ModalAI Forum
    • Categories
    • Recent
    • Tags
    • Popular
    • Users
    • Groups
    • Register
    • Login

    PX4 stops running

    Starling & Starling 2
    3
    16
    341
    Loading More Posts
    • Oldest to Newest
    • Newest to Oldest
    • Most Votes
    Reply
    • Reply as topic
    Log in to reply
    This topic has been deleted. Only users with topic management privileges can see it.
    • Eric KatzfeyE
      Eric Katzfey ModalAI Team @kestrelsystemsbp
      last edited by

      @kestrelsystemsbp Can you disable the px4 autostart (e.g. systemctl disable voxl-px4) and then reboot the drone? Then start voxl-px4 from the command line and capture it's output (e.g. voxl-px4 -d)?

      kestrelsystemsbpK 1 Reply Last reply Reply Quote 0
      • kestrelsystemsbpK
        kestrelsystemsbp @Eric Katzfey
        last edited by

        @Eric-Katzfey px4 output.png
        This is what I get when I try to start PX4 back up again.

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

          @kestrelsystemsbp That's the entire output from voxl-px4 -d? What version of the VOXL SDK is installed? Have you made any modifications to /usr/bin/voxl-px4-start or /etc/modalai/voxl-px4.conf? Have you made any modifications to the software on the Starling 2?

          kestrelsystemsbpK Eric KatzfeyE 2 Replies Last reply Reply Quote 0
          • tomT
            tom admin @kestrelsystemsbp
            last edited by

            @kestrelsystemsbp Can you post the contents of /etc/modalai/voxl-px4.conf

            kestrelsystemsbpK 1 Reply Last reply Reply Quote 0
            • kestrelsystemsbpK
              kestrelsystemsbp @tom
              last edited by

              @tom Screenshot 2025-03-24 161036.png Screenshot 2025-03-24 161001.png

              1 Reply Last reply Reply Quote 0
              • kestrelsystemsbpK
                kestrelsystemsbp @Eric Katzfey
                last edited by

                @Eric-Katzfey Have not done any modifications to the software other than basic setup stuff for QGC.

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

                  @Eric-Katzfey said in PX4 stops running:

                  What version of the VOXL SDK is installed?

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

                    @kestrelsystemsbp said in PX4 stops running:

                    basic setup stuff for QGC

                    What changes were made for that?

                    1 Reply Last reply Reply Quote 0
                    • tomT
                      tom admin @kestrelsystemsbp
                      last edited by

                      @kestrelsystemsbp Would also be helpful to see the contents of /usr/bin/voxl-px4-start

                      kestrelsystemsbpK 1 Reply Last reply Reply Quote 0
                      • kestrelsystemsbpK
                        kestrelsystemsbp @tom
                        last edited by

                        @tom
                        #!/bin/sh

                        PX4 commands need the 'px4-' prefix in bash.

                        (px4-alias.sh is expected to be in the PATH)

                        . px4-alias.sh

                        echo -e "\n*************************"
                        echo "AIRFRAME: $AIRFRAME"
                        echo "GPS: $GPS"
                        echo "RC: $RC"
                        echo "ESC: $ESC"
                        echo "POWER MANAGER: $POWER_MANAGER"
                        echo "AIRSPEED SENSOR: $AIRSPEED_SENSOR"
                        echo "DISTANCE SENSOR: $DISTANCE_SENSOR"
                        echo "OSD: $OSD"
                        echo "ARTIFACT_MODE: $ARTIFACT_MODE"
                        echo "EXTRA STEPS:"
                        for i in "${EXTRA_STEPS[@]}"
                        do
                        echo -e "\t$i"
                        done
                        echo -e "*************************\n"

                        In order to just exit after starting the uorb / muorb modules define

                        the environment variable MINIMAL_PX4. (e.g. export MINIMAL_PX4=1)

                        This is useful for testing / debug where you may want to start drivers

                        and modules manually from the px4 command shell

                        if [ ! -z $MINIMAL_PX4 ]; then
                        /bin/echo "Running minimal script"
                        exit 0
                        fi

                        Figure out what platform we are running on.

                        PLATFORM=/usr/bin/voxl-platform 2> /dev/null
                        RETURNCODE=$?
                        if [ $RETURNCODE -ne 0 ]; then
                        # If we couldn't get the platform from the voxl-platform utility then check
                        # /etc/version to see if there is an M0052 substring in the version string. If so,
                        # then we assume that we are on M0052.
                        VERSIONSTRING=$(</etc/version)
                        M0052SUBSTRING="M0052"
                        if [[ "$VERSIONSTRING" == "$M0052SUBSTRING" ]]; then
                        PLATFORM="M0052"
                        fi
                        fi

                        We can only run on M0052, M0054, or M0104 so exit with error if that is not the case

                        if [ $PLATFORM = "M0052" ]; then
                        /bin/echo "Running on M0052"
                        elif [ $PLATFORM = "M0054" ]; then
                        /bin/echo "Running on M0054"
                        elif [ $PLATFORM = "M0104" ]; then
                        /bin/echo "Running on M0104"
                        else
                        /bin/echo "Error, cannot determine platform!"
                        exit 0
                        fi

                        Sleep a little here. A lot happens when the uorb and muorb start

                        and we need to make sure that it all completes successfully to avoid

                        any possible race conditions.

                        /bin/sleep 1

                        param select /data/px4/param/parameters

                        Load in all of the parameters that have been saved in the file

                        param load

                        if [ "$ARTIFACT_MODE" == "ENABLE" ]; then
                        # Do not start the logger module if we are in artifact mode. Logging
                        # produces a log artifact. If there are currently any saved logs make
                        # sure to delete them now.
                        # Also remove the data manager file that may have saved GPS waypoint information
                        # in it.
                        # Use shred to remove all files so that they cannot be recovered.
                        # shred should be effective on the /data partition since it has this configuration:
                        # /dev/sda8 /data ext4 rw,nosuid,nodev,noatime,discard,noauto_da_alloc,data=ordered 0 0
                        /usr/bin/find /data/px4/log -name "*.ulg" -exec /usr/bin/shred -u -n 7 {} ;
                        /bin/rm -fR /data/px4/log
                        /usr/bin/shred -u -n 7 /data/px4/dataman
                        /bin/echo "Artifact mode has been enabled"
                        else
                        # Start logging and use timestamps for log files when possible.
                        # Add the "-e" option to start logging immediately. Default is
                        # to log only when armed. Caution must be used with the "-e" option
                        # because if power is removed without stopping the logger gracefully then
                        # the log file may be corrupted.
                        logger start -t
                        fi

                        IMU (accelerometer / gyroscope)

                        if [ "$PLATFORM" == "M0104" ]; then
                        /bin/echo "Starting IMU driver with rotation 12"
                        qshell icm42688p start -s -R 12
                        else
                        /bin/echo "Starting IMU driver with no rotation"
                        qshell icm42688p start -s
                        fi

                        Start Invensense ICP 101xx barometer built on to VOXL 2

                        qshell icp101xx start -I -b 5

                        Auto detect the magnetometer. If one or both of these devices

                        are not connected it will fail but not cause any harm.

                        /bin/echo "Looking for qmc5883l magnetometer"
                        qshell qmc5883l start -R 10 -X -b 1
                        /bin/echo "Looking for ist8310 magnetometer"
                        qshell ist8310 start -R 10 -X -b 1

                        GPS and magnetometer

                        if [ "$GPS" != "NONE" ]; then
                        # On M0052 the GPS driver runs on the apps processor
                        if [ $PLATFORM = "M0052" ]; then
                        gps start -d /dev/ttyHS2
                        # On M0054 and M0104 the GPS driver runs on SLPI DSP
                        else
                        qshell gps start
                        fi
                        fi

                        Auto detect an ncp5623c i2c RGB LED. If one isn't connected this will

                        fail but not cause any harm.

                        /bin/echo "Looking for ncp5623c RGB LED"
                        qshell rgbled_ncp5623c start -X -b 1 -f 400 -a 56

                        We do not change the following parameters but QGC will complain if they aren't

                        being reported as "used" by px4. "Touching" them accomplishes that.

                        param touch SYS_AUTOCONFIG
                        param touch SDLOG_MODE

                        ESC driver

                        if [ "$ESC" == "VOXL_ESC" ]; then
                        /bin/echo "Starting VOXL ESC driver"
                        qshell voxl_esc start
                        elif [ "$ESC" == "VOXL2_IO_PWM_ESC" ]; then
                        if [ "$RC" == "M0065_SBUS" ]; then
                        /bin/echo "Starting VOXL IO for PWM ESC with SBUS RC"
                        qshell voxl2_io start
                        else
                        /bin/echo "Starting VOXL IO for PWM ESC without SBUS RC"
                        qshell voxl2_io start -e
                        fi
                        else
                        /bin/echo "No ESC type specified, not starting an ESC driver"
                        fi

                        RC driver

                        if [ "$RC" == "FAKE_RC_INPUT" ]; then
                        /bin/echo "Starting fake RC driver"
                        qshell rc_controller start
                        elif [ "$RC" == "CRSF_RAW" ]; then
                        /bin/echo "Starting CRSF RC driver"
                        qshell crsf_rc start -d 7
                        elif [ "$RC" == "CRSF_MAV" ]; then
                        /bin/echo "Starting TBS crossfire RC - MAV Mode"
                        qshell mavlink_rc_in start -m -p 7 -b 115200
                        elif [ "$RC" == "SPEKTRUM" ]; then
                        /bin/echo "Starting Spektrum RC"
                        # On M0052 the RC driver runs on the apps processor
                        if [ $PLATFORM = "M0052" ]; then
                        rc_input start -d /dev/ttyHS1
                        # On M0054 and M0104 the RC driver runs on SLPI DSP
                        else
                        qshell spektrum_rc start
                        fi
                        elif [ "$RC" == "GHST" ]; then
                        /bin/echo "Starting GHST RC driver"
                        qshell ghst_rc start -d 7
                        elif [ "$RC" == "M0065_SBUS" ]; then
                        if [ $PLATFORM = "M0052" ]; then
                        apps_sbus start
                        elif [ "$ESC" != "VOXL2_IO_PWM_ESC" ]; then
                        /bin/echo "Attempting to start M0065 SBUS RC driver for original M0065 FW"
                        qshell dsp_sbus start
                        retVal=$?
                        if [ $retVal -ne 0 ]; then
                        /bin/echo "Starting M0065 SBUS RC driver for original M0065 FW failed"
                        /bin/echo "Attempting to start M0065 SBUS RC driver for new M0065 FW"
                        qshell voxl2_io start -d -p 7
                        fi
                        else
                        /bin/echo "M0065 SBUS RC driver already started with PWM ESC start"
                        fi
                        fi

                        if [ "$DISTANCE_SENSOR" == "LIGHTWARE_SF000" ]; then
                        # Make sure to set the parameter SENS_EN_SF0X to 8 for sf000/b sensor
                        qshell lightware_laser_serial start -d 7
                        fi

                        if [ "$POWER_MANAGER" == "VOXLPM" ]; then
                        # APM power monitor
                        qshell voxlpm start -X -b 2
                        fi

                        if [ "$AIRSPEED_SENSOR" == "MS4525DO" ]; then
                        qshell ms4525do start -X -b 4
                        fi

                        Optional distance sensor on spare i2c

                        qshell vl53l0x start -X -b 4

                        qshell vl53l1x start -X -b 4

                        Start all of the processing modules on DSP

                        qshell sensors start
                        qshell ekf2 start

                        if [ "$AIRFRAME" == "FIXED_WING" ]; then
                        qshell fw_pos_control start
                        qshell fw_att_control start
                        qshell fw_rate_control start
                        qshell airspeed_selector start
                        qshell fw_autotune_attitude_control start
                        qshell land_detector start fixedwing
                        elif [ $AIRFRAME = "MULTICOPTER" ]; then
                        qshell mc_pos_control start
                        qshell mc_att_control start
                        qshell mc_rate_control start
                        qshell mc_hover_thrust_estimator start
                        qshell mc_autotune_attitude_control start
                        qshell land_detector start multicopter
                        fi

                        qshell manual_control start
                        qshell control_allocator start
                        qshell load_mon start

                        Only start the rc_update module if an actual RC driver

                        is publishing input_rc topics. Otherwise for external RC

                        over Mavlink this isn't needed.

                        if [ "$RC" != "EXTERNAL" ]; then
                        qshell rc_update start
                        fi

                        qshell commander start

                        This is needed for altitude and position hold modes

                        qshell flight_mode_manager start

                        Start all of the processing modules on the applications processor

                        dataman start
                        navigator start
                        load_mon start

                        This bridge allows raw data packets to be sent over UART to the ESC

                        modal_io_bridge start

                        Start microdds_client for ros2 offboard messages from agent over localhost

                        microdds_client start -t udp -h 127.0.0.1 -p 8888

                        On M0052 there is only one IMU. So, PX4 needs to

                        publish IMU samples externally for VIO to use.

                        if [ $PLATFORM = "M0052" ]; then
                        imu_server start
                        fi

                        start the onboard fast link to connect to voxl-mavlink-server

                        mavlink start -x -u 14556 -o 14557 -r 100000 -n lo -m onboard

                        slow down some of the fastest streams

                        mavlink stream -u 14556 -s HIGHRES_IMU -r 10
                        mavlink stream -u 14556 -s ATTITUDE -r 10
                        mavlink stream -u 14556 -s ATTITUDE_QUATERNION -r 10
                        mavlink stream -u 14556 -s GLOBAL_POSITION_INT -r 30
                        mavlink stream -u 14556 -s SCALED_PRESSURE -r 10

                        start the slow normal mode for voxl-mavlink-server to forward to GCS

                        mavlink start -x -u 14558 -o 14559 -r 100000 -n lo

                        mavlink boot_complete

                        Optional MSP OSD driver for DJI or HDZero goggles

                        This is only supported on M0054 (with M0125 accessory board)

                        if [ "$OSD" == "ENABLE" ] || [ "$OSD" == "DJI" ]; then
                        /bin/echo "Starting DJI OSD driver"
                        msp_osd start -d /dev/ttyHS1
                        elif [ "$PLATFORM" == "M0054" ] && [ "$OSD" == "HDZERO" ] || [ "$OSD" == "DJI_MSP_DP" ]; then
                        /bin/echo "Starting $OSD OSD driver for $PLATFORM"
                        msp_dp_osd start -d /dev/ttyHS1
                        elif [ "$PLATFORM" == "M0104" ] && [ "$OSD" == "HDZERO" ] || [ "$OSD" == "DJI_MSP_DP" ] ; then
                        /bin/echo "Starting $OSD OSD driver for $PLATFORM"
                        msp_dp_osd start -d /dev/ttyHS0
                        fi

                        Start optional EXTRA_STEPS

                        for i in "${EXTRA_STEPS[@]}"
                        do
                        $i
                        done

                        1 Reply Last reply Reply Quote 0
                        • kestrelsystemsbpK
                          kestrelsystemsbp @Eric Katzfey
                          last edited by

                          @Eric-Katzfey sdk.png

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

                            @kestrelsystemsbp Perhaps you can do a fresh installation on 1.3.5 and see if the problem goes away? v1.3.5 has a lot of test time on it and nothing like the issue you are seeing has been encountered by us or any of our customers so this is a bit of a mystery. I would try the fresh install and, without making any modifications at all, see if it comes up and stays up. If so you can start introducing any configuration changes you need one by one to see if any of them are causing the issue.

                            kestrelsystemsbpK 1 Reply Last reply Reply Quote 0
                            • kestrelsystemsbpK
                              kestrelsystemsbp @Eric Katzfey
                              last edited by

                              @Eric-Katzfey How do I do that?

                              tomT 1 Reply Last reply Reply Quote 0
                              • tomT
                                tom admin @kestrelsystemsbp
                                last edited by

                                @kestrelsystemsbp You can download the SDK from downloads.modalai.com,

                                Untar it with tar -xzvf voxl2_SDK_1.3.5.tar.gz

                                cd voxl2_SDK_1.3.5

                                Install it with ./install.sh

                                Although if there isn't a specific reason you're on 1.3.5, I would recommend updating to 1.4.1

                                kestrelsystemsbpK 1 Reply Last reply Reply Quote 0
                                • kestrelsystemsbpK
                                  kestrelsystemsbp @tom
                                  last edited by

                                  @tom That did the trick, thanks for the help!

                                  1 Reply Last reply Reply Quote 0
                                  • First post
                                    Last post
                                  Powered by NodeBB | Contributors