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    Outdoor navigation problem

    Qualcomm Flight RB5 5G Drone
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    • Eric KatzfeyE
      Eric Katzfey Dev Team @Amin Bassiri
      last edited by

      @Amin-Bassiri I think the first thing is to figure out what has gone wrong with the mag. You need to get it flying nicely in position mode with GPS / Mag / baro first. VIO is trickier, especially outdoors. Since it relies on computer vision for it's tracking it can fail for quite a few different reasons and is more difficult to debug. VIO indoors where the environment can be controlled more closely is ideal. Outdoors VIO can be a lot more challenging and there will certainly be cases where VIO will fail. Outdoors it's probably best to use both GPS and VIO simultaneously and have PX4 fuse these measurements internally depending on the quality of each one at any particular time. Regardless, let's figure out what is going wrong with the mag first. Does the mag problem happen on all 7 drones? Are you able to calibrate the mag on any of them?

      Amin BassiriA 1 Reply Last reply Reply Quote 0
      • Amin BassiriA
        Amin Bassiri @Eric Katzfey
        last edited by

        @Eric-Katzfey Yesterday I tested seven drones with outdoor parameters. One of them could fly in position mode, and another could fly in position mode but was drifting. The remaining five drones couldn't enter position mode.

        The same drones, the same parameters, and the same environment, but different behaviour.

        Eric KatzfeyE 1 Reply Last reply Reply Quote 0
        • Eric KatzfeyE
          Eric Katzfey Dev Team @Amin Bassiri
          last edited by

          @Amin-Bassiri So, does the mag problem happen on all 7 drones?

          Amin BassiriA 2 Replies Last reply Reply Quote 0
          • Amin BassiriA
            Amin Bassiri @Eric Katzfey
            last edited by Amin Bassiri

            This post is deleted!
            1 Reply Last reply Reply Quote 0
            • Amin BassiriA
              Amin Bassiri @Eric Katzfey
              last edited by Amin Bassiri

              @Eric-Katzfey We tested all seven drones and only two of them are working. However, when we swapped the GPS devices, the working drones also failed to work. This suggests that the issue might be with the GPS devices themselves.
              Specifically, two GPS devices work with different drones, but the remaining five GPS devices do not work with any of the drones.
              Also when we set the SYS_HAS_MAG to 1, the drones can not fly, so we set it to 0 (all the drones)
              it seems we have the hardware problem
              What we should do now?

              Eric KatzfeyE 1 Reply Last reply Reply Quote 0
              • Eric KatzfeyE
                Eric Katzfey Dev Team @Amin Bassiri
                last edited by

                @Amin-Bassiri On one of the non-working drones can you capture the output of journalctl -b --no-pager -u voxl-px4? I'd like to see the output that px4 is generating as it starts up.

                Amin BassiriA 1 Reply Last reply Reply Quote 0
                • Amin BassiriA
                  Amin Bassiri @Eric Katzfey
                  last edited by

                  @Eric-Katzfey
                  journalctl -b --no-pager -u voxl-px4
                  -- Logs begin at Tue 2024-03-26 14:30:53 UTC, end at Fri 2024-05-24 08:11:43 UTC. --
                  May 24 08:05:33 m0052 voxl-px4[1924]: remote topic estimator_aid_src_ev_hgt
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic estimator_aid_src_ev_pos
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic estimator_aid_src_ev_vel
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic estimator_aid_src_ev_yaw
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [mavlink] mode: Normal, data rate: 100000 B/s on udp port 14558 remote port 14559
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Marking DeviceNode(telemetry_status) as advertised in process_remote_topic
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [px4] Startup script returned successfully
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [gps] Sending initial CFG_VALSET. Attempt: 2
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Marking DeviceNode(vehicle_command_ack) as advertised in process_remote_topic
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [gps] Sending initial CFG_VALSET. Attempt: 3
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [gps] u-blox firmware version: SPG 3.01
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [gps] u-blox protocol version: 18.00
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [gps] u-blox module: NEO-M8N-0
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Marking DeviceNode(sensor_gps) as advertised in process_remote_topic
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Horizontal Pos Error too high
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic estimator_gps_status
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic estimator_aid_src_gnss_hgt
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic estimator_aid_src_gnss_pos
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic estimator_aid_src_gnss_vel
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic home_position
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Horizontal Pos Error too high
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Advertising remote topic mission_result
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Horizontal Pos Error too high
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Horizontal Pos Drift too high
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Horizontal Pos Drift too high
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Horizontal Pos Drift too high
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Horizontal Pos Drift too high
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Vertical Pos Drift too high
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Vertical Pos Drift too high
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Vertical Pos Drift too high
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Vertical Pos Drift too high
                  May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:08:38 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:08:38 m0052 voxl-px4[1924]: INFO [mavlink] partner IP: 127.0.0.1
                  May 24 08:08:38 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Marking DeviceNode(vehicle_command_ack) as advertised in process_remote_topic
                  May 24 08:08:38 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:08:38 m0052 voxl-px4[1924]: INFO [muorb] SLPI: orb_advertise_multi: failed to set queue size
                  May 24 08:08:38 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Advertising remote topic ping
                  May 24 08:08:38 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:08:38 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:08:38 m0052 voxl-px4[1924]: INFO [rc_input] RC scan: DSM RC input locked
                  May 24 08:08:38 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Marking DeviceNode(input_rc) as advertised in process_remote_topic
                  May 24 08:08:38 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic rc_channels
                  May 24 08:08:38 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic manual_control_input
                  May 24 08:08:38 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic manual_control_switches
                  May 24 08:08:38 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic action_request
                  May 24 08:08:38 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic vehicle_local_position_setpoint
                  May 24 08:08:38 m0052 voxl-px4[1924]: INFO [uORB] Marking DeviceNode(vehicle_attitude_setpoint) as advertised in process_remote_topic
                  May 24 08:08:38 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic trajectory_setpoint
                  May 24 08:08:38 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic vehicle_constraints
                  May 24 08:08:38 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:08:38 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:08:38 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:08:38 m0052 voxl-px4[1924]: INFO [uORB] Marking DeviceNode(mavlink_log) as advertised in process_remote_topic
                  May 24 08:08:38 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Armed by RC
                  May 24 08:08:38 m0052 voxl-px4[1924]: INFO [logger] Start file log (type: full)
                  May 24 08:08:38 m0052 voxl-px4[1924]: WARN [uORB] orb_advertise_multi: failed to set queue size
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [logger] [logger] /data/px4/log/2024-05-24/08_08_38.ulg
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [logger] Opened full log file: /data/px4/log/2024-05-24/08_08_38.ulg
                  May 24 08:10:12 m0052 voxl-px4[1924]: WARN [mavlink] Event dropped (1017, 65526)
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Advertising remote topic logger_status
                  May 24 08:10:12 m0052 voxl-px4[1924]: WARN [mavlink] Dropped 64509 events (seq=65526)
                  May 24 08:10:12 m0052 voxl-px4[1924]: WARN [mavlink] Event dropped (65527, 1021)
                  May 24 08:10:12 m0052 voxl-px4[1924]: WARN [mavlink] Dropped 1012 events (seq=1021)
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Takeoff detected
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic yaw_estimator_status
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic hover_thrust_estimate
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [uORB] Marking DeviceNode(mavlink_log) as advertised in process_remote_topic
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Failsafe activated
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Landing detected
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Disarmed by landing
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [uORB] Marking DeviceNode(parameter_server_set_value_request) as advertised in process_remote_topic
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Marking DeviceNode(parameter_server_set_value_response) as advertised in process_remote_topic
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [logger] closed logfile, bytes written: 7440215
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Kill-switch engaged
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [uORB] Marking DeviceNode(vehicle_command) as advertised in process_remote_topic
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
                  May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
                  rb5:~$

                  Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                  • Eric KatzfeyE
                    Eric Katzfey Dev Team @Amin Bassiri
                    last edited by

                    @Amin-Bassiri Looks like lots of GPS accuracy checks failing. Can you set EKF2_GPS_CHECK to 1 and see how that works?

                    Amin BassiriA 1 Reply Last reply Reply Quote 0
                    • Amin BassiriA
                      Amin Bassiri @Eric Katzfey
                      last edited by

                      @Eric-Katzfey I changed, but it seems the problem is the GPS device, because when we change the GPS drone can go to position mode, but we still have a problem with MAG, we have to turn off the MAG, The drone can not go to position mode, and also we have too much drift.

                      when we set EKF2_GPS_CHECK to 1:
                      rb5:~$ journalctl -b --no-pager -u voxl-px4
                      -- Logs begin at Thu 2023-03-02 12:58:05 UTC, end at Mon 2024-05-27 13:54:15 UTC. --
                      May 27 13:54:15 m0052 voxl-px4[1896]: ta rate: 100000 B/s on udp port 14556 remote port 14557
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Advertising remote topic telemetry_status
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [mavlink] partner IP: 127.0.0.1
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Advertising remote topic obstacle_distance
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Advertising remote topic vehicle_visual_odometry
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Advertising remote topic timesync_status
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Advertising remote topic actuator_controls_status_0
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Advertising remote topic estimator_aid_src_ev_hgt
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Advertising remote topic estimator_aid_src_ev_pos
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Advertising remote topic estimator_aid_src_ev_vel
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Advertising remote topic estimator_aid_src_ev_yaw
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [mavlink] mode: Normal, data rate: 100000 B/s on udp port 14558 remote port 14559
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Marking DeviceNode(telemetry_status) as advertised in process_remote_topic
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [px4] Startup script returned successfully
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [gps] Sending initial CFG_VALSET. Attempt: 2
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Marking DeviceNode(vehicle_command_ack) as advertised in process_remote_topic
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Preflight Fail: Found 0 compass (required: 1)
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [gps] Sending initial CFG_VALSET. Attempt: 3
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Advertising remote topic vehicle_rates_setpoint
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Preflight Fail: Found 0 compass (required: 1)
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [gps] u-blox firmware version: SPG 3.01
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [gps] u-blox protocol version: 18.00
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [gps] u-blox module: NEO-M8N-0
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [mavlink] partner IP: 127.0.0.1
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Marking DeviceNode(sensor_gps) as advertised in process_remote_topic
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Advertising remote topic home_position
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Advertising remote topic estimator_gps_status
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Advertising remote topic estimator_aid_src_gnss_hgt
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Advertising remote topic estimator_aid_src_gnss_pos
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Advertising remote topic estimator_aid_src_gnss_vel
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Advertising remote topic mission_result
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Preflight Fail: Found 0 compass (required: 1)
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Advertising remote topic ping
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Advertising remote topic vehicle_global_position
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Advertising remote topic estimator_baro_bias
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Preflight Fail: Found 0 compass (required: 1)
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Preflight Fail: horizontal velocity unstable
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Preflight Fail: Found 0 compass (required: 1)
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Preflight Fail: horizontal velocity unstable
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Preflight Fail: Found 0 compass (required: 1)
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Advertising remote topic estimator_ev_pos_bias
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Preflight Fail: height estimate not stable
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Preflight Fail: Found 0 compass (required: 1)
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Preflight Fail: height estimate not stable
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Marking DeviceNode(mavlink_log) as advertised in process_remote_topic
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Armed by RC
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [logger] Start file log (type: full)
                      May 27 13:54:15 m0052 voxl-px4[1896]: WARN [uORB] orb_advertise_multi: failed to set queue size
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [logger] [logger] /data/px4/log/2024-05-27/13_52_37.ulg
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [logger] Opened full log file: /data/px4/log/2024-05-27/13_52_37.ulg
                      May 27 13:54:15 m0052 voxl-px4[1896]: WARN [mavlink] Event dropped (80, 65526)
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Advertising remote topic logger_status
                      May 27 13:54:15 m0052 voxl-px4[1896]: WARN [mavlink] Dropped 65446 events (seq=65526)
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Takeoff detected
                      May 27 13:54:15 m0052 voxl-px4[1896]: WARN [mavlink] Event dropped (65527, 80)
                      May 27 13:54:15 m0052 voxl-px4[1896]: WARN [mavlink] Dropped 71 events (seq=80)
                      May 27 13:54:15 m0052 voxl-px4[1896]: WARN [mavlink] Event dropped (65527, 80)
                      May 27 13:54:15 m0052 voxl-px4[1896]: WARN [mavlink] Dropped 71 events (seq=80)
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Advertising remote topic yaw_estimator_status
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Advertising remote topic hover_thrust_estimate
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Landing detected
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Disarmed by RC
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Marking DeviceNode(parameter_server_set_value_request) as advertised in process_remote_topic
                      May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Marking DeviceNode(parameter_server_set_value_response) as advertised in process_remote_topic

                      Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                      • Eric KatzfeyE
                        Eric Katzfey Dev Team @Amin Bassiri
                        last edited by

                        @Amin-Bassiri For some reason the journalctl output doesn't have all of the output from voxl-px4 startup. It should show the attempts to find the magnetometer that seem to be failing. The command in the startup script is qshell ist8310 start -R 10 -X -b 1. If you run that command from the px4 console you can see the output. Or from Linux shell px4-qshell ist8310 start -R 10 -X -b 1.

                        Amin BassiriA 1 Reply Last reply Reply Quote 0
                        • Amin BassiriA
                          Amin Bassiri @Eric Katzfey
                          last edited by

                          @Eric-Katzfey i got this error
                          rb5:~$ px4-qshell ist8310 start -R 10 -X -b 1
                          INFO [qshell] Send cmd: 'ist8310 start -R 10 -X -b 1'
                          INFO [qshell] cmd returned with: -1
                          INFO [qshell] qshell return value timestamp: 670686689, local time: 670688462
                          ERROR [qshell] Command failed
                          rb5:~$ px4-qshell ist8310 start

                          also qshell ist8310 start -R 10 -X -b 1. same error

                          Eric KatzfeyE 2 Replies Last reply Reply Quote 0
                          • Eric KatzfeyE
                            Eric Katzfey Dev Team @Amin Bassiri
                            last edited by

                            @Amin-Bassiri Shoot. With px4-qshell ist8310 start we don't see all of the output. That command needs to be run in the px4 shell to see the output (i.e. qshell ist8310 start -R 10 -X -b 1). When I have no magnetometer attached to my VOXL 2 and I run the command I can see that the probe fails. For example:

                            INFO  [qshell] Send cmd: 'ist8310 start -R 10 -X -b 1'
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: 2382015392, local time: 2382017339
ERROR [qshell] Command failed
Command 'qshell' failed, returned -1.
                            Eric KatzfeyE 2 Replies Last reply Reply Quote 0
                            • Eric KatzfeyE
                              Eric Katzfey Dev Team @Amin Bassiri
                              last edited by

                              @Amin-Bassiri Regardless, based on your earlier log file it seems like the magnetometer is being detected and is providing data. But you are still seeing the No valid data from Compass error. The log you provided does show the error_count incrementing which indicates failed i2c transfers from the magnetometer. So I am also suspecting hardware failure of some sort. Let me discuss internally to figure out next steps.

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                              • Eric KatzfeyE
                                Eric Katzfey Dev Team @Eric Katzfey
                                last edited by

                                @Eric-Katzfey We can test a couple of GPS / Mag units with RB5 and send known working units to you and see if you can also replicate that success. If so, we can send you 5 more.

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

                                  @Eric-Katzfey Can you send a picture with both the GPS unit and cable? Just want to double check what unit(s) you have. I am currently testing with the mRo GPS / Mag unit on my RB5 running SDK 1.1.2 and it is working fine. I have 2 of them that seem to be fine so we can send those to you to try out on your drone(s).

                                  Amin BassiriA 1 Reply Last reply Reply Quote 0
                                  • Amin BassiriA
                                    Amin Bassiri @Eric Katzfey
                                    last edited by

                                    @Eric-Katzfey GPS.jpeg

                                    Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                                    • LaborzaubererTHIL LaborzaubererTHI referenced this topic on
                                    • Eric KatzfeyE
                                      Eric Katzfey Dev Team @Amin Bassiri
                                      last edited by

                                      @Amin-Bassiri Really sorry that you guys are having so much trouble with the GPS units! We are now shipping with M10 GPS units so we can send you those and hopefully that will improve the situation.

                                      Amin BassiriA 1 Reply Last reply Reply Quote 0
                                      • Amin BassiriA
                                        Amin Bassiri @Eric Katzfey
                                        last edited by

                                        @Eric-Katzfey ok, Thanks, we tested GPS M10 and the problem solved.

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