[Starling2Max] Unable to take off due to no valid local position estimate

[Yoshimaru Tanaka]

Recentry, I configured Staring2 Max with the indoor mode, but it is not able to take off due to no valid local position estimate:

Arming Check Report:
No valid local position estimate

To resolve this issue, I tried to figure out the cause.
Then, I found that "xy_valid: False" with the command "px4-listener vehicle_local_position".

Could you please help me to fix this issue?

Thanks.

• What hardware are you using? If you have specific SKU or serial number, that is also helpful

What hardware are you using? If you have specific SKU or serial number, that is also helpful
What version of software are you using? voxl-version is very helpful for determining software version.
How have you configured the software? What is the output of voxl-inspect-services
Do you have any logs? Uploading PX4 logs to https://logs.px4.io can be very helpful. See details on PX4 logs here
Can you share pictures of your setup?
Have you looked at the source code? If so, can you point to any potential issues?

• What version of software are you using? voxl-version is very helpful for determining software version.

--------------------------------------------------------------------------------
system-image: 1.8.02-M0054-14.1a-perf
kernel:       #1 SMP PREEMPT Mon Nov 11 22:59:41 UTC 2024 4.19.125
--------------------------------------------------------------------------------
hw platform:  M0054
mach.var:     1.2.1
--------------------------------------------------------------------------------
voxl-suite:   1.4.1
--------------------------------------------------------------------------------
no current network connection
--------------------------------------------------------------------------------

• How have you configured the software? What is the output of voxl-inspect-services

 Service Name             |  Enabled  |   Running   |  CPU Usage
-------------------------------------------------------------------
 docker-autorun           | Disabled  | Not Running |  
 modallink-relink         | Disabled  | Not Running |  
 voxl-auto-logger         | Disabled  | Not Running |  
 voxl-camera-server       |  Enabled  |   Running   |    79.8%
 voxl-cpu-monitor         |  Enabled  |   Running   |     0.4%
 voxl-dfs-server          | Disabled  | Not Running |  
 voxl-elrs-startup        | Disabled  | Not Running |  
 voxl-feature-tracker     | Disabled  | Not Running |  
 voxl-flow-server         | Disabled  | Not Running |  
 voxl-imu-server          |  Enabled  |   Running   |     1.2%
 voxl-io-server           | Disabled  | Not Running |  
 voxl-lepton-server       | Disabled  | Not Running |  
 voxl-lepton-tracker      | Disabled  | Not Running |  
 voxl-logger              | Disabled  | Not Running |  
 voxl-mavcam-manager      |  Enabled  |   Running   |     0.0%
 voxl-mavlink-server      |  Enabled  |   Running   |     3.4%
 voxl-modem               | Disabled  | Not Running |  
 voxl-open-vins-server    |  Enabled  |   Running   |   101.0%
 voxl-osd                 | Disabled  | Not Running |  
 voxl-portal              |  Enabled  |   Running   |     0.1%
 voxl-px4-imu-server      | Disabled  | Not Running |  
 voxl-px4                 |  Enabled  |   Running   |    26.7%
 voxl-qvio-server         |  Enabled  |   Running   |    29.2%
 voxl-rangefinder-server  |  Enabled  |   Running   |     0.5%
 voxl-remote-id           | Disabled  | Not Running |  
 voxl-softap              |  Enabled  | Not Running |  
 voxl-state-estimator     | Disabled  | Not Running |  
 voxl-static-ip           | Disabled  | Not Running |  
 voxl-streamer            |  Enabled  |   Running   |     0.0%
 voxl-tag-detector        | Disabled  | Not Running |  
 voxl-tflite-server       | Disabled  | Not Running |  
 voxl-time-sync           | Disabled  | Not Running |  
 voxl-uvc-server          | Disabled  | Not Running |  
 voxl-vision-hub          |  Enabled  |   Running   |     1.6%
 voxl-vrx                 | Disabled  | Not Running |  
 voxl-vtx                 | Disabled  | Not Running |  
 voxl-wait-for-fs         |  Enabled  |  Completed  |  

• Do you have any logs? Uploading PX4 logs to https://logs.px4.io can be very helpful. See details on PX4 logs here

voxl2:/$ px4-listener vehicle_local_position

TOPIC: vehicle_local_position
 vehicle_local_position
    timestamp: 326528208 (0.008416 seconds ago)
    timestamp_sample: 326527550 (658 us before timestamp)
    ref_timestamp: 0
    ref_lat: nan
    ref_lon: nan
    x: -0.00292
    y: -0.00900
    z: -4.82586
    delta_xy: [-0.00000, 0.00000]
    delta_z: 0.00000
    vx: 0.00147
    vy: 0.00107
    vz: 0.00699
    z_deriv: -0.00125
    delta_vxy: [-0.00078, 0.00095]
    delta_vz: 0.00020
    ax: -0.01182
    ay: 0.06224
    az: -0.02922
    heading: 0.23297
    delta_heading: 0.00000
    ref_alt: nan
    dist_bottom: 0.10000
    eph: 0.01332
    epv: 0.33389
    evh: 0.03809
    evv: 0.07235
    vxy_max: inf
    vz_max: inf
    hagl_min: inf
    hagl_max: inf
    xy_valid: False
    z_valid: True
    v_xy_valid: False
    v_z_valid: True
    xy_reset_counter: 1
    z_reset_counter: 1
    vxy_reset_counter: 1
    vz_reset_counter: 1
    heading_reset_counter: 0
    heading_good_for_control: False
    xy_global: False
    z_global: False
    dist_bottom_valid: False
    dist_bottom_sensor_bitfield: 0
    dead_reckoning: True

• Can you share pictures of your setup?
  
• Have you looked at the source code? If so, can you point to any potential issues?
  No.

[Eric Katzfey]

@Yoshimaru-Tanaka A PX4 log would be helpful. Can you please make sure the parameter SDLOG_PROFILE is set to 129 (e.g. px4-param set SDLOG_PROFILE 129). Delete all current logs on the drone (e.g. rm -fR /data/px4/log/*). Then start logging (e.g. px4-logger on). Wait a few seconds then attempt to arm the drone. After it fails with no local position stop the log (e.g. px4-logger off). Upload the log file from the drone and share via logs.px4.io.

[Yoshimaru Tanaka]

@Eric-Katzfey Thanks for you response.

I uploaded the log.
https://logs.px4.io/plot_app?log=8129ccfb-6ab4-4851-914c-5066e4667d9f

[Yoshimaru Tanaka]

I also found the following:

1. px4-commander does not start automatically.
2. "Compasse sensor 0 missing" does not disappear with the following comannd, and the preflight check fails.

EKF2_EV_CTRL = 15
EKF2_HGT_REF = 3
COM_ARM_WO_GPS = 1
SENS_MAG_MODE = 0

[Lawrence Y]

@Yoshimaru-Tanaka were you able to solve this issue? I am having the same problem.

[jon]

@Yoshimaru-Tanaka Hey idk if this will solve your problem but to setup my starling I used the parameters from (I believe) the indoor_vio.params file here. You just go to the parameters section of QGroundControl and click upload from file, then select that file - it will show you exactly which parameters are going to change. They are also helpful if you are flip flopping between flying indoors and outside.

[Eric Katzfey]

@Yoshimaru-Tanaka said in [Starling2Max] Unable to take off due to no valid local position estimate:

px4-commander does not start automatically

What do you mean it doesn't start automatically? How did you determine that?

[Eric Katzfey]

@Yoshimaru-Tanaka You should also set SYS_HAS_GPS to 0, SYS_HAS_MAG to 0, and EKF2_MAG_TYPE to 5. Also, in /etc/modalai/voxl-px4.conf set GPS=NONE.

[Yoshimaru Tanaka]

I resolved this issue with replacing indoor_vio.params with indoor_vio_missing_gps.params.

Thanks!