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    Lumenier RID & M10Q GPS Module compatibility

    VOXL 2 Mini
    3
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    • 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!
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                    • 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.

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                          • 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.

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                                  • 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

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                                    • 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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