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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

      @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.

                            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

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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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