VOXL 2 Connecting an External Flight Controller Problem
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Hi @Moderator,
I am using VOXL2 and FCv2.
and following VOXL 2 Connecting an External Flight Controller
Document for FCv2 and VOXl2 connection and configuration.Setup
Both FCv2 and VOXl2 are connected to the PC.
And J1 of FCv2 and J18 of VOXL2 is connected for MAVLINK UART connection.
image url)SW configuration
- voxl-mavlink-server config file. (/etc/modalai/voxl-mavlink-server.conf)
{ "primary_static_gcs_ip": "", "secondary_static_gcs_ip": "", "onboard_port_to_autopilot": 14556, "onboard_port_from_autopilot": 14557, "gcs_port_to_autopilot": 14558, "gcs_port_from_autopilot": 14559, "en_external_uart_ap": true, "autopilot_uart_bus": 12, "autopilot_uart_baudrate": 57600, "autopilot_mission_delay_start": -1, "autopilot_mission_delay_sound": false, "autopilot_mission_force_restart": 10, "autopilot_mission_notif_dur": 0.1, "en_external_ap_timesync": 1, "en_external_ap_heartbeat": 1, "udp_mtu": 0, "gcs_timeout_s": 4.5 } "/etc/modalai/voxl-mavlink-server.conf" 66L, 3249C written- voxl-inspect-services
voxl2:/$ voxl-inspect-services Scanning services... Service Name | Enabled | Running | CPU Usage ─────────────────────────────────────────────────────────────────── docker-autorun | Disabled | Not Running | modallink-relink | Disabled | Not Running | voxl-camera-server | Enabled | Not Running | voxl-cpu-monitor | Disabled | Not Running | voxl-dfs-server | Disabled | Not Running | voxl-elrs-startup | Disabled | Not Running | voxl-feature-tracker | Disabled | Not Running | voxl-flow-server | Disabled | Not Running | voxl-iim-server | Disabled | Not Running | voxl-imu-server | Disabled | Not Running | voxl-io-server | Disabled | Not Running | voxl-lepton-server | Disabled | Not Running | voxl-lepton-tracker | Disabled | Not Running | voxl-logger | Disabled | Not Running | voxl-mavcam-manager | Enabled | Running | 0.0% voxl-mavlink-server | Enabled | Running | 0.0% voxl-mini-tof-server | Disabled | Not Running | voxl-modem | Enabled | Running | 0.0% voxl-open-vins-server | Disabled | Not Running | voxl-osd | Disabled | Not Running | voxl-portal | Enabled | Running | 0.0% voxl-px4-imu-server | Disabled | Not Running | voxl-px4 | Disabled | Not Running | voxl-qvio-server | Disabled | Not Running | voxl-rangefinder-server | Disabled | Not Running | voxl-remote-id | Disabled | Not Running | voxl-rpx-sever | Disabled | Not Running | voxl-seek-server | Disabled | Not Running | voxl-softap | Disabled | Not Running | voxl-state-estimator | Disabled | Not Running | voxl-static-ip | Disabled | Not Running | voxl-stitcher | Disabled | Not Running | voxl-streamer | Enabled | Running | 0.0% voxl-tag-detector | Disabled | Not Running | voxl-tflite-server | Disabled | Not Running | voxl-time-sync | Disabled | Not Running | voxl-uvc-server | Disabled | Not Running | voxl-vision-hub | Disabled | Not Running | voxl-vrx | Disabled | Not Running | voxl-vtx | Disabled | Not Running | voxl-wait-for-fs | Enabled | Completed |- voxl-mavlink-server status
voxl2:/$ systemctl status voxl-mavlink-server ● voxl-mavlink-server.service - voxl-mavlink-server Loaded: loaded (/usr/bin/voxl-mavlink-server; enabled; vendor preset: enabled) Active: active (running) since Thu 2025-05-01 17:59:43 UTC; 6min ago Process: 1675 ExecStartPre=/bin/sleep 2 (code=exited, status=0/SUCCESS) Main PID: 1968 (voxl-mavlink-se) Tasks: 30 (limit: 4915) CGroup: /system.slice/voxl-mavlink-server.service └─1968 /usr/bin/voxl-mavlink-server May 01 17:59:43 m0054 voxl-mavlink-server[1968]: autopilot_mission_delay_sound: 0 May 01 17:59:43 m0054 voxl-mavlink-server[1968]: autopilot_mission_force_restart: 10 May 01 17:59:43 m0054 voxl-mavlink-server[1968]: autopilot_mission_notif_dur: 0.10 May 01 17:59:43 m0054 voxl-mavlink-server[1968]: udp_mtu: 0 May 01 17:59:43 m0054 voxl-mavlink-server[1968]: gcs_timeout_s 4.50 May 01 17:59:43 m0054 voxl-mavlink-server[1968]: en_external_ap_timesync: 1 May 01 17:59:43 m0054 voxl-mavlink-server[1968]: en_external_ap_heartbeat: 1 May 01 17:59:43 m0054 voxl-mavlink-server[1968]: ================================================================= May 01 17:59:43 m0054 voxl-mavlink-server[1968]: Sending library name request: libslpi_qrb5165_io.so May 01 17:59:43 m0054 voxl-mavlink-server[1968]: Sending initialization request- systemctl restart voxl-mavlink-server
May 01 19:22:02 m0054 voxl-mavlink-server[16506]: received SIGTERM May 01 19:22:02 m0054 systemd[1]: Stopping voxl-mavlink-server... May 01 19:22:03 m0054 voxl-mavlink-server[16506]: Successfully opened bus 12 at baudrate 921600 May 01 19:22:03 m0054 voxl-mavlink-server[16506]: starting qrb5165 external AP receive thread May 01 19:22:03 m0054 voxl-mavlink-server[16506]: Not connecting to primary gcs ip: May 01 19:22:03 m0054 voxl-mavlink-server[16506]: Not connecting to secondary gcs ip: May 01 19:22:03 m0054 voxl-mavlink-server[16506]: Init complete, entering main loop May 01 19:22:03 m0054 voxl-mavlink-server[16506]: Starting shutdown sequence May 01 19:22:03 m0054 voxl-mavlink-server[16506]: Stopping autopilot io module May 01 19:22:03 m0054 voxl-mavlink-server[16506]: exiting read thread May 01 19:22:03 m0054 voxl-mavlink-server[16506]: qrb5165 external ap interface stopped May 01 19:22:03 m0054 voxl-mavlink-server[16506]: Stopping gcs io module May 01 19:22:03 m0054 voxl-mavlink-server[16506]: exiting gcs udp listener thread May 01 19:22:03 m0054 voxl-mavlink-server[16506]: udp gcs io stopped May 01 19:22:03 m0054 voxl-mavlink-server[16506]: Stopping pipe io module May 01 19:22:03 m0054 voxl-mavlink-server[16506]: closing remaining client pipes May 01 19:22:03 m0054 voxl-mavlink-server[16506]: closing remaining server pipes May 01 19:22:03 m0054 voxl-mavlink-server[16506]: Removing PID file May 01 19:22:03 m0054 voxl-mavlink-server[16506]: exiting May 01 19:22:03 m0054 systemd[1]: Stopped voxl-mavlink-server. May 01 19:22:03 m0054 systemd[1]: Starting voxl-mavlink-server... May 01 19:22:05 m0054 systemd[1]: Started voxl-mavlink-server. May 01 19:22:05 m0054 voxl-mavlink-server[17426]: loading our own config file May 01 19:22:05 m0054 voxl-mavlink-server[17426]: ================================================================= May 01 19:22:05 m0054 voxl-mavlink-server[17426]: Parameters as loaded from config file:Problem
- Currently using SDK 1.4
- I disabled the voxl-px4 service on VOXL2.
- Connected FCv2 TELEM1 port J1 with J18 port of VOXL2.
- Using baudrate 57600 on both
- Now for J18 port on VOXL2 using “autopilot_uart_bus”: 12 (SLPI_QUP2_UART/QUP2) in configuration.
- Now, it seems DSP libslpi is getting hung/stuck and not responding, as shown in voxl-mavlink-server status. The last line is "Sending initialization request". Then there is no log form mavlink-server.
- Now, if I restart the MAVLink server. after stopping the interrupt. port seems open and then closes. as above log.
Is it an issue with SLPI, or is the DSP UART port not usable for MAVLINK?
Help me debug and provide a resolution.Thanks.
Ravi -
Find the VOXL2 app versions.
voxl2:/$ voxl-version ──────────────────────────────────────────────────────────────────────────────── system-image: 1.8.02-M0054-14.1a-perf kernel: #1 SMP PREEMPT Mon Nov 11 22:08:01 UTC 2024 4.19.125 ──────────────────────────────────────────────────────────────────────────────── hw platform: M0054 mach.var: 1.0.0 SKU: MRB-D0006-4-V1-C11-T1-M23-X0 ──────────────────────────────────────────────────────────────────────────────── voxl-suite: 1.4.4-202504302200 ──────────────────────────────────────────────────────────────────────────────── Packages: Repo: http://voxl-packages.modalai.com/ qrb5165 dev Last Updated: 2025-05-01 18:00:20 List: kernel-module-voxl-fsync-mod-4.19.125 1.0-r0 kernel-module-voxl-gpio-mod-4.19.125 1.0-r0 kernel-module-voxl-platform-mod-4.19.125 1.0-r0 libfc-sensor 1.0.7-202503131014 libmodal-cv 0.5.17-202504301813 libmodal-exposure 0.1.4-202504301817 libmodal-journal 0.2.4-202504250956 libmodal-json 0.4.6-202504301809 libmodal-pipe 2.13.0-202504211020 libqrb5165-io 0.4.9-202504291621 libvoxl-cci-direct 0.3.1-202504301829 libvoxl-cutils 0.1.4-202504301826 modalai-slpi 1.1.20-202504131441 mv-voxl 0.1-r0 qrb5165-bind 0.1-r0 qrb5165-dfs-server 0.2.0-202309221318 qrb5165-imu-server 1.2.0-202504241319 qrb5165-mini-tof-server 0.2.2-202504291141 qrb5165-rangefinder-server 0.1.5-202502211754 qrb5165-slpi-test-sig 01-r0 qrb5165-system-tweaks 0.3.5-202503241242 qrb5165-tflite 2.8.0-2-202210071637 voxl-benchmark-vio 0.5.7-202504041555 voxl-bind-spektrum 0.1.1-202403271220 voxl-camera-calibration 0.5.9-202411191414 voxl-camera-server 2.1.2-202504281425 voxl-capture 0.0.1-202206110121 voxl-ceres-solver 2:1.14.0-10-202504291324 voxl-configurator 1.0.1-202504301741 voxl-cpu-monitor 0.5.3-202504231157 voxl-cross-template 0.0.1-202504171512 voxl-docker-support 1.3.1-202404041529 voxl-elrs 0.4.4-202504041253 voxl-esc 1.5.2-202504292017 voxl-feature-tracker 0.5.2-202412171357 voxl-flow-server 0.3.6-202403180603 voxl-fsync-mod 1.0-r0 voxl-gphoto2-server 0.0.10-202210072352 voxl-gpio-mod 1.0-r0 voxl-iim-server 0.0.3-202503210929 voxl-io-server 0.0.5-202502191136 voxl-joystick-server 0.0.1-202504291738 voxl-jpeg-turbo 2.1.3-7-202504301743 voxl-lepton-server 1.3.3-202412171302 voxl-lepton-tracker 0.0.4-202412190958 voxl-libgphoto2 0.0.4-202204111958 voxl-libuvc 1.0.7-202210072357 voxl-logger 0.5.3-202504141224 voxl-mavcam-manager 0.5.8-202504080850 voxl-mavlink 0.1.5-202504301802 voxl-mavlink-server 1.4.7-202504291641 voxl-modem 1.1.6-202504301834 voxl-mongoose 7.7.0-2-202504301848 voxl-mpa-to-ros 0.3.9-202407091506 voxl-mpa-tools 1.3.8-202504221446 voxl-open-vins 0.4.18-202504301757 voxl-open-vins-server 0.3.10-202504071452 voxl-opencv 4.5.5-3-202504301748 voxl-osd 0.1.6-202504241636 voxl-platform-mod 1.0-r0 voxl-portal 0.7.10-202504240926 voxl-px4 1.14.0-2.0.104-202504231041 voxl-px4-imu-server 0.1.2-202205131833 voxl-px4-params 0.7.0-202504301738 voxl-qvio-server 1.1.1-202411151825 voxl-remote-id 0.0.9-202309191605 voxl-reset-slpi 0.0.1-202405130827 voxl-rpx-server 0.0.1-202409271312 voxl-rtp 0.0.1-202206101543 voxl-state-estimator 0.0.5-202504181708 voxl-stitcher 0.0.2-202206161634 voxl-streamer 0.7.5-202412021550 voxl-suite 1.4.4-202504302200 voxl-tag-detector 0.0.4-202206302112 voxl-tflite-server 0.4.1-202504301555 voxl-utils 1.4.7-202504301851 voxl-uvc-server 0.1.7-202405141018 voxl-vision-hub 1.8.21-202504291456 voxl-vtx 1.3.13-202504291344 voxl-wavemux 0.0.1-202503181201 voxl2-io 0.0.3-202405011635 voxl2-system-image 1.8.02-r0 voxl2-wlan 1.0-r0 ──────────────────────────────────────────────────────────────────────────────── voxl2:/$ -
@ravi Can you stop the system service for voxl-mavlink-server (e.g. systemctl stop voxl-mavlink-server) and run it from the command line instead with the -z option to see all message traffic? You should see something like this:
voxl2:/$ voxl-mavlink-server -z Enabling UDP to slpi recv debugging Enabling qrb5165 external AP recv debugging Enabling UDP to slpi send debugging Enabling qrb5165 external AP send debugging Enabling UDP GCS recv debugging Enabling UDP GCS send debugging loading our own config file ================================================================= Parameters as loaded from config file: primary_static_gcs_ip: 192.168.0.131 secondary_static_gcs_ip: 192.168.8.11 onboard_port_to_autopilot: 14556 onboard_port_from_autopilot: 14557 gcs_port_to_autopilot: 14558 gcs_port_from_autopilot: 14559 en_external_uart_ap: 1 autopilot_uart_bus: 12 autopilot_uart_baudrate: 57600 autopilot_mission_delay_start: -1 autopilot_mission_delay_sound: 0 autopilot_mission_force_restart: 0 autopilot_mission_notif_dur: 0.10 udp_mtu: 0 gcs_timeout_s 4.50 en_external_ap_timesync: 1 en_external_ap_heartbeat: 1 ================================================================= Sending library name request: libslpi_qrb5165_io.so Sending initialization request Successfully opened bus 12 at baudrate 57600 starting qrb5165 external AP receive thread Adding primary GCS IP address from conf file to list: 192.168.0.131 Added new UDP connection to 192.168.0.131 Adding secondary manual gcs IP address to udp connection list: 192.168.8.11 Added new UDP connection to 192.168.8.11 Init complete, entering main loop to AP msg ID: 0 sysid: 1 to bus: 12 RECV msg ID: 70 sysid:255 from bus: 12
