Lumenier RID & M10Q GPS Module compatibility

Alex May

_| / / |_/

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

Alex May

@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.

psafi

@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 Katzfey

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

psafi

This post is deleted!

psafi

@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:

Eric Katzfey

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

Eric Katzfey

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

psafi

@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 Katzfey

@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.

Eric Katzfey

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

Eric Katzfey

@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.

psafi

@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

psafi

@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

ModalAI Forum

Lumenier RID & M10Q GPS Module compatibility