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    PX4 stops running

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    • 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
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