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    voxl-px4 service pipeline uORB failure

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    • jacob yaacubovJ
      jacob yaacubov
      last edited by

      my voxl2 which is running on dev drone is failing to communicate with the PX4

      i use the 1.0.0 SDK

      systemctl status voxl-px4 gives this

      PORT:/etc/modalai$ systemctl status voxl-px4.service 
● voxl-px4.service - px4
   Loaded: loaded (/etc/systemd/system/voxl-px4.service; enabled; vendor preset: enabled)
   Active: active (running) since Thu 2024-04-11 18:14:47 IDT; 9s ago
  Process: 18235 ExecStartPre=/bin/sleep 2 (code=exited, status=0/SUCCESS)
 Main PID: 18358 (voxl-px4)
    Tasks: 13 (limit: 4915)
   CGroup: /system.slice/voxl-px4.service
           ├─18358 /bin/bash /usr/bin/voxl-px4
           ├─18365 px4 -d -s /usr/bin/voxl-px4-start
           ├─18886 /bin/sh /usr/bin/voxl-px4-start 0
           └─18956 px4-param --instance 0 load

Apr 11 18:14:56 PORT voxl-px4[18358]: ERROR [uORB] orb_publish failed parameter_update
Apr 11 18:14:56 PORT voxl-px4[18358]: ERROR [uORB] Error Sending [parameter_client_set_value_request] topic data over comm_channel
Apr 11 18:14:56 PORT voxl-px4[18358]: ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_GYRO1_PRIO
Apr 11 18:14:56 PORT voxl-px4[18358]: ERROR [uORB] Error Sending [parameter_update] topic data over comm_channel
Apr 11 18:14:56 PORT voxl-px4[18358]: ERROR [uORB] orb_publish failed parameter_update
Apr 11 18:14:56 PORT voxl-px4[18358]: ERROR [uORB] Error Sending [parameter_client_set_value_request] topic data over comm_channel
Apr 11 18:14:56 PORT voxl-px4[18358]: ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_GYRO2_PRIO
Apr 11 18:14:56 PORT voxl-px4[18358]: ERROR [uORB] Error Sending [parameter_update] topic data over comm_channel
Apr 11 18:14:56 PORT voxl-px4[18358]: ERROR [uORB] orb_publish failed parameter_update
Apr 11 18:14:56 PORT voxl-px4[18358]: ERROR [uORB] Error Sending [parameter_client_set_value_request] topic data over comm_channel

      looks like no parameters passed successfully to pxs4 dsp - the parameters were unchnged so it not related to their content

      itried to restart various services but it doenst help
      i compared the config files to other working drone

      nothing helped shall i reinstall the sdk

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

        @jacob-yaacubov You should definitely upgrade to SDK 1.1.3.

        jacob yaacubovJ 1 Reply Last reply Reply Quote 0
        • jacob yaacubovJ
          jacob yaacubov @Eric Katzfey
          last edited by

          @Eric-Katzfey i tried this now
          i reinstalled 1.1.3 and even tried again to reinstall 1.0.0

          i used different px4 parameters file backed up by me
          and still get error in the px4 service
          i cant even see my drone in the ground control seems like something seriously wrong with px4 any other suggestions ? @Eric-Katzfey

          ● voxl-px4.service - px4
   Loaded: loaded (/etc/systemd/system/voxl-px4.service; enabled; vendor preset: enabled)
   Active: active (running) since Sun 2024-04-14 11:55:27 UTC; 3min 38s ago
  Process: 12036 ExecStartPre=/bin/sleep 2 (code=exited, status=0/SUCCESS)
 Main PID: 12042 (voxl-px4)
    Tasks: 15 (limit: 4915)
   CGroup: /system.slice/voxl-px4.service
           ├─12042 /bin/bash /usr/bin/voxl-px4
           ├─12045 px4 -d -s /usr/bin/voxl-px4-start
           ├─12062 /bin/sh /usr/bin/voxl-px4-start 0
           └─13882 px4-qshell --instance 0 ekf2 start

Apr 14 11:58:19 m0054 voxl-px4[12042]: ERROR [qshell] command timed out
Apr 14 11:58:19 m0054 voxl-px4[12042]: ERROR [qshell] Command failed
          Alex KushleyevA 1 Reply Last reply Reply Quote 0
          • Alex KushleyevA
            Alex Kushleyev ModalAI Team @jacob yaacubov
            last edited by Alex Kushleyev

            @jacob-yaacubov , can you please stop and disable voxl-px4 service:

            systemctl stop voxl-px4
systemctl disable voxl-px4

            then reboot voxl2, and start px4 manually in foreground:

            voxl-px4 -d

            Then save the output (from the terminal) into a text file and share with us?

            Alex

            S 1 Reply Last reply Reply Quote 0
            • S
              swickliff @Alex Kushleyev
              last edited by

              @Alex-Kushleyev It looks like I am having the same issue as Jacob. We've added a brand new Voxl2 to our drone, this one is running on SDK 1.1.3 and we cannot get it to connect to PX4. Our prior build used Voxl2s with SDK 1.1.2 and worked fine for us, so we tried downgrading the SDK but that did not work either.

              We re-updated the SDK to 1.1.3 and I stopped and disabled voxl-px4 service and rebooted the Voxl2 and started px4 manually. Want me to share a text file with the output?

              tomT Alex KushleyevA 2 Replies Last reply Reply Quote 0
              • tomT
                tom admin @swickliff
                last edited by

                @swickliff If you believe that the file system is corrupted you can reflash the latest SDK release using the -w arg, ./install.sh -w

                This will wipe all partitions, ensuring your board is in a factory state

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

                  @swickliff , please share the output of px4 starting manually and also try to do a full wipe as Tom suggested and see if that helps. Thanks!

                  Jeremy FrederickJ 1 Reply Last reply Reply Quote 0
                  • Jeremy FrederickJ
                    Jeremy Frederick @Alex Kushleyev
                    last edited by

                    @Alex-Kushleyev

                    Alex, picking up this thread where swickliff left off. We tried a full partion wipe and are still having issues. Attached to this post is a .txt file with the entire PX4 startup output from command to crash.

                    voxl2:/$ voxl-px4
                    [INFO] Reading from /etc/modalai/voxl-px4.conf
                    Found DSP signature file
                    [INFO] Daemon mode enabled

                    GPS=AUTODETECT
                    RC=CRSF_RAW
                    ESC=VOXL_ESC
                    POWER MANAGER=VOXLPM
                    DISTANCE SENSOR=NONE
                    OSD=DISABLE
                    DAEMON_MODE=ENABLE
                    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
                    Got topic data before configuration complete
                    Got topic data before configuration complete
                    Got topic data before configuration complete
                    Got topic data before configuration complete
                    Got topic data before configuration complete
                    Got topic data before configuration complete
                    Got topic data before configuration complete
                    Got topic data before configuration complete
                    Got topic data before configuration complete
                    Got topic data before configuration complete
                    Got topic data before configuration complete
                    Got topic data before configuration complete
                    Got topic data before configuration complete
                    INFO [muorb] SLPI: muorb aggregator thread running
                    INFO [muorb] muorb protobuf initalize method succeeded
                    INFO [muorb] succesfully did ADVERTISE_TEST_TYPE
                    INFO [muorb] SLPI: Creating pthread test_MUORB

                    INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097656
                    INFO [muorb] succesfully did SUBSCRIBE_TEST_TYPE
                    INFO [muorb] SLPI: Creating pthread test_MUORB

                    INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097655
                    INFO [muorb] succesfully did TOPIC_TEST_TYPE
                    INFO [muorb] SLPI: Creating pthread test_MUORB

                    INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097654
                    INFO [muorb] succesfully did UNSUBSCRIBE_TEST_TYPE
                    INFO [muorb] SLPI: Creating pthread test_MUORB

                    INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097653
                    INFO [muorb] muorb test passed

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

                    px4 starting.

                    INFO [px4] startup script: /bin/sh /usr/bin/voxl-px4-start 0
                    INFO [muorb] SLPI: Advertising remote topic log_message
                    INFO [parameters] Starting param sync THREAD
                    INFO [muorb] SLPI: Starting param sync THREAD

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

                    Running on M0054
                    INFO [muorb] SLPI: before starting the qshell_entry task
                    INFO [muorb] SLPI: Creating pthread qshell

                    INFO [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 2097652
                    INFO [muorb] SLPI: qshell entry.....
                    INFO [muorb] SLPI: after starting the qshell_entry task
                    INFO [muorb] SLPI: Init app map initialized
                    INFO [param] selected parameter default file /data/px4/param/parameters
                    INFO [muorb] SLPI: Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic
                    INFO [uORB] Marking DeviceNode(parameter_client_reset_response) as advertised in process_remote_topic
                    INFO [muorb] SLPI: Advertising remote topic parameter_update
                    INFO [muorb] SLPI: Marking DeviceNode(parameter_client_set_value_request) as advertised in process_remote_to
                    INFO [uORB] Marking DeviceNode(parameter_server_set_used_request) as advertised in process_remote_topic
                    INFO [muorb] SLPI: Marking DeviceNode(parameter_server_set_used_response) as advertised in process_remote_to
                    INFO [uORB] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic
                    INFO [parameters] BSON document size 1509 bytes, decoded 1509 bytes (INT32:29, FLOAT:41)
                    INFO [logger] logger started (mode=all)
                    Starting IMU driver with no rotation
                    INFO [qshell] Send cmd: 'icm42688p start -s'
                    INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                    INFO [muorb] SLPI: qshell gotten: icm42688p start -s
                    INFO [muorb] SLPI: arg0 = 'icm42688p'

                    INFO [muorb] SLPI: arg1 = 'start'

                    INFO [muorb] SLPI: arg2 = '-s'

                    INFO [muorb] SLPI: *** SPI Device ID 0x26000a 2490378
                    INFO [uORB] Advertising remote topic sensor_accel
                    INFO [uORB] Advertising remote topic sensor_gyro
                    INFO [muorb] SLPI: ICM42688P::probe successful!
                    INFO [muorb] SLPI: on SPI bus 1
                    INFO [muorb] SLPI: icm42688p #0 on SPI bus 1
                    INFO [muorb] SLPI:

                    INFO [muorb] SLPI: >>> ICM42688P this: 3176c8a0
                    INFO [muorb] SLPI: Ok executing command: icm42688p start -s
                    INFO [uORB] Advertising remote topic qshell_retval
                    INFO [muorb] SLPI: >>> ICM42688P this: 3176c8a0
                    INFO [qshell] qshell return value timestamp: 380545341, local time: 380552974
                    INFO [muorb] SLPI: >>> ICM42688P this: 3176c8a0
                    INFO [muorb] SLPI: Register interrupt b21d3364 e6201b9c 3176c8a0
                    INFO [uORB] Advertising remote topic sensor_gyro_fifo
                    INFO [uORB] Advertising remote topic sensor_accel_fifo
                    INFO [uORB] Advertising remote topic imu_server
                    INFO [qshell] Send cmd: 'icp101xx start -I -b 5'
                    INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                    INFO [muorb] SLPI: qshell gotten: icp101xx start -I -b 5
                    INFO [muorb] SLPI: arg0 = 'icp101xx'

                    INFO [muorb] SLPI: arg1 = 'start'

                    INFO [muorb] SLPI: arg2 = '-I'

                    INFO [muorb] SLPI: arg3 = '-b'

                    INFO [muorb] SLPI: arg4 = '5'

                    INFO [muorb] SLPI: *** I2C Device ID 0xb76329 12018473
                    INFO [muorb] SLPI: icp101xx #0 on I2C bus 5
                    INFO [muorb] SLPI: address 0x63
                    INFO [muorb] SLPI:

                    INFO [muorb] SLPI: Ok executing command: icp101xx start -I -b 5
                    INFO [qshell] qshell return value timestamp: 380601909, local time: 380603599
                    Looking for qmc5883l magnetometer
                    INFO [qshell] Send cmd: 'qmc5883l start -R 10 -X -b 1'
                    INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                    INFO [muorb] SLPI: qshell gotten: qmc5883l start -R 10 -X -b 1
                    INFO [muorb] SLPI: arg0 = 'qmc5883l'

                    INFO [muorb] SLPI: arg1 = 'start'

                    INFO [muorb] SLPI: arg2 = '-R'

                    INFO [muorb] SLPI: arg3 = '10'

                    INFO [muorb] SLPI: arg4 = '-X'

                    INFO [muorb] SLPI: arg5 = '-b'

                    INFO [muorb] SLPI: arg6 = '1'

                    INFO [muorb] SLPI: *** I2C Device ID 0x80d09 527625
                    INFO [muorb] SLPI: >>> ICM42688P this: 3176c8a0
                    ERROR [muorb] SLPI: i2c probe failed
                    INFO [muorb] SLPI: PX4_qshell: no instance started (no device on bus?)
                    ERROR [muorb] SLPI: Failed to execute command: qmc5883l start -R 10 -X -b 1
                    INFO [qshell] cmd returned with: -1
                    INFO [qshell] qshell return value timestamp: 380665246, local time: 380666868
                    ERROR [qshell] Command failed
                    Looking for ist8310 magnetometer
                    INFO [qshell] Send cmd: 'ist8310 start -R 10 -X -b 1'
                    INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                    INFO [muorb] SLPI: qshell gotten: ist8310 start -R 10 -X -b 1
                    INFO [muorb] SLPI: arg0 = 'ist8310'

                    INFO [muorb] SLPI: arg1 = 'start'

                    INFO [muorb] SLPI: arg2 = '-R'

                    INFO [muorb] SLPI: arg3 = '10'

                    INFO [muorb] SLPI: arg4 = '-X'

                    INFO [muorb] SLPI: arg5 = '-b'

                    INFO [muorb] SLPI: arg6 = '1'

                    INFO [muorb] SLPI: *** I2C Device ID 0x60e09 396809
                    ERROR [muorb] SLPI: i2c probe failed
                    INFO [muorb] SLPI: PX4_qshell: no instance started (no device on bus?)
                    ERROR [muorb] SLPI: Failed to execute command: ist8310 start -R 10 -X -b 1
                    INFO [qshell] cmd returned with: -1
                    INFO [qshell] qshell return value timestamp: 380701724, local time: 380702898
                    ERROR [qshell] Command failed
                    INFO [qshell] Send cmd: 'gps start'
                    INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                    INFO [muorb] SLPI: qshell gotten: gps start
                    INFO [muorb] SLPI: arg0 = 'gps'

                    INFO [muorb] SLPI: arg1 = 'start'

                    INFO [muorb] SLPI: Creating pthread gps

                    INFO [muorb] SLPI: Successfully created px4 task PX4_gps with tid 2097647
                    INFO [muorb] SLPI: Ok executing command: gps start
                    INFO [qshell] qshell return value timestamp: 380731993, local time: 380733860
                    Looking for ncp5623c RGB LED
                    INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                    INFO [qshell] Send cmd: 'rgbled_ncp5623c start -X -b 1 -f 400 -a 56'
                    INFO [muorb] SLPI: qshell gotten: rgbled_ncp5623c start -X -b 1 -f 400 -a 56
                    INFO [muorb] SLPI: arg0 = 'rgbled_ncp5623c'

                    INFO [muorb] SLPI: arg1 = 'start'

                    INFO [muorb] SLPI: arg2 = '-X'

                    INFO [muorb] SLPI: arg3 = '-b'

                    INFO [muorb] SLPI: arg4 = '1'

                    INFO [muorb] SLPI: arg5 = '-f'

                    INFO [muorb] SLPI: arg6 = '400'

                    INFO [muorb] SLPI: arg7 = '-a'

                    INFO [muorb] SLPI: arg8 = '56'

                    INFO [muorb] SLPI: *** I2C Device ID 0x7b3809 8075273
                    INFO [muorb] SLPI: Set i2c address 0x38, fd 3
                    ERROR [muorb] SLPI: i2c probe failed
                    INFO [muorb] SLPI: PX4_qshell: no instance started (no device on bus?)
                    ERROR [muorb] SLPI: Failed to execute command: rgbled_ncp5623c start -X -b 1 -f 400 -a 56
                    INFO [qshell] cmd returned with: -1
                    INFO [qshell] qshell return value timestamp: 380774191, local time: 380776550
                    ERROR [qshell] Command failed
                    Starting VOXL ESC driver
                    INFO [uORB] Advertising remote topic sensor_baro
                    INFO [qshell] Send cmd: 'voxl_esc start'
                    INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                    INFO [muorb] SLPI: qshell gotten: voxl_esc start
                    INFO [muorb] SLPI: arg0 = 'voxl_esc'

                    INFO [muorb] SLPI: arg1 = 'start'

                    INFO [uORB] Advertising remote topic actuator_outputs
                    INFO [muorb] SLPI: Ok executing command: voxl_esc start
                    INFO [muorb] SLPI: Opened UART ESC device
                    INFO [qshell] qshell return value timestamp: 380907621, local time: 380909607
                    Starting CRSF RC driver
                    INFO [uORB] Advertising remote topic esc_status
                    INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                    INFO [qshell] Send cmd: 'crsf_rc start -d 7'
                    INFO [muorb] SLPI: qshell gotten: crsf_rc start -d 7
                    INFO [muorb] SLPI: arg0 = 'crsf_rc'

                    INFO [muorb] SLPI: arg1 = 'start'

                    INFO [muorb] SLPI: arg2 = '-d'

                    INFO [muorb] SLPI: arg3 = '7'

                    INFO [muorb] SLPI: Ok executing command: crsf_rc start -d 7
                    INFO [muorb] SLPI: Crsf serial opened sucessfully
                    INFO [muorb] SLPI: Crsf serial is single wire. Telemetry disabled
                    INFO [uORB] Advertising remote topic input_rc
                    INFO [qshell] qshell return value timestamp: 380966325, local time: 380968275
                    INFO [qshell] Send cmd: 'voxlpm start -X -b 2'
                    INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                    INFO [muorb] SLPI: qshell gotten: voxlpm start -X -b 2
                    INFO [muorb] SLPI: arg0 = 'voxlpm'

                    INFO [muorb] SLPI: arg1 = 'start'

                    INFO [muorb] SLPI: arg2 = '-X'

                    INFO [muorb] SLPI: arg3 = '-b'

                    INFO [muorb] SLPI: arg4 = '2'

                    INFO [muorb] SLPI: *** I2C Device ID 0xd24411 13779985
                    INFO [muorb] SLPI: baudrate set to 9600
                    INFO [muorb] SLPI: Sending initial CFG_VALSET. Attempt: 1
                    INFO [muorb] SLPI: Sending initial CFG_VALSET. Attempt: 2
                    INFO [muorb] SLPI: Sending initial CFG_VALSET. Attempt: 3
                    INFO [muorb] SLPI: Set i2c address 0x6a, fd 4
                    INFO [muorb] SLPI: baudrate set to 9600
                    INFO [muorb] SLPI: Sending initial CFG_VALSET. Attempt: 1
                    INFO [muorb] SLPI: Sending initial CFG_VALSET. Attempt: 2
                    terminate called after throwing an instance of 'qmi_error'
                    what(): qmi_client_send_msg_sync() failed, (client_id=)0, result=0: qmi error (-16)
                    /usr/bin/voxl-px4: line 147: 5263 Aborted GPS=$GPS RC=$RC ESC=$ESC POWER_MANAGER=$POWER_MANAGER DISTANCE_SENSOR=$DISTANCE_SENSOR OSD=$OSD EXTRA_STEPS=$EXTRA_STEPS px4 $DAEMON -s /usr/bin/voxl-px4-start
                    voxl2:/$ ERROR [px4] PX4 server not running
                    ERROR [px4] PX4 server not running
                    ERROR [px4] PX4 server not running
                    ERROR [px4] PX4 server not running
                    ERROR [px4] PX4 server not running
                    ERROR [px4] PX4 server not running
                    ERROR [px4] PX4 server not running
                    ERROR [px4] PX4 server not running
                    ERROR [px4] PX4 server not running
                    ERROR [px4] PX4 server not running
                    ERROR [px4] PX4 server not running
                    ERROR [px4] PX4 server not running
                    ERROR [px4] PX4 server not running
                    ERROR [px4] PX4 server not running
                    ERROR [px4] PX4 server not running
                    ERROR [px4] PX4 server not running
                    ERROR [px4] PX4 server not running
                    ERROR [px4] PX4 server not running
                    ERROR [px4] PX4 server not running
                    ERROR [px4] PX4 server not running
                    ERROR [px4] PX4 server not running
                    ERROR [px4] PX4 server not running
                    ERROR [px4] PX4 server not running
                    ERROR [px4] PX4 server not running
                    ERROR [px4] PX4 server not running
                    ERROR [px4] PX4 server not running
                    ERROR [px4] PX4 server not running

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

                      @Jeremy-Frederick , can you please disable gps driver and try again? Also, a different test, unplug gps receiver (while gps driver is still enabled) if you have one.

                      Finally, please confirm which SDK version you are using. Thanks!

                      Jeremy FrederickJ 1 Reply Last reply Reply Quote 0
                      • Jeremy FrederickJ
                        Jeremy Frederick @Alex Kushleyev
                        last edited by

                        @Alex-Kushleyev Circling back to this as bandwidth opens up again, the board shipped with 1.1.3 but we downgraded to 1.1.2 for consistency across our fleet. After disabling the GPS driver, here is the read out. Once it begins to repeat the standard error event 2, it continues to do so until commanded to cancel.

                        voxl2:/$ voxl-px4
                        [INFO] Reading from /etc/modalai/voxl-px4.conf
                        Found DSP signature file
                        [INFO] Daemon mode enabled

                        GPS=NONE
                        RC=SPEKTRUM
                        ESC=VOXL_ESC
                        POWER MANAGER=VOXLPM
                        DISTANCE SENSOR=NONE
                        OSD=DISABLE
                        DAEMON_MODE=ENABLE
                        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
                        Got topic data before configuration complete
                        Got topic data before configuration complete
                        Got topic data before configuration complete
                        Got topic data before configuration complete
                        Got topic data before configuration complete
                        Got topic data before configuration complete
                        Got topic data before configuration complete
                        Got topic data before configuration complete
                        Got topic data before configuration complete
                        Got topic data before configuration complete
                        Got topic data before configuration complete
                        Got topic data before configuration complete
                        Got topic data before configuration complete
                        INFO [muorb] SLPI: muorb aggregator thread running
                        INFO [muorb] muorb protobuf initalize method succeeded
                        INFO [muorb] succesfully did ADVERTISE_TEST_TYPE
                        INFO [muorb] SLPI: Creating pthread test_MUORB

                        INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097656
                        INFO [muorb] succesfully did SUBSCRIBE_TEST_TYPE
                        INFO [muorb] SLPI: Creating pthread test_MUORB

                        INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097655
                        INFO [muorb] succesfully did TOPIC_TEST_TYPE
                        INFO [muorb] SLPI: Creating pthread test_MUORB

                        INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097654
                        INFO [muorb] succesfully did UNSUBSCRIBE_TEST_TYPE
                        INFO [muorb] SLPI: Creating pthread test_MUORB

                        INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097653
                        INFO [muorb] muorb test passed

                        | ___ \ \ \ / / / |
                        | |/ / \ V / / /| |
                        | __/ / \ / /                        | |
                        | | / /^\ \ ___ |
                        INFO [muorb] SLPI: Advertising remote topic log_message
                        _| / / |_/

                        px4 starting.
                        INFO [parameters] Starting param sync THREAD

                        INFO [px4] startup script: /bin/sh /usr/bin/voxl-px4-start 0
                        INFO [muorb] SLPI: Starting param sync THREAD

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

                        Running on M0054
                        INFO [muorb] SLPI: before starting the qshell_entry task
                        INFO [muorb] SLPI: Creating pthread qshell

                        INFO [muorb] SLPI: qshell entry.....
                        INFO [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 2097652
                        INFO [muorb] SLPI: Init app map initialized
                        INFO [muorb] SLPI: after starting the qshell_entry task
                        INFO [param] selected parameter default file /data/px4/param/parameters
                        INFO [muorb] SLPI: Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic
                        INFO [uORB] Marking DeviceNode(parameter_client_reset_response) as advertised in process_remote_topic
                        INFO [muorb] SLPI: Advertising remote topic parameter_update
                        INFO [muorb] SLPI: Marking DeviceNode(parameter_client_set_value_request) as advertised in process_remote_to
                        INFO [uORB] Marking DeviceNode(parameter_server_set_used_request) as advertised in process_remote_topic
                        INFO [muorb] SLPI: Marking DeviceNode(parameter_server_set_used_response) as advertised in process_remote_to
                        INFO [uORB] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic
                        INFO [parameters] BSON document size 2516 bytes, decoded 2516 bytes (INT32:32, FLOAT:84)
                        INFO [logger] logger started (mode=all)
                        Starting IMU driver with no rotation
                        INFO [qshell] Send cmd: 'icm42688p start -s'
                        INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                        INFO [muorb] SLPI: qshell gotten: icm42688p start -s
                        INFO [muorb] SLPI: arg0 = 'icm42688p'

                        INFO [muorb] SLPI: arg1 = 'start'

                        INFO [muorb] SLPI: arg2 = '-s'

                        INFO [muorb] SLPI: *** SPI Device ID 0x26000a 2490378
                        INFO [uORB] Advertising remote topic sensor_accel
                        INFO [uORB] Advertising remote topic sensor_gyro
                        INFO [muorb] SLPI: ICM42688P::probe successful!
                        INFO [muorb] SLPI: on SPI bus 1
                        INFO [muorb] SLPI: icm42688p #0 on SPI bus 1
                        INFO [muorb] SLPI:

                        INFO [muorb] SLPI: >>> ICM42688P this: 3176e890
                        INFO [muorb] SLPI: Ok executing command: icm42688p start -s
                        INFO [uORB] Advertising remote topic qshell_retval
                        INFO [muorb] SLPI: >>> ICM42688P this: 3176e890
                        INFO [qshell] qshell return value timestamp: 769109146, local time: 769112405
                        INFO [muorb] SLPI: >>> ICM42688P this: 3176e890
                        INFO [muorb] SLPI: Register interrupt b21d31a4 e6201b9c 3176e890
                        INFO [uORB] Advertising remote topic sensor_gyro_fifo
                        INFO [uORB] Advertising remote topic sensor_accel_fifo
                        INFO [uORB] Advertising remote topic imu_server
                        INFO [qshell] Send cmd: 'icp101xx start -I -b 5'
                        INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                        INFO [muorb] SLPI: qshell gotten: icp101xx start -I -b 5
                        INFO [muorb] SLPI: arg0 = 'icp101xx'

                        INFO [muorb] SLPI: arg1 = 'start'

                        INFO [muorb] SLPI: arg2 = '-I'

                        INFO [muorb] SLPI: arg3 = '-b'

                        INFO [muorb] SLPI: arg4 = '5'

                        INFO [muorb] SLPI: *** I2C Device ID 0xb76329 12018473
                        INFO [muorb] SLPI: icp101xx #0 on I2C bus 5
                        INFO [muorb] SLPI: address 0x63
                        INFO [muorb] SLPI:

                        INFO [muorb] SLPI: Ok executing command: icp101xx start -I -b 5
                        INFO [qshell] qshell return value timestamp: 769151747, local time: 769152453
                        Looking for qmc5883l magnetometer
                        INFO [qshell] Send cmd: 'qmc5883l start -R 10 -X -b 1'
                        INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                        INFO [muorb] SLPI: qshell gotten: qmc5883l start -R 10 -X -b 1
                        INFO [muorb] SLPI: arg0 = 'qmc5883l'

                        INFO [muorb] SLPI: arg1 = 'start'

                        INFO [muorb] SLPI: arg2 = '-R'

                        INFO [muorb] SLPI: arg3 = '10'

                        INFO [muorb] SLPI: arg4 = '-X'

                        INFO [muorb] SLPI: arg5 = '-b'

                        INFO [muorb] SLPI: arg6 = '1'

                        INFO [muorb] SLPI: *** I2C Device ID 0x80d09 527625
                        ERROR [muorb] SLPI: i2c probe failed
                        INFO [muorb] SLPI: PX4_qshell: no instance started (no device on bus?)
                        ERROR [muorb] SLPI: Failed to execute command: qmc5883l start -R 10 -X -b 1
                        INFO [qshell] cmd returned with: -1
                        INFO [qshell] qshell return value timestamp: 769197191, local time: 769199300
                        ERROR [qshell] Command failed
                        Looking for ist8310 magnetometer
                        INFO [muorb] SLPI: >>> ICM42688P this: 3176e890
                        INFO [qshell] Send cmd: 'ist8310 start -R 10 -X -b 1'
                        INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                        INFO [muorb] SLPI: qshell gotten: ist8310 start -R 10 -X -b 1
                        INFO [muorb] SLPI: arg0 = 'ist8310'

                        INFO [muorb] SLPI: arg1 = 'start'

                        INFO [muorb] SLPI: arg2 = '-R'

                        INFO [muorb] SLPI: arg3 = '10'

                        INFO [muorb] SLPI: arg4 = '-X'

                        INFO [muorb] SLPI: arg5 = '-b'

                        INFO [muorb] SLPI: arg6 = '1'

                        INFO [muorb] SLPI: *** I2C Device ID 0x60e09 396809
                        ERROR [muorb] SLPI: i2c probe failed
                        INFO [muorb] SLPI: PX4_qshell: no instance started (no device on bus?)
                        ERROR [muorb] SLPI: Failed to execute command: ist8310 start -R 10 -X -b 1
                        INFO [qshell] cmd returned with: -1
                        INFO [qshell] qshell return value timestamp: 769243333, local time: 769245843
                        ERROR [qshell] Command failed
                        Looking for ncp5623c RGB LED
                        INFO [qshell] Send cmd: 'rgbled_ncp5623c start -X -b 1 -f 400 -a 56'
                        INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                        INFO [muorb] SLPI: qshell gotten: rgbled_ncp5623c start -X -b 1 -f 400 -a 56
                        INFO [muorb] SLPI: arg0 = 'rgbled_ncp5623c'

                        INFO [muorb] SLPI: arg1 = 'start'

                        INFO [muorb] SLPI: arg2 = '-X'

                        INFO [muorb] SLPI: arg3 = '-b'

                        INFO [muorb] SLPI: arg4 = '1'

                        INFO [muorb] SLPI: arg5 = '-f'

                        INFO [muorb] SLPI: arg6 = '400'

                        INFO [muorb] SLPI: arg7 = '-a'

                        INFO [muorb] SLPI: arg8 = '56'

                        INFO [muorb] SLPI: *** I2C Device ID 0x7b3809 8075273
                        INFO [muorb] SLPI: Set i2c address 0x38, fd 3
                        ERROR [muorb] SLPI: i2c probe failed
                        INFO [muorb] SLPI: PX4_qshell: no instance started (no device on bus?)
                        ERROR [muorb] SLPI: Failed to execute command: rgbled_ncp5623c start -X -b 1 -f 400 -a 56
                        INFO [qshell] cmd returned with: -1
                        INFO [qshell] qshell return value timestamp: 769289461, local time: 769290797
                        ERROR [qshell] Command failed
                        Starting VOXL ESC driver
                        INFO [qshell] Send cmd: 'voxl_esc start'
                        INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                        INFO [muorb] SLPI: qshell gotten: voxl_esc start
                        INFO [muorb] SLPI: arg0 = 'voxl_esc'

                        INFO [muorb] SLPI: arg1 = 'start'

                        INFO [uORB] Advertising remote topic actuator_outputs
                        INFO [uORB] Advertising remote topic sensor_baro
                        INFO [muorb] SLPI: Ok executing command: voxl_esc start
                        INFO [muorb] SLPI: Opened UART ESC device
                        INFO [qshell] qshell return value timestamp: 769402896, local time: 769405483
                        Starting Spektrum RC
                        INFO [uORB] Advertising remote topic actuator_outputs_debug
                        INFO [uORB] Advertising remote topic esc_status
                        INFO [qshell] Send cmd: 'spektrum_rc start'
                        INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                        INFO [muorb] SLPI: qshell gotten: spektrum_rc start
                        INFO [muorb] SLPI: arg0 = 'spektrum_rc'

                        INFO [muorb] SLPI: arg1 = 'start'

                        INFO [muorb] SLPI: Creating pthread spektrum_rc_main

                        INFO [muorb] SLPI: Successfully created px4 task PX4_spektrum_rc_main with tid 2097644
                        INFO [muorb] SLPI: Ok executing command: spektrum_rc start
                        INFO [qshell] qshell return value timestamp: 769460341, local time: 769462971
                        INFO [qshell] Send cmd: 'voxlpm start -X -b 2'
                        INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                        INFO [muorb] SLPI: qshell gotten: voxlpm start -X -b 2
                        INFO [muorb] SLPI: arg0 = 'voxlpm'

                        INFO [muorb] SLPI: arg1 = 'start'

                        INFO [muorb] SLPI: arg2 = '-X'

                        INFO [muorb] SLPI: arg3 = '-b'

                        INFO [muorb] SLPI: arg4 = '2'

                        INFO [muorb] SLPI: *** I2C Device ID 0xd24411 13779985
                        INFO [muorb] SLPI: Set i2c address 0x6a, fd 4
                        Received standard error event 2
                        ERROR [qshell] command timed out
                        ERROR [qshell] Command failed
                        INFO [qshell] Send cmd: 'sensors start'
                        Received standard error event 2
                        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'
                        Received standard error event 2
                        ERROR [qshell] command timed out
                        ERROR [qshell] Command failed
                        INFO [qshell] Send cmd: 'mc_att_control start'
                        ERROR [qshell] command timed out
                        ERROR [qshell] Command failed
                        Received standard error event INFO [qshell] Send cmd: 'mc_rate_control start'
                        2
                        Received standard error event 2
                        ERROR [qshell] command timed out
                        ERROR [qshell] Command failed
                        INFO [qshell] Send cmd: 'mc_hover_thrust_estimator start'
                        ERROR [qshell] command timed out
                        ERROR [qshell] Command failed
                        INFO [qshell] Send cmd: 'mc_autotune_attitude_control start'
                        ERROR [qshell] command timed out
                        ERROR [qshell] Command failed
                        INFO [qshell] Send cmd: 'land_detector start multicopter'
                        Received standard error event 2
                        Received standard error event 2
                        ERROR [qshell] command timed out
                        ERROR [qshell] Command failed
                        INFO [qshell] Send cmd: 'manual_control start'
                        Received standard error event 2
                        Received standard error event 2
                        Received standard error event 2
                        Received standard error event 2
                        Received standard error event 2
                        Received standard error event 2
                        Received standard error event 2
                        Received standard error event 2
                        Received standard error event 2
                        ERROR [qshell] command timed out
                        ERROR [qshell] Command failed
                        INFO [qshell] Send cmd: 'control_allocator start'
                        Received standard error event 2
                        Received standard error event 2
                        Received standard error event 2
                        Received standard error event 2
                        Received standard error event 2
                        Received standard error event 2
                        Received standard error event 2
                        Received standard error event 2
                        Received standard error event 2
                        Received standard error event 2
                        Received standard error event 2
                        Received standard error event 2
                        Received standard error event 2

                        Jeremy FrederickJ 1 Reply Last reply Reply Quote 0
                        • Jeremy FrederickJ
                          Jeremy Frederick @Jeremy Frederick
                          last edited by

                          @Jeremy-Frederick More Info: I've upgraded to SDK 1.2 and am having the same issue. It seems like the mavlink pipe is having trouble connecting as well, whenever I attempt to read the onboard mavlink messages, with voxl-inspect-mavlink, it indefinitely waits for the pipe to connect.

                          Eric KatzfeyE 2 Replies Last reply Reply Quote 0
                          • Eric KatzfeyE
                            Eric Katzfey ModalAI Team @Jeremy Frederick
                            last edited by

                            @Jeremy-Frederick It looks like the SLPI DSP is crashing. Can you look at the dmesg log? It probably indicates that the SLPI DSP has crashed.

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

                              @Jeremy-Frederick Can you also try setting POWER_MANAGER to NONE in /etc/modalai/voxl-px4.conf and see if that changes anything?

                              Jeremy FrederickJ 1 Reply Last reply Reply Quote 0
                              • Jeremy FrederickJ
                                Jeremy Frederick @Eric Katzfey
                                last edited by

                                @Eric-Katzfey That seems to have solved the issue, now were able to establish a connection to QGC. Any idea why that would cause an issue?

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

                                  @Jeremy-Frederick I'm guessing that the black 4 wire cable between the VOXL 2 and the APM may have some issues making an occasional problem for the i2c bus. Do you have another one of those cables to swap with?

                                  1 Reply Last reply Reply Quote 0
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