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    Lumenier RID & M10Q GPS Module compatibility

    VOXL 2 Mini
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    • Eric KatzfeyE
      Eric Katzfey ModalAI Team @Alex May
      last edited by

      @Alex-May The driver for that magnetometer has not been built into the image so it won't work without adding that driver. As for GPS it seems like it isn't communicating with the receiver. Can you run this experiment: Stop PX4 with systemctl stop voxl-px4, wait a couple of seconds, then start px4 from the command line with voxl-px4 -d and post the output from that?

      Alex MayA P 2 Replies Last reply Reply Quote 0
      • Alex MayA
        Alex May @Eric Katzfey
        last edited by Alex May

        @Eric-Katzfey Thanks for the information on the magnetometer. We have integrated a different magnetometer and it seems to work. We will work on building the original mag into the image.

        For the GPS, I just did what you suggested and here is the output.

        image.png

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

          @Alex-May It really looks like there is no communication going on between the GPS and the VOXL 2. Can you attach an oscilloscope to the rx and tx lines to look for activity? Usually the M10 units come up and start sending NMEA strings at 9600 so you would be able to detect that on the scope.

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

            @Alex-May And can you post the entire output from voxl-px4 -d?

            Alex MayA 1 Reply Last reply Reply Quote 0
            • Alex MayA
              Alex May @Eric Katzfey
              last edited by

              @Eric-Katzfey

              _| / / |_/

              px4 starting.

              INFO [parameters] Starting param sync THREAD
              INFO [px4] startup script: /bin/sh /usr/bin/voxl-px4-start 0

              AIRFRAME: MULTICOPTER
              GPS: AUTODETECT
              RC: CRSF_RAW
              ESC: VOXL_ESC
              POWER MANAGER: VOXLPM
              AIRSPEED SENSOR: NONE
              DISTANCE SENSOR: NONE
              OSD: DISABLE
              ARTIFACT_MODE: DISABLE
              EXTRA STEPS:

              INFO [muorb] [parameters] Starting param sync THREAD
              Running on M0104
              INFO [muorb] [qshell] before starting the qshell_entry task
              INFO [muorb] [tasks] Creating pthread qshell
              INFO [muorb] [qshell] qshell entry.....
              INFO [muorb] [tasks] Successfully created px4 task PX4_qshell with tid 2097652
              INFO [muorb] [qshell] Init app map initialized
              INFO [muorb] [qshell] after starting the qshell_entry task
              INFO [param] selected parameter default file /data/px4/param/parameters
              INFO [muorb] [uORB] Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic
              INFO [uORB] Marking DeviceNode(parameter_client_reset_response) as advertised in process_remote_topic
              INFO [muorb] [uORB] Advertising remote topic parameter_update
              INFO [muorb] [uORB] Marking DeviceNode(parameter_client_set_value_request) as advertised in process_remote_t
              INFO [uORB] Marking DeviceNode(parameter_server_set_used_request) as advertised in process_remote_topic
              INFO [muorb] [uORB] Marking DeviceNode(parameter_server_set_used_response) as advertised in process_remote_t
              INFO [uORB] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic
              INFO [parameters] BSON document size 3260 bytes, decoded 3260 bytes (INT32:49, FLOAT:104)
              Starting IMU driver with rotation 12
              INFO [qshell] Send cmd: 'icm42688p start -s -R 12'
              INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
              INFO [muorb] [qshell] qshell gotten: icm42688p start -s -R 12
              INFO [muorb] [qshell] arg0 = 'icm42688p'
              INFO [muorb] [qshell] arg1 = 'start'
              INFO [muorb] [qshell] arg2 = '-s'
              INFO [muorb] [qshell] arg3 = '-R'
              INFO [muorb] [qshell] arg4 = '12'
              INFO [muorb] [drivers__device] *** SPI Device ID 0x26000a 2490378
              INFO [uORB] Advertising remote topic sensor_accel
              INFO [uORB] Advertising remote topic sensor_gyro
              INFO [muorb] [icm42688p] ICM42688P::probe successful!
              INFO [muorb] [drivers__device] on SPI bus 1
              INFO [muorb] icm42688p #0 on SPI bus 1
              INFO [muorb] [icm42688p] >>> ICM42688P this: b2601298
              INFO [muorb] rotation 12
              INFO [muorb]

              INFO [muorb] [qshell] Ok executing command: icm42688p start -s -R 12
              INFO [uORB] Advertising remote topic qshell_retval
              INFO [muorb] [icm42688p] >>> ICM42688P this: b2601298
              INFO [qshell] qshell return value timestamp: 211374557, local time: 211377002
              INFO [muorb] [icm42688p] >>> ICM42688P this: b2601298
              INFO [muorb] [drivers__device] Register interrupt b214ec48 e61ebf5c b2601298
              INFO [uORB] Advertising remote topic sensor_gyro_fifo
              INFO [uORB] Advertising remote topic sensor_accel_fifo
              INFO [uORB] Advertising remote topic imu_server
              INFO [qshell] Send cmd: 'icp101xx start -I -b 5'
              INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
              INFO [muorb] [qshell] qshell gotten: icp101xx start -I -b 5
              INFO [muorb] [qshell] arg0 = 'icp101xx'
              INFO [muorb] [qshell] arg1 = 'start'
              INFO [muorb] [qshell] arg2 = '-I'
              INFO [muorb] [qshell] arg3 = '-b'
              INFO [muorb] [qshell] arg4 = '5'
              INFO [muorb] [drivers__device] *** I2C Device ID 0xb76329 12018473
              INFO [muorb] [drivers__device] Set up I2C bus mutex for bus 5
              INFO [muorb] icp101xx #0 on I2C bus 5
              INFO [muorb] address 0x63
              INFO [muorb]

              INFO [muorb] [qshell] Ok executing command: icp101xx start -I -b 5
              INFO [qshell] qshell return value timestamp: 211427777, local time: 211431619
              INFO [qshell] Send cmd: 'temperature_compensation start'
              INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
              INFO [muorb] [qshell] qshell gotten: temperature_compensation start
              INFO [muorb] [qshell] arg0 = 'temperature_compensation'
              INFO [muorb] [qshell] arg1 = 'start'
              INFO [uORB] Advertising remote topic sensor_correction
              INFO [muorb] [qshell] Ok executing command: temperature_compensation start
              INFO [qshell] qshell return value timestamp: 211467706, local time: 211471033
              Looking for qmc5883l magnetometer
              INFO [muorb] [icm42688p] >>> ICM42688P this: b2601298
              INFO [qshell] Send cmd: 'qmc5883l start -R 10 -X -b 1'
              INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
              INFO [muorb] [qshell] qshell gotten: qmc5883l start -R 10 -X -b 1
              INFO [muorb] [qshell] arg0 = 'qmc5883l'
              INFO [muorb] [qshell] arg1 = 'start'
              INFO [muorb] [qshell] arg2 = '-R'
              INFO [muorb] [qshell] arg3 = '10'
              INFO [muorb] [qshell] arg4 = '-X'
              INFO [muorb] [qshell] arg5 = '-b'
              INFO [muorb] [qshell] arg6 = '1'
              INFO [muorb] [drivers__device] *** I2C Device ID 0x80d09 527625
              INFO [muorb] [drivers__device] Set up I2C bus mutex for bus 1
              INFO [muorb] qmc5883l #0 on I2C bus 1
              INFO [muorb] (external)
              INFO [muorb] address 0xD
              INFO [muorb] rotation 10
              INFO [muorb]

              INFO [muorb] [qshell] Ok executing command: qmc5883l start -R 10 -X -b 1
              INFO [qshell] qshell return value timestamp: 211508749, local time: 211510033
              Looking for ist8310 magnetometer
              INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
              INFO [muorb] [qshell] qshell gotten: ist8310 start -R 10 -X -b 1
              INFO [qshell] Send cmd: 'ist8310 start -R 10 -X -b 1'
              INFO [muorb] [qshell] arg0 = 'ist8310'
              INFO [muorb] [qshell] arg1 = 'start'
              INFO [muorb] [qshell] arg2 = '-R'
              INFO [muorb] [qshell] arg3 = '10'
              INFO [muorb] [qshell] arg4 = '-X'
              INFO [muorb] [qshell] arg5 = '-b'
              INFO [muorb] [qshell] arg6 = '1'
              INFO [muorb] [drivers__device] *** I2C Device ID 0x60e09 396809
              INFO [muorb] [drivers__device] Set up I2C bus mutex for bus 1
              ERROR [muorb] [drivers__device] i2c probe failed
              INFO [muorb] [SPI_I2C] PX4_qshell: no instance started (no device on bus?)
              ERROR [muorb] [qshell] Failed to execute command: ist8310 start -R 10 -X -b 1
              INFO [qshell] cmd returned with: -1
              INFO [qshell] qshell return value timestamp: 211536822, local time: 211541301
              ERROR [qshell] Command failed
              Looking for ist8308 magnetometer
              INFO [qshell] Send cmd: 'ist8308 start -R 12 -X -b 1'
              INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
              INFO [muorb] [qshell] qshell gotten: ist8308 start -R 12 -X -b 1
              INFO [muorb] [qshell] arg0 = 'ist8308'
              INFO [muorb] [qshell] arg1 = 'start'
              INFO [muorb] [qshell] arg2 = '-R'
              INFO [muorb] [qshell] arg3 = '12'
              INFO [muorb] [qshell] arg4 = '-X'
              INFO [muorb] [qshell] arg5 = '-b'
              INFO [muorb] [qshell] arg6 = '1'
              INFO [muorb] [drivers__device] *** I2C Device ID 0xb0c09 723977
              INFO [muorb] [drivers__device] Set up I2C bus mutex for bus 1
              ERROR [muorb] [drivers__device] i2c probe failed
              INFO [muorb] [SPI_I2C] PX4_qshell: no instance started (no device on bus?)
              ERROR [muorb] [qshell] Failed to execute command: ist8308 start -R 12 -X -b 1
              INFO [qshell] cmd returned with: -1
              INFO [qshell] qshell return value timestamp: 211592767, local time: 211594905
              ERROR [qshell] Command failed
              INFO [qshell] Send cmd: 'gps start'
              INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
              INFO [muorb] [qshell] qshell gotten: gps start
              INFO [muorb] [qshell] arg0 = 'gps'
              INFO [muorb] [qshell] arg1 = 'start'
              INFO [muorb] [tasks] Creating pthread gps
              INFO [muorb] [tasks] Successfully created px4 task PX4_gps with tid 2097647
              INFO [muorb] [qshell] Ok executing command: gps start
              INFO [qshell] qshell return value timestamp: 211620958, local time: 211622253
              Looking for ncp5623c RGB LED
              INFO [uORB] Advertising remote topic sensor_mag
              INFO [muorb] [gps] GPS UART baudrate set to 115200
              INFO [qshell] Send cmd: 'rgbled_ncp5623c start -X -b 1 -f 400 -a 56'
              INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
              INFO [muorb] [qshell] qshell gotten: rgbled_ncp5623c start -X -b 1 -f 400 -a 56
              INFO [muorb] [qshell] arg0 = 'rgbled_ncp5623c'
              INFO [muorb] [qshell] arg1 = 'start'
              INFO [muorb] [qshell] arg2 = '-X'
              INFO [muorb] [qshell] arg3 = '-b'
              INFO [muorb] [qshell] arg4 = '1'
              INFO [muorb] [qshell] arg5 = '-f'
              INFO [muorb] [qshell] arg6 = '400'
              INFO [uORB] Advertising remote topic sensor_baro
              INFO [muorb] [qshell] arg7 = '-a'
              INFO [muorb] [qshell] arg8 = '56'
              INFO [muorb] [drivers__device] *** I2C Device ID 0x7b3809 8075273
              INFO [muorb] [drivers__device] Set up I2C bus mutex for bus 1
              INFO [muorb] [drivers__device] Set i2c address 0x38, fd 4
              ERROR [muorb] [drivers__device] i2c probe failed
              INFO [muorb] [SPI_I2C] PX4_qshell: no instance started (no device on bus?)
              ERROR [muorb] [qshell] Failed to execute command: rgbled_ncp5623c start -X -b 1 -f 400 -a 56
              INFO [qshell] cmd returned with: -1
              INFO [qshell] qshell return value timestamp: 211659904, local time: 211662135
              ERROR [qshell] Command failed
              Starting VOXL ESC driver
              INFO [qshell] Send cmd: 'voxl_esc start'
              INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
              INFO [muorb] [qshell] qshell gotten: voxl_esc start
              INFO [muorb] [qshell] arg0 = 'voxl_esc'
              INFO [muorb] [qshell] arg1 = 'start'
              INFO [uORB] Advertising remote topic actuator_outputs
              INFO [muorb] [voxl_esc] Starting VOXL ESC driver
              INFO [muorb] [voxl_esc] Params: VOXL_ESC_CONFIG: 1
              INFO [muorb] [voxl_esc] Params: VOXL_ESC_MODE: 0
              INFO [muorb] [voxl_esc] Params: VOXL_ESC_BAUD: 250000
              INFO [muorb] [voxl_esc] Params: VOXL_ESC_FUNC1: 104
              INFO [muorb] [voxl_esc] Params: VOXL_ESC_FUNC2: 101
              INFO [muorb] [voxl_esc] Params: VOXL_ESC_FUNC3: 103
              INFO [muorb] [voxl_esc] Params: VOXL_ESC_FUNC4: 102
              INFO [muorb] [voxl_esc] Params: VOXL_ESC_SDIR1: 1
              INFO [muorb] [voxl_esc] Params: VOXL_ESC_SDIR2: 1
              INFO [muorb] [voxl_esc] Params: VOXL_ESC_SDIR3: 1
              INFO [muorb] [voxl_esc] Params: VOXL_ESC_SDIR4: 1
              INFO [muorb] [voxl_esc] Params: VOXL_ESC_RPM_MIN: 1500
              INFO [muorb] [voxl_esc] Params: VOXL_ESC_RPM_MAX: 12000
              INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_PERC: 90
              INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_DEAD: 20
              INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_EXPO: 35
              INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_MINF: 0.150000
              INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_COSP: 0.990000
              INFO [muorb] [voxl_esc] Params: VOXL_ESC_VLOG: 1
              INFO [muorb] [voxl_esc] Params: VOXL_ESC_PUB_BST: 1
              INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_WARN: 0
              INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_OVER: 0
              INFO [muorb] [voxl_esc] Params: GPIO_CTL_CH: 0
              INFO [muorb] [qshell] Ok executing command: voxl_esc start
              INFO [muorb] [voxl_esc] Opening UART ESC device 2, baud rate 250000
              INFO [muorb] [voxl_esc] Successfully opened UART ESC device
              INFO [muorb] [voxl_esc] Detecting ESCs...
              INFO [muorb] [voxl_esc] ESC ID : 0
              INFO [muorb] [voxl_esc] Board Type : 42: ModalAi 4-in-1 ESC (M0138-1)
              INFO [muorb] [voxl_esc] Unique ID : 0x2030303355465715004A0021
              INFO [qshell] qshell return value timestamp: 211799981, local time: 211806814
              INFO [muorb] [voxl_esc] Firmware : version 39, hash e4f576a0
              INFO [muorb] [voxl_esc] Bootloader : version 184, hash e1c038de
              INFO [muorb] [voxl_esc] Reply time : 2538us
              INFO [muorb] [voxl_esc] VOXL_ESC:
              INFO [muorb] [voxl_esc] ESC ID : 1
              INFO [muorb] [voxl_esc] Board Type : 42: ModalAi 4-in-1 ESC (M0138-1)
              INFO [muorb] [voxl_esc] Unique ID : 0x2030303355465715003B001E
              INFO [muorb] [voxl_esc] Firmware : version 39, hash e4f576a0
              INFO [muorb] [voxl_esc] Bootloader : version 184, hash e1c038de
              INFO [muorb] [voxl_esc] Reply time : 3147us
              INFO [muorb] [voxl_esc] VOXL_ESC:
              INFO [muorb] [voxl_esc] ESC ID : 2
              Starting CRSF RC driver
              INFO [muorb] [voxl_esc] Board Type : 42: ModalAi 4-in-1 ESC (M0138-1)
              INFO [muorb] [voxl_esc] Unique ID : 0x20303033554657150048001F
              INFO [muorb] [voxl_esc] Firmware : version 39, hash e4f576a0
              INFO [muorb] [voxl_esc] Bootloader : version 184, hash e1c038de
              INFO [muorb] [voxl_esc] Reply time : 3800us
              INFO [muorb] [voxl_esc] VOXL_ESC:
              INFO [muorb] [voxl_esc] ESC ID : 3
              INFO [muorb] [voxl_esc] Board Type : 42: ModalAi 4-in-1 ESC (M0138-1)
              INFO [muorb] [voxl_esc] Unique ID : 0x2030303355465715002E0020
              INFO [muorb] [voxl_esc] Firmware : version 39, hash e4f576a0
              INFO [muorb] [voxl_esc] Bootloader : version 184, hash e1c038de
              INFO [muorb] [voxl_esc] Reply time : 3141us
              INFO [muorb] [voxl_esc] VOXL_ESC:
              INFO [muorb] [voxl_esc] Use extened rpm packet : 1
              INFO [muorb] [voxl_esc] All ESCs successfully detected
              INFO [qshell] Send cmd: 'crsf_rc start -d 7'
              INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
              INFO [muorb] [qshell] qshell gotten: crsf_rc start -d 7
              INFO [muorb] [qshell] arg0 = 'crsf_rc'
              INFO [muorb] [qshell] arg1 = 'start'
              INFO [muorb] [qshell] arg2 = '-d'
              INFO [muorb] [qshell] arg3 = '7'
              INFO [muorb] [qshell] Ok executing command: crsf_rc start -d 7
              INFO [muorb] [crsf_rc] Crsf serial opened sucessfully
              INFO [muorb] [crsf_rc] Crsf serial is single wire. Telemetry disabled
              INFO [uORB] Advertising remote topic input_rc
              INFO [qshell] qshell return value timestamp: 211853575, local time: 211856609
              INFO [uORB] Advertising remote topic actuator_outputs_debug
              INFO [uORB] Advertising remote topic esc_status
              INFO [qshell] Send cmd: 'voxlpm start -X -b 2'
              INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
              INFO [muorb] [qshell] qshell gotten: voxlpm start -X -b 2
              INFO [muorb] [qshell] arg0 = 'voxlpm'
              INFO [muorb] [qshell] arg1 = 'start'
              INFO [muorb] [qshell] arg2 = '-X'
              INFO [muorb] [qshell] arg3 = '-b'
              INFO [muorb] [qshell] arg4 = '2'
              INFO [muorb] [drivers__device] *** I2C Device ID 0xd24411 13779985
              INFO [muorb] [drivers__device] Set up I2C bus mutex for bus 2
              INFO [muorb] [drivers__device] Set i2c address 0x6a, fd 5
              INFO [muorb] [drivers__device] Set i2c address 0x44, fd 5
              ERROR [muorb] [drivers__device] i2c probe failed
              INFO [muorb] [SPI_I2C] PX4_qshell: no instance started (no device on bus?)
              ERROR [muorb] [qshell] Failed to execute command: voxlpm start -X -b 2
              INFO [qshell] cmd returned with: -1
              INFO [qshell] qshell return value timestamp: 211911245, local time: 211914428
              ERROR [qshell] Command failed
              INFO [qshell] Send cmd: 'sensors start'
              INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
              INFO [muorb] [qshell] qshell gotten: sensors start
              INFO [muorb] [qshell] arg0 = 'sensors'
              INFO [muorb] [qshell] arg1 = 'start'
              INFO [uORB] Advertising remote topic sensor_selection
              INFO [uORB] Advertising remote topic sensors_status_imu
              INFO [uORB] Advertising remote topic vehicle_acceleration
              INFO [uORB] Advertising remote topic vehicle_angular_velocity
              INFO [uORB] Advertising remote topic sensor_combined
              INFO [uORB] Advertising remote topic battery_status
              INFO [uORB] Advertising remote topic vehicle_air_data
              INFO [uORB] Advertising remote topic vehicle_gps_position
              INFO [uORB] Advertising remote topic vehicle_magnetometer
              INFO [uORB] Advertising remote topic sensor_preflight_mag
              INFO [uORB] Advertising remote topic sensors_status_mag
              INFO [uORB] Advertising remote topic vehicle_imu
              INFO [uORB] Advertising remote topic vehicle_imu_status
              INFO [muorb] [qshell] Ok executing command: sensors start
              INFO [qshell] qshell return value timestamp: 212095544, local time: 212100016
              INFO [uORB] Advertising remote topic sensors_status_baro
              INFO [qshell] Send cmd: 'ekf2 start'
              INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
              INFO [muorb] [qshell] qshell gotten: ekf2 start
              INFO [muorb] [qshell] arg0 = 'ekf2'
              INFO [muorb] [qshell] arg1 = 'start'
              INFO [uORB] Advertising remote topic vehicle_attitude
              INFO [uORB] Advertising remote topic vehicle_local_position
              INFO [uORB] Advertising remote topic estimator_event_flags
              INFO [uORB] Advertising remote topic estimator_innovation_test_ratios
              INFO [uORB] Advertising remote topic estimator_innovation_variances
              INFO [uORB] Advertising remote topic estimator_innovations
              INFO [uORB] Advertising remote topic estimator_sensor_bias
              INFO [uORB] Advertising remote topic estimator_states
              INFO [uORB] Advertising remote topic estimator_status_flags
              INFO [uORB] Advertising remote topic estimator_status
              INFO [muorb] [qshell] Ok executing command: ekf2 start
              INFO [uORB] Advertising remote topic ekf2_timestamps
              INFO [uORB] Advertising remote topic vehicle_odometry
              INFO [uORB] Advertising remote topic estimator_aid_src_fake_pos
              INFO [uORB] Advertising remote topic estimator_aid_src_fake_hgt
              INFO [uORB] Advertising remote topic estimator_aid_src_mag_heading
              INFO [uORB] Advertising remote topic estimator_aid_src_mag
              INFO [uORB] Advertising remote topic estimator_aid_src_gravity
              INFO [qshell] qshell return value timestamp: 212264482, local time: 212270715
              INFO [qshell] Send cmd: 'mc_pos_control start'
              INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
              INFO [muorb] [qshell] qshell gotten: mc_pos_control start
              INFO [muorb] [qshell] arg0 = 'mc_pos_control'
              INFO [muorb] [qshell] arg1 = 'start'
              INFO [uORB] Advertising remote topic takeoff_status
              INFO [muorb] [qshell] Ok executing command: mc_pos_control start
              INFO [qshell] qshell return value timestamp: 212351878, local time: 212353666
              INFO [qshell] Send cmd: 'mc_att_control start'
              INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
              INFO [muorb] [qshell] qshell gotten: mc_att_control start
              INFO [muorb] [qshell] arg0 = 'mc_att_control'
              INFO [muorb] [qshell] arg1 = 'start'
              INFO [uORB] Advertising remote topic estimator_aid_src_baro_hgt
              INFO [muorb] [qshell] Ok executing command: mc_att_control start
              INFO [qshell] qshell return value timestamp: 212387868, local time: 212389654
              INFO [qshell] Send cmd: 'mc_rate_control start'
              INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
              INFO [muorb] [qshell] qshell gotten: mc_rate_control start
              INFO [muorb] [qshell] arg0 = 'mc_rate_control'
              INFO [muorb] [qshell] arg1 = 'start'
              INFO [uORB] Advertising remote topic rate_ctrl_status
              INFO [muorb] [qshell] Ok executing command: mc_rate_control start
              INFO [qshell] qshell return value timestamp: 212448566, local time: 212452284
              INFO [qshell] Send cmd: 'mc_hover_thrust_estimator start'
              INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
              INFO [muorb] [qshell] qshell gotten: mc_hover_thrust_estimator start
              INFO [muorb] [qshell] arg0 = 'mc_hover_thrust_estimator'
              INFO [muorb] [qshell] arg1 = 'start'
              INFO [muorb] [qshell] Ok executing command: mc_hover_thrust_estimator start
              INFO [qshell] qshell return value timestamp: 212509852, local time: 212513050
              INFO [qshell] Send cmd: 'mc_autotune_attitude_control start'
              INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
              INFO [muorb] [qshell] qshell gotten: mc_autotune_attitude_control start
              INFO [muorb] [qshell] arg0 = 'mc_autotune_attitude_control'
              INFO [muorb] [qshell] arg1 = 'start'
              INFO [uORB] Advertising remote topic autotune_attitude_control_status
              INFO [muorb] [qshell] Ok executing command: mc_autotune_attitude_control start
              INFO [qshell] qshell return value timestamp: 212547374, local time: 212549706
              INFO [qshell] Send cmd: 'land_detector start multicopter'
              INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
              INFO [muorb] [qshell] qshell gotten: land_detector start multicopter
              INFO [muorb] [qshell] arg0 = 'land_detector'
              INFO [muorb] [qshell] arg1 = 'start'
              INFO [muorb] [qshell] arg2 = 'multicopter'
              INFO [muorb] [qshell] Ok executing command: land_detector start multicopter
              INFO [qshell] qshell return value timestamp: 212585335, local time: 212585998
              INFO [uORB] Advertising remote topic vehicle_land_detected
              INFO [qshell] Send cmd: 'manual_control start'
              INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
              INFO [muorb] [qshell] qshell gotten: manual_control start
              INFO [muorb] [qshell] arg0 = 'manual_control'
              INFO [muorb] [qshell] arg1 = 'start'
              INFO [muorb] [qshell] Ok executing command: manual_control start
              INFO [uORB] Advertising remote topic manual_control_setpoint
              INFO [qshell] qshell return value timestamp: 212623416, local time: 212626408
              INFO [qshell] Send cmd: 'control_allocator start'
              INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
              INFO [muorb] [qshell] qshell gotten: control_allocator start
              INFO [muorb] [qshell] arg0 = 'control_allocator'
              INFO [muorb] [qshell] arg1 = 'start'
              INFO [uORB] Advertising remote topic control_allocator_status
              INFO [uORB] Marking DeviceNode(control_allocator_status) as advertised in process_remote_topic
              INFO [uORB] Advertising remote topic actuator_motors
              INFO [uORB] Advertising remote topic actuator_servos
              INFO [uORB] Advertising remote topic actuator_servos_trim
              INFO [muorb] [qshell] Ok executing command: control_allocator start
              INFO [qshell] qshell return value timestamp: 212776930, local time: 212779497
              INFO [qshell] Send cmd: 'load_mon start'
              INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
              INFO [muorb] [qshell] qshell gotten: load_mon start
              INFO [muorb] [qshell] arg0 = 'load_mon'
              INFO [muorb] [qshell] arg1 = 'start'
              INFO [muorb] [qshell] Ok executing command: load_mon start
              INFO [uORB] Advertising remote topic cpuload
              INFO [qshell] qshell return value timestamp: 212826033, local time: 212827740
              INFO [qshell] Send cmd: 'rc_update start'
              INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
              INFO [muorb] [qshell] qshell gotten: rc_update start
              INFO [muorb] [qshell] arg0 = 'rc_update'
              INFO [muorb] [qshell] arg1 = 'start'
              INFO [muorb] [qshell] Ok executing command: rc_update start
              INFO [uORB] Advertising remote topic rc_channels
              INFO [qshell] qshell return value timestamp: 212954650, local time: 212958731
              INFO [qshell] Send cmd: 'commander start'
              INFO [muorb] [ekf2] resetQuatStateYaw called: -0.968698 (0.090000)

              INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
              INFO [muorb] [qshell] qshell gotten: commander start
              INFO [muorb] [qshell] arg0 = 'commander'
              INFO [muorb] [qshell] arg1 = 'start'
              INFO [muorb] [tasks] Creating pthread commander
              INFO [muorb] [tasks] Successfully created px4 task PX4_commander with tid 2097640
              INFO [uORB] Advertising remote topic led_control
              INFO [muorb] [commander] LED: open /dev/led0 failed (22)
              INFO [muorb] [qshell] Ok executing command: commander start
              INFO [uORB] Advertising remote topic tune_control
              INFO [qshell] qshell return value timestamp: 213091743, local time: 213094449
              INFO [uORB] Advertising remote topic event
              INFO [uORB] Advertising remote topic health_report
              INFO [uORB] Advertising remote topic failsafe_flags
              INFO [uORB] Advertising remote topic actuator_armed
              INFO [uORB] Advertising remote topic vehicle_control_mode
              INFO [uORB] Advertising remote topic vehicle_status
              INFO [uORB] Advertising remote topic failure_detector_status
              INFO [uORB] Advertising remote topic vehicle_thrust_setpoint
              INFO [uORB] Advertising remote topic vehicle_torque_setpoint
              INFO [uORB] Advertising remote topic vehicle_attitude_setpoint
              INFO [uORB] Advertising remote topic vehicle_rates_setpoint
              INFO [qshell] Send cmd: 'flight_mode_manager start'
              INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
              INFO [muorb] [qshell] qshell gotten: flight_mode_manager start
              INFO [muorb] [qshell] arg0 = 'flight_mode_manager'
              INFO [muorb] [qshell] arg1 = 'start'
              INFO [uORB] Advertising remote topic vehicle_command
              INFO [muorb] [qshell] Ok executing command: flight_mode_manager start
              INFO [qshell] qshell return value timestamp: 213156797, local time: 213159088
              INFO [dataman] data manager file '/data/px4/dataman' size is 7866640 bytes
              INFO [muorb] [uORB] Advertising remote topic transponder_report
              INFO [muorb] [uORB] Advertising remote topic rtl_time_estimate
              INFO [muorb] [uORB] Advertising remote topic position_setpoint_triplet
              INFO [mavlink] mode: Onboard, data rate: 100000 B/s on udp port 14556 remote port 14557
              INFO [muorb] [uORB] Advertising remote topic telemetry_status
              INFO [mavlink] partner IP: 127.0.0.1
              INFO [muorb] [uORB] Advertising remote topic offboard_control_mode
              INFO [muorb] [uORB] Advertising remote topic obstacle_distance
              INFO [muorb] [uORB] Advertising remote topic timesync_status
              INFO [uORB] Advertising remote topic actuator_controls_status_0
              INFO [mavlink] mode: Normal, data rate: 100000 B/s on udp port 14558 remote port 14559
              INFO [muorb] [uORB] Marking DeviceNode(telemetry_status) as advertised in process_remote_topic
              INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
              INFO [px4] Startup script returned successfully
              pxh> INFO [logger] logger started (mode=all)
              INFO [muorb] [gps] GPS UART baudrate set to 9600
              INFO [mavlink] partner IP: 127.0.0.1
              INFO [muorb] [gps] GPS UART baudrate set to 38400
              INFO [muorb] [uORB] Advertising remote topic ping
              INFO [muorb] [gps] GPS UART baudrate set to 57600
              INFO [muorb] [gps] GPS UART baudrate set to 230400
              INFO [muorb] [gps] GPS UART baudrate set to 460800
              INFO [muorb] [gps] GPS UART baudrate set to 921600
              ERROR [muorb] [gps] GPS: failed to set baud rate 19200 on serial port
              INFO [uORB] Advertising remote topic mavlink_log
              INFO [muorb] [health_and_arming_checks] Preflight Fail: Strong magnetic interference
              INFO [muorb] [health_and_arming_checks] Preflight Fail: Yaw estimate error
              INFO [muorb] [gps] No COM port detected
              INFO [muorb] [gps] GPS UART baudrate set to 115200
              INFO [muorb] [gps] GPS UART baudrate set to 9600
              INFO [muorb] [gps] GPS UART baudrate set to 38400
              INFO [muorb] [gps] GPS UART baudrate set to 57600
              INFO [muorb] [gps] GPS UART baudrate set to 230400
              INFO [muorb] [gps] GPS UART baudrate set to 460800
              INFO [muorb] [gps] GPS UART baudrate set to 921600
              ERROR [muorb] [gps] GPS: failed to set baud rate 19200 on serial port
              INFO [muorb] [gps] No COM port detected
              INFO [muorb] [gps] GPS UART baudrate set to 115200
              INFO [muorb] [gps] GPS UART baudrate set to 9600
              INFO [muorb] [gps] GPS UART baudrate set to 38400
              INFO [muorb] [gps] GPS UART baudrate set to 57600
              INFO [muorb] [gps] GPS UART baudrate set to 230400
              INFO [muorb] [gps] GPS UART baudrate set to 460800
              INFO [muorb] [gps] GPS UART baudrate set to 921600

              1 Reply Last reply Reply Quote 0
              • Alex MayA
                Alex May @Eric Katzfey
                last edited by

                @Eric-Katzfey I don't believe we have a scope available for at least a few more days. But I do have other M10 GPS units I could try.

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                • P
                  psafi
                  last edited by

                  @Eric-Katzfey I am Alex's co-worker and helping with the building the magnetometer's driver into PX4.

                  I am following instructions outlined here: https://gitlab.com/voxl-public/rb5-flight/rb5-flight-px4-build-docker#install-qualcomm-package-manager

                  I am having hard time downloading the hexagon SDK from qualcomm. I see v3.1 is available on your website. Am I going to need 4.X or I can use 3.1

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

                    @psafi Yes, unfortunately it is a real pain to get the SDK from Qualcomm and you need that version.

                    P 1 Reply Last reply Reply Quote 0
                    • P
                      psafi @Eric Katzfey
                      last edited by

                      This post is deleted!
                      1 Reply Last reply Reply Quote 0
                      • P
                        psafi @Eric Katzfey
                        last edited by

                        @Eric-Katzfey I am able to build voxl-px4 now.

                        I am following instructions outlined here to add this magnetometer:
                        https://forum.modalai.com/post/16770

                        I am adding following line:

                        CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y

                        to this file:
                        https://github.com/modalai/px4-firmware/blob/voxl-dev/boards/modalai/voxl2-slpi/default.px4board

                        when I attempt to build px4 I get the following error from the driver module:
                        e58ba536-27d6-45cd-9d25-2a67e6f48462-image.png

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

                          @psafi Looks like it will compile if you comment out the #include <debug.h> lines in both lis3mdl_i2c.cpp and lis3mdl_spi.cpp

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

                            @psafi Those should only be there on the Nuttx platform.

                            1 Reply Last reply Reply Quote 0
                            • P
                              psafi @Eric Katzfey
                              last edited by

                              @Eric-Katzfey I did that and was able to build and install new px4. Thank you!

                              Sill not detecting lis3mdl module on the px4 side.

                              I tried adding the following to /usr/bin/voxl-px4-start

                              qshell lis3mdl start -R 10 -X -b 1

                              but I think that causes px4 service fail to start. Not sure if that means the module has not been successfully added to voxl-px4 or some other issue.

                              Are there any steps I need to take besides adding sensor name to default.px4board file?

                              Eric KatzfeyE 3 Replies Last reply Reply Quote 0
                              • Eric KatzfeyE
                                Eric Katzfey ModalAI Team @psafi
                                last edited by

                                @psafi If you disable the px4 service (systemctl stop voxl-px4) and then start it from the command line (voxl-px4 -d) what output do you get? And if you disconnect the magnetometer from the system how does that change things? Remove the start command from voxl-px4-start and enter it after px4 starts from the command prompt to see what happens.

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

                                  @psafi And how did you load your updated build to the VOXL 2?

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

                                    @psafi I just built voxl-px4 with the lis3mdl driver and when I run it the command fails because it fails the probe (I don't have that magnetometer) but otherwise runs normally.

                                    1 Reply Last reply Reply Quote 0
                                    • P
                                      psafi @Eric Katzfey
                                      last edited by

                                      @Eric-Katzfey by installing debian package and I got output similar to this after installation:
                                      https://gitlab.com/voxl-public/voxl-sdk/services/voxl-px4#deployment

                                      1 Reply Last reply Reply Quote 0
                                      • P
                                        psafi @Eric Katzfey
                                        last edited by

                                        @Eric-Katzfey I did the systemctl stop and started service again. I guess rebooting the board earlier did not have the same effect. The compass calibration in Q is working now (no more "no mag found" error) which I guess it means the mag is working now and our gps is working too.

                                        here is the output of voxl-p4 -d by the way:

                                        INFO  [qshell] Send cmd: 'lis3mdl start -R 10 -X -b 1'
INFO  [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] [qshell] qshell gotten: lis3mdl start -R 10 -X -b 1
INFO  [muorb] [qshell]   arg0 = 'lis3mdl'
INFO  [muorb] [qshell]   arg1 = 'start'
INFO  [muorb] [qshell]   arg2 = '-R'
INFO  [muorb] [qshell]   arg3 = '10'
INFO  [muorb] [qshell]   arg4 = '-X'
INFO  [muorb] [qshell]   arg5 = '-b'
INFO  [muorb] [qshell]   arg6 = '1'
INFO  [muorb] [drivers__device] *** I2C Device ID 0x51e09 335369
INFO  [muorb] [drivers__device] Set up I2C bus mutex for bus 1
INFO  [muorb] lis3mdl #0 on I2C bus 1
INFO  [muorb]  (external)
INFO  [muorb]  address 0x1E
INFO  [muorb]  rotation 10
INFO  [muorb] 

INFO  [muorb] [qshell] Ok executing command: lis3mdl start -R 10 -X -b 1
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