Voxl2 Mini Failed to Configure px4

Nicholas Hansen

While updating the SDK of a Voxl2 Mini form 1.0.0 to 1.1.2, px4 failed to configure the parameters. I tried power cycling and running voxl-configure-mpa again with the same result. It says the error is likely because voxl-px4 on the SDSP failed to restart, but px4 is always enabled and running when I check voxl-inspect-services. Is there a way to make sure px4 restarts correctly so the parameters can be configured?

Screenshot from 2024-04-11 18-08-19.png

tom

@Nicholas-Hansen Can you try flashing SDK 1.1.2 using the -w option which will wipe all the board's partitions like so:

cd voxl2-mini_SDK_1.1.2
./install.sh -w

Nicholas Hansen

@tom That reflash with wiping all partitions fixed the configuring px4 issue, but has created another issue. The voxl-imu-server is enabled but not running. Attempting to start the server does not work.
When you connect to QGroundControl the IMU is clearly working because the horizon changes as you move the voxl2 mini board.

tom

@Nicholas-Hansen what do you see with systemctl status voxl-imu-server?

Nicholas Hansen

@tom here is what I got

tom

@Nicholas-Hansen Hmm what do you see if you run voxl-imu-server manually from the command line?

Nicholas Hansen

@tom here is what I get when I run that command

tom

@Nicholas-Hansen

Here is what my setup looks like with the same release.

Can you confirm that your config file looks the same:

voxl2-mini:/$ cat /etc/modalai/voxl-imu-server.conf 
{
	"imu0_enable":	true,
	"imu0_sample_rate_hz":	1000,
	"imu0_lp_cutoff_freq_hz":	92,
	"imu0_rotate_common_frame":	true,
	"imu0_fifo_poll_rate_hz":	100,
	"aux_imu1_enable":	false,
	"aux_imu1_bus":	1,
	"aux_imu1_sample_rate_hz":	1000,
	"aux_imu1_lp_cutoff_freq_hz":	92,
	"aux_imu1_fifo_poll_rate_hz":	100,
	"aux_imu2_enable":	false,
	"aux_imu2_spi_bus":	14,
	"aux_imu2_sample_rate_hz":	1000,
	"aux_imu2_lp_cutoff_freq_hz":	92,
	"aux_imu2_fifo_poll_rate_hz":	100,
	"aux_imu3_enable":	false,
	"aux_imu3_spi_bus":	5,
	"aux_imu3_sample_rate_hz":	1000,
	"aux_imu3_lp_cutoff_freq_hz":	92,
	"aux_imu3_fifo_poll_rate_hz":	100
}

tom

@Nicholas-Hansen Can you also provide me with the board's serial number?

It will be on a white sticker in the format MXXXXXXXXXX

tom

@Nicholas-Hansen Lastly can you provide the output of voxl-imu-server -t

Nicholas Hansen

@tom M22000006B0 is the serial number, and the output of voxl-imu-server -t is

Nicholas Hansen

@tom the config appears to match

tom

@Nicholas-Hansen It seems as though there is a hardware issue preventing the IMU from communicating correctly.

Our factory test data all looks good so this failure must've occurred post shipment.

If you'd like, you can send this board in for an RMA: https://www.modalai.com/pages/rma

Nicholas Hansen

@tom Ok, thank you for you help & time in troubleshooting this issue