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    Voxlio board Sbus lagging

    VOXL Accessories
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    • A
      Alex Kushleyev ModalAI Team @Jeffrey Mao
      last edited by 30 May 2024, 16:27

      @Jeffrey-Mao , I am checking whether we tried Futaba rx (the docs page says it is not supported).

      Meanwhile, I have a Ghost rx which can be configured in SBUS output mode, which has been reported to behave in the way you are describing. I will try it, perhaps there is a common issue related to Ghost and your Jeti receiver. I will try to get back to you today or tomorrow.

      Alex

      A 1 Reply Last reply 30 May 2024, 17:54 Reply Quote 0
      • A
        Alex Kushleyev ModalAI Team @Alex Kushleyev
        last edited by 30 May 2024, 17:54

        if you look at voxl-px4 startup log (using journalctl or you can run voxl-px4 in foreground). Please ignore my firmware hash of M0065 (i am using a custom firmware, so it won't match yours, but it should match this one: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl2-io/-/blob/master/voxl2-io-tools/firmware/modalai_m0065_firmware_v0_2_RC1_f94baad1.bin )

        voxl2:/$ journalctl -u voxl-px4 | grep VOXL2_IO
        May 30 17:51:33 m0054 voxl-px4[3932]: ESC=VOXL2_IO_PWM_ESC
        May 30 17:51:33 m0054 voxl-px4[3932]: ESC: VOXL2_IO_PWM_ESC
        May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Driver starting
        May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_BAUD  : 921600
        May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC1 : 0
        May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC2 : 0
        May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC3 : 0
        May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC4 : 0
        May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC5 : 0
        May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC6 : 0
        May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC7 : 0
        May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC8 : 0
        May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_DIS   : 1000
        May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_MIN   : 1100
        May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_MAX   : 2000
        May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_CMIN  : 1050
        May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_CMAX  : 2000
        May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO:
        May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Opening UART device 2, baud rate 921600
        May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Successfully opened UART device
        May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Detecting M0065 board...
        May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO:         VOXL2_IO ID: 0
        May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO:         Board Type : 35: ModalAi I/O Expander (M0065)
        May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO:         Unique ID  : 0x4304296039364B560671FF36
        May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO:         Firmware   : version    2, hash f94baad1*
        May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO:         Bootloader : verINFO  [qshell] Send cmd: 'voxl2_io start'
        May 30 17:51:37 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO:         Reply time : 524us
        May 30 17:51:37 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Driver initialization succeeded
        May 30 17:51:37 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Detected VOXL2 IO SBUS RC
        
        J 1 Reply Last reply 30 May 2024, 19:57 Reply Quote 0
        • J
          Jeffrey Mao @Alex Kushleyev
          last edited by Jeffrey Mao 30 May 2024, 19:59 30 May 2024, 19:57

          @Alex-Kushleyev We have the current thing

          Attempting to start M0065 SBUS RC driver for original M0065 FW
          INFO [muorb] SLPI: qshell gotten: dsp_sbus start
          INFO [muorb] SLPI: arg0 = 'dsp_sbus'
          INFO [muorb] SLPI: arg1 = 'start'
          INFO [qshell] Send cmd: 'dsp_sbus start'
          ERROR [muorb] SLPI: Failed to execute command: dsp_sbus start
          Starting M0065 SBUS RC driver for original M0065 FW failed
          Attempting to start M0065 SBUS RC driver for new M0065 FW
          INFO [qshell] Send cmd: 'voxl2_io start -d -p 7'
          INFO [muorb] SLPI: Ok executing command: voxl2_io start -d -p 7

          We will try updating the firmware and let you know how ti goes based on what you say

          A 1 Reply Last reply 30 May 2024, 20:03 Reply Quote 0
          • A
            Alex Kushleyev ModalAI Team @Jeffrey Mao
            last edited by Alex Kushleyev 30 May 2024, 20:04 30 May 2024, 20:03

            @Jeffrey-Mao , which version of px4 are you using?

            BTW, i figured out the issue. When VOXL2_IO is not used for motor outputs (VOXL2_IO_FUNCx are all set to zero), the module updates at a very low rate (every 200-300ms) because the schedule thinks the mixer module is unused. This causes the data from M0065 board coming into VOXL2 (and voxl2_io driver) to be dropped and delayed.

            I am looking at a temporary workaround for this and a fix. As a workaround, setting param set VOXL2_IO_FUNC8 108 makes the module update at full rate (800hz) but i need to check to see what happens if you have a quad and what happens to motor 8 in that case.

            What are you using as motor outputs? voxl esc or also planning to use voxl2_io ?

            Meanwhile, please update the PX4 from sdk 1.3.0 , and you will also need to update M0065 firmware. Old M0065 firmware (V1) and old voxl2_io driver had some issues.

            • https://docs.modalai.com/voxl2-io-user-guide/#voxl-px4-configuration
            • https://docs.modalai.com/voxl2-io-firmware/
            A 1 Reply Last reply 30 May 2024, 20:19 Reply Quote 0
            • A
              Alex Kushleyev ModalAI Team @Alex Kushleyev
              last edited by Alex Kushleyev 30 May 2024, 20:19 30 May 2024, 20:19

              OK, it seems the workaround (not affecting motor output) is to set any of the VOXL2_IO_FUNCx to values 402-422, which forces the module to update at 250hz, which is enough to solve this issue without changing code. Note that this will output the value of the function to VOXL2_IO board, but if you don't have anything connected to the corresponding pwm output, it should be fine (i suggest doing something like this param set VOXL2_IO_FUNC8 408 since PWM channel 8 is rarely used anyway.

              You could try doing the same with your old M0065 firmware (which only supports 4 channels, however), so you would set param set VOXL2_IO_FUNC4 408 . However, i strongly recommend using the latest M0065 firmware and modal2_io drivers. see changelog: https://docs.modalai.com/voxl2-io-firmware/#voxl-sdk-12x-wip

              1 Reply Last reply Reply Quote 0
              • J
                Jeffrey Mao
                last edited by 30 May 2024, 20:58

                Oh glad to hear something from your end.

                Currently we are using VoxlESC and the Px4 from SDK 1.1.1. Recently I flashed the board but the remote control is no longer detected. Also how do we set the parameter of the voxl2_io_func8 is this in the start up /usr/bin/voxl-px4-start?

                Thanks again for the help,

                Jeff

                A 1 Reply Last reply 30 May 2024, 22:40 Reply Quote 0
                • A
                  Alex Kushleyev ModalAI Team @Jeffrey Mao
                  last edited by 30 May 2024, 22:40

                  @Jeffrey-Mao , you can use QGC to update the param or from voxl2, “px4-qshell param set VOXL2_IO_FUNC8 …..” . This is standard px4 param setting.

                  R J 2 Replies Last reply 31 May 2024, 20:19 Reply Quote 0
                  • R
                    Rishabh Verma @Alex Kushleyev
                    last edited by 31 May 2024, 20:19

                    @Alex-Kushleyev
                    Hey Alex, I am working with Jeffrey. I can't seem to find the VOXL2_IO_FUNCx parameters. Is it on the VOXL2_IO board or the VOXL2 main board? Because while running px4 on foreground this was not listed and its not listed even at QGC

                    1 Reply Last reply Reply Quote 0
                    • J
                      Jeffrey Mao @Alex Kushleyev
                      last edited by 31 May 2024, 21:51

                      @Alex-Kushleyev hi Alex thank you so much for the help. We figured it out after updating some of the firmware. It flies much smoother with the jeti RC now

                      A 1 Reply Last reply 5 Jun 2024, 19:40 Reply Quote 0
                      • A
                        Alex Kushleyev ModalAI Team @Jeffrey Mao
                        last edited by 5 Jun 2024, 19:40

                        @Jeffrey-Mao , this issue has been properly fixed, details here : https://github.com/modalai/px4-firmware/commit/636ffefcb1a96ad2b53e988d23bf6419955b69ea . The fix is in voxl-dev branch of px4-firmware and will be included in the next nightly build and thereafter.

                        E 1 Reply Last reply 6 Jun 2024, 15:12 Reply Quote 0
                        • A Alex Kushleyev referenced this topic on 5 Jun 2024, 19:44
                        • E
                          Eric Katzfey ModalAI Team @Alex Kushleyev
                          last edited by 6 Jun 2024, 15:12

                          @Alex-Kushleyev The fix is available in this build: http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-px4_1.14.0-2.0.77-202406051703_arm64.deb

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