 Mar 2024, 17:49 Reply Quote 0
            • D
              Dawid Mościcki @Zachary Lowell 0
              last edited by 12 Mar 2024, 17:49

              @Zachary-Lowell-0
              I did it, and configured drone accordingly to https://docs.modalai.com/flying-with-vio/ so that drone could fly without GPS.
              Drone can't fly at all, doesnt respond to stick inputs, logs : https://review.px4.io/plot_app?log=f4e0abee-f370-4932-91c4-2e19aa6e66cf
              Vibration metrics is too high, what can we do ?
              Please help 😕

              D 2 Replies Last reply 12 Mar 2024, 18:02 Reply Quote 0
              • D
                Dawid Mościcki @Dawid Mościcki
                last edited by 12 Mar 2024, 18:02

                @Dawid-Mościcki Any 3D files for this drone are available for download ? For example landing skid ?

                1 Reply Last reply Reply Quote 0
                • D
                  Dawid Mościcki @Dawid Mościcki
                  last edited by 12 Mar 2024, 20:43

                  @Dawid-Mościcki i don't even know how's that possible https://review.px4.io/plot_app?log=973783b8-6262-46e3-8214-602dce495131
                  look at actuator FFT

                  1 Reply Last reply Reply Quote 0
                  • Z
                    Zachary Lowell 0 ModalAI Team
                    last edited by 13 Mar 2024, 17:55

                    @Dawid-Mościcki said in Position mode works, but offboard mode don't:

                    Please help

                    2 Replies Last reply about 24 hours ago Reply

                    Hi David - can you reflash your voxl with the most recent SDK and reconfigure the SKU - we need to start from baseline. Let me know.

                    Zach

                    D 1 Reply Last reply 13 Mar 2024, 18:25 Reply Quote 0
                    • D
                      Dawid Mościcki @Zachary Lowell 0
                      last edited by 13 Mar 2024, 18:25

                      @Zachary-Lowell-0 what do You mean by SDK ? Is this guide that i should follow, but without full wipe ? https://docs.modalai.com/sentinel-factory-reset/

                      T 1 Reply Last reply 13 Mar 2024, 18:28 Reply Quote 0
                      • T
                        tom admin @Dawid Mościcki
                        last edited by 13 Mar 2024, 18:28

                        @Dawid-Mościcki https://docs.modalai.com/flash-system-image/#flashing-a-voxl-sdk-release

                        D 4 Replies Last reply 15 Mar 2024, 17:05 Reply Quote 0
                        • D
                          Dawid Mościcki @tom
                          last edited by 15 Mar 2024, 17:05

                          @tom after flashing, i've got problem with calibrating IMU, btw should 2 imu be present ? because i can see only one :
                          voxl-calibrate-imu-temp
                          voxl-imu-server currently has no calibration file
                          Server has IMU0 enabled and available for temperature calibration
                          WARNING, voxl-fan utility missing, can't turn on fan

                          ============================================================================
                          We're now starting the COLD stage of the calibration.
                          Please stop all unnecessary services in another terminal, and try your best
                          to cool the PCB with a fan. Alternatively, start this process on a cold PCB.

                          We will be measuring the static gyro and accel offset as the board heats up.
                          VOXL must remain completely still through this entire process!
                          The IMU temperatures will be printed here continuously.

                          Press ENTER to start the heating process when you are happy that the IMUs
                          are cold enough for the lower bound. 25-35C is a reasonable goal for this.

                          CPU: 36.3C IMU0: 30.4C ^M
                          WARNING, voxl-fan utility missing, can't turn off fan

                          ============================================================================
                          We're now starting the HOT stage of the calibration. We just turned off
                          the fan, and started stressing the CPU to heat up the PCB.
                          This will run automatically for a while collecting data points until enough
                          data has been collected, something gets too hot, or the timeout is reached.

                          CPU: 57.1C IMU0: 34.9C all imus reached steady state, finishing test
                          taking sample #2
                          not enough samples, need at least 3

                          1 Reply Last reply Reply Quote 0
                          • D
                            Dawid Mościcki @tom
                            last edited by 15 Mar 2024, 17:14

                            @tom i created backup from /data folder on my pc, but i don't know if this could be helpful

                            D 1 Reply Last reply 15 Mar 2024, 17:31 Reply Quote 0
                            • D
                              Dawid Mościcki @Dawid Mościcki
                              last edited by 15 Mar 2024, 17:31

                              @Dawid-Mościcki after importing parameters for vio-indoor without gps from https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/blob/master/params/v1.14/EKF2_helpers/indoor_vio_missing_gps.params

                              i only armed vehicle to see vibrations : https://review.px4.io/plot_app?log=c70ab712-72c1-4abf-b954-edda6316bf05

                              What could I do next ?

                              1 Reply Last reply Reply Quote 0
                              • D
                                Dawid Mościcki @tom
                                last edited by 15 Mar 2024, 17:37

                                @tom this is my second try https://review.px4.io/plot_app?log=cba05321-9bb5-42f2-a766-ecfa6ee01f80

                                1 Reply Last reply Reply Quote 0
                                • D
                                  Dawid Mościcki @tom
                                  last edited by 15 Mar 2024, 17:42

                                  @tom this is my dump from /data folder : https://drive.google.com/drive/folders/1ZJXCvCcAg81zJolngtlS-Y_re2BjY2pz?usp=sharing

                                  Alex KushleyevA 1 Reply Last reply 16 Mar 2024, 02:17 Reply Quote 0
                                  • Alex KushleyevA
                                    Alex Kushleyev ModalAI Team @Dawid Mościcki
                                    last edited by Alex Kushleyev 16 Mar 2024, 02:19 16 Mar 2024, 02:17

                                    @Dawid-Mościcki , the gyro / accel noise in your logs is very high.

                                    This looks like the flight board is loose something is causing it to vibrate during flight (any wires or anything connected to VOXL2 that might be flopping around?).

                                    Actuator controls FFT shows

                                    38c0d2be-7456-4132-a555-996e918ce8a0-image.png
                                    shows noise at about 80 hz (4800rpm) whch maches the average commanded / actual rpm:

                                    7ab776c5-9a86-498e-881d-4ffe6b5665be-image.png

                                    This confirms that the oscillations are coming from propeller vibrations and not oscillations due to high attitude control gains (which would be much lower frequency in the range of 15-20hz).

                                    D 2 Replies Last reply 4 Apr 2024, 22:26 Reply Quote 0
                                    • D
                                      Dawid Mościcki @Alex Kushleyev
                                      last edited by 4 Apr 2024, 22:26

                                      @Alex-Kushleyev Thanks for help, after changing propellers everything seems to work normal, but somehow RC apparatus stopped working. When i'm trying to set up bind mode nothing happens. I was following this guide :
                                      https://docs.modalai.com/sentinel-user-guide-pre-flight-setup/

                                      Led is blinking always slowly on blue....

                                      What can i do about it ?

                                      1 Reply Last reply Reply Quote 0
                                      • D
                                        Dawid Mościcki @Alex Kushleyev
                                        last edited by 8 Apr 2024, 11:32

                                        @Alex-Kushleyev for some reason CPU load on qvio-server is very high. We also have problem with Alfa wifi modem - every few minutes it's turning off and restarting ... Led isnt blinking for few seconds then network start working again . While this is happening Qgroundcontrol is crashing (as every time when drone is reconnected)

                                        Output from voxl-inspect-services

                                        Service Name | Enabled | Running | CPU Usage

                                        docker-autorun | Disabled | Not Running |
                                        modallink-relink | Disabled | Not Running |
                                        voxl-camera-server | Enabled | Running | 71.0%
                                        voxl-cpu-monitor | Enabled | Running | 0.6%
                                        voxl-dfs-server | Disabled | Not Running |
                                        voxl-feature-tracker | Disabled | Not Running |
                                        voxl-flow-server | Disabled | Not Running |
                                        voxl-imu-server | Enabled | Running | 5.4%
                                        voxl-lepton-server | Disabled | Not Running |
                                        voxl-mavcam-manager | Enabled | Running | 0.0%
                                        voxl-mavlink-server | Enabled | Running | 3.5%
                                        voxl-modem | Disabled | Not Running |
                                        voxl-neopixel-manager | Disabled | Not Running |
                                        voxl-open-vins-server | Disabled | Not Running |
                                        voxl-portal | Enabled | Running | 0.2%
                                        voxl-px4-imu-server | Disabled | Not Running |
                                        voxl-px4 | Enabled | Running | 57.1%
                                        voxl-qvio-server | Enabled | Not Running |
                                        voxl-rangefinder-server | Disabled | Not Running |
                                        voxl-remote-id | Disabled | Not Running |
                                        voxl-softap | Enabled | Completed |
                                        voxl-static-ip | Disabled | Not Running |
                                        voxl-streamer | Enabled | Running | 0.0%
                                        voxl-tag-detector | Disabled | Not Running |
                                        voxl-tflite-server | Disabled | Not Running |
                                        voxl-time-sync | Disabled | Not Running |
                                        voxl-uvc-server | Disabled | Not Running |
                                        voxl-vision-hub | Enabled | Running | 1.9%
                                        voxl-wait-for-fs | Enabled | Completed |

                                        1 Reply Last reply Reply Quote 0
                                        • D
                                          Dawid Mościcki
                                          last edited by 13 Apr 2024, 13:25

                                          this is output from journalctl :

                                          Mar 02 13:11:37 m0054 dhcpcd[1694]: wlan0: carrier acquired
                                          Mar 02 13:11:37 m0054 dhcpcd[1694]: wlan0: IAID ca:b5:ab:b9
                                          Mar 02 13:11:37 m0054 dhcpcd[1694]: wlan0: adding address fe80::76d9:b52b:91ff:9629
                                          Mar 02 13:11:37 m0054 dhcpcd[1694]: wlan0: rebinding lease of 192.168.88.243
                                          Mar 02 13:11:38 m0054 dhcpcd[1694]: wlan0: soliciting an IPv6 router
                                          Mar 02 13:11:41 m0054 dhcpcd[1694]: wlan0: probing address 192.168.88.243/24
                                          Mar 02 13:11:46 m0054 dhcpcd[1694]: wlan0: leased 192.168.88.243 for 600 seconds
                                          Mar 02 13:11:46 m0054 dhcpcd[1694]: wlan0: adding route to 192.168.88.0/24
                                          Mar 02 13:11:46 m0054 dhcpcd[1694]: wlan0: adding default route via 192.168.88.1
                                          Mar 02 13:11:51 m0054 dhcpcd[1694]: wlan0: no IPv6 Routers available
                                          Mar 02 13:12:28 m0054 wpa_supplicant[2278]: wlan0: CTRL-EVENT-DISCONNECTED bssid=18:fd:74:f3:01:e1 reason=0 locally_generated=1
                                          Mar 02 13:12:28 m0054 wpa_supplicant[2278]: wlan0: CTRL-EVENT-ASSOC-REJECT status_code=1
                                          Mar 02 13:12:28 m0054 wpa_supplicant[2278]: wlan0: CTRL-EVENT-REGDOM-CHANGE init=CORE type=WORLD
                                          Mar 02 13:12:28 m0054 dhcpcd[1694]: wlan0: carrier lost
                                          Mar 02 13:12:29 m0054 dhcpcd[1694]: wlan0: deleting address fe80::76d9:b52b:91ff:9629
                                          Mar 02 13:12:29 m0054 dhcpcd[1694]: wlan0: deleting default route via 192.168.88.1
                                          Mar 02 13:12:29 m0054 dhcpcd[1694]: wlan0: deleting route to 192.168.88.0/24
                                          Mar 02 13:12:32 m0054 wpa_supplicant[2278]: wlan0: Trying to associate with 18:fd:74:f3:01:e1 (SSID='autonomy_lab' freq=2452 MHz)
                                          Mar 02 13:12:32 m0054 wpa_supplicant[2278]: wlan0: Associated with 18:fd:74:f3:01:e1
                                          Mar 02 13:12:32 m0054 wpa_supplicant[2278]: wlan0: CTRL-EVENT-SUBNET-STATUS-UPDATE status=0
                                          Mar 02 13:12:33 m0054 wpa_supplicant[2278]: wlan0: WPA: Key negotiation completed with 18:fd:74:f3:01:e1 [PTK=CCMP GTK=CCMP]
                                          Mar 02 13:12:33 m0054 wpa_supplicant[2278]: wlan0: CTRL-EVENT-CONNECTED - Connection to 18:fd:74:f3:01:e1 completed [id=0 id_str=]
                                          Mar 02 13:12:33 m0054 dhcpcd[1694]: wlan0: carrier acquired
                                          Mar 02 13:12:33 m0054 dhcpcd[1694]: wlan0: IAID ca:b5:ab:b9
                                          Mar 02 13:12:33 m0054 dhcpcd[1694]: wlan0: adding address fe80::76d9:b52b:91ff:9629
                                          Mar 02 13:12:33 m0054 dhcpcd[1694]: wlan0: soliciting an IPv6 router
                                          Mar 02 13:12:34 m0054 dhcpcd[1694]: wlan0: rebinding lease of 192.168.88.243
                                          Mar 02 13:12:39 m0054 dhcpcd[1694]: wlan0: probing address 192.168.88.243/24
                                          Mar 02 13:12:44 m0054 dhcpcd[1694]: wlan0: leased 192.168.88.243 for 600 seconds
                                          Mar 02 13:12:44 m0054 dhcpcd[1694]: wlan0: adding route to 192.168.88.0/24
                                          Mar 02 13:12:44 m0054 dhcpcd[1694]: wlan0: adding default route via 192.168.88.1
                                          Mar 02 13:12:46 m0054 dhcpcd[1694]: wlan0: no IPv6 Routers available
                                          Mar 02 13:13:34 m0054 dhcpcd[1694]: wlan0: carrier lost
                                          Mar 02 13:13:34 m0054 wpa_supplicant[2278]: wlan0: CTRL-EVENT-DISCONNECTED bssid=18:fd:74:f3:01:e1 reason=0 locally_generated=1
                                          Mar 02 13:13:34 m0054 wpa_supplicant[2278]: wlan0: CTRL-EVENT-ASSOC-REJECT status_code=1
                                          Mar 02 13:13:34 m0054 wpa_supplicant[2278]: wlan0: CTRL-EVENT-REGDOM-CHANGE init=CORE type=WORLD
                                          Mar 02 13:13:34 m0054 dhcpcd[1694]: wlan0: deleting address fe80::76d9:b52b:91ff:9629
                                          Mar 02 13:13:34 m0054 dhcpcd[1694]: wlan0: deleting default route via 192.168.88.1
                                          Mar 02 13:13:34 m0054 dhcpcd[1694]: wlan0: deleting route to 192.168.88.0/24
                                          Mar 02 13:13:38 m0054 wpa_supplicant[2278]: wlan0: Trying to associate with 18:fd:74:f3:01:e1 (SSID='autonomy_lab' freq=2452 MHz)
                                          Mar 02 13:13:38 m0054 wpa_supplicant[2278]: wlan0: Associated with 18:fd:74:f3:01:e1
                                          Mar 02 13:13:38 m0054 wpa_supplicant[2278]: wlan0: CTRL-EVENT-SUBNET-STATUS-UPDATE status=0
                                          Mar 02 13:13:39 m0054 wpa_supplicant[2278]: wlan0: WPA: Key negotiation completed with 18:fd:74:f3:01:e1 [PTK=CCMP GTK=CCMP]
                                          Mar 02 13:13:39 m0054 wpa_supplicant[2278]: wlan0: CTRL-EVENT-CONNECTED - Connection to 18:fd:74:f3:01:e1 completed [id=0 id_str=]
                                          Mar 02 13:13:39 m0054 dhcpcd[1694]: wlan0: carrier acquired
                                          Mar 02 13:13:39 m0054 dhcpcd[1694]: wlan0: IAID ca:b5:ab:b9
                                          Mar 02 13:13:39 m0054 dhcpcd[1694]: wlan0: adding address fe80::76d9:b52b:91ff:9629
                                          Mar 02 13:13:39 m0054 dhcpcd[1694]: wlan0: soliciting an IPv6 router
                                          Mar 02 13:13:40 m0054 dhcpcd[1694]: wlan0: rebinding lease of 192.168.88.243
                                          Mar 02 13:13:43 m0054 dhcpcd[1694]: wlan0: probing address 192.168.88.243/24
                                          Mar 02 13:13:48 m0054 dhcpcd[1694]: wlan0: leased 192.168.88.243 for 600 seconds
                                          Mar 02 13:13:48 m0054 dhcpcd[1694]: wlan0: adding route to 192.168.88.0/24
                                          Mar 02 13:13:48 m0054 dhcpcd[1694]: wlan0: adding default route via 192.168.88.1
                                          Mar 02 13:13:53 m0054 dhcpcd[1694]: wlan0: no IPv6 Routers available

                                          Idk wifi keeps disconnecting. Could You please help me ? And every time when wifi is disconnecting and connecting again, QGC is crashing 😕 This behavior could be caused by px4 modules shipped with Your forked version of px4 ...

                                          D 1 Reply Last reply 13 Apr 2024, 13:35 Reply Quote 0
                                          • D
                                            Dawid Mościcki @Dawid Mościcki
                                            last edited by 13 Apr 2024, 13:35

                                            I will close this ticket and make a new ones. This conversations is too long, sorry for that 😕 Thanks for help so far !

                                            1 Reply Last reply Reply Quote 0
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