VOXL 2 Connecting an External Flight Controller Problem

ravi

Also, seeing the following error messages pointing flight controller.

onboard  pipe  ID: 331 compid: 197
to AP msg ID:   331 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
onboard  pipe  ID:  84 compid: 197
to AP msg ID:    84 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Connection error: connection reset
onboard  pipe  ID: 331 compid: 197
to AP msg ID:   331 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
onboard  pipe  ID:  84 compid: 197
to AP msg ID:    84 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
onboard  pipe  ID: 330 compid: 197
to AP msg ID:   330 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
onboard  pipe  ID: 331 compid: 197
to AP msg ID:   331 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Got response cb 0
onboard  pipe  ID:  84 compid: 197
to AP msg ID:    84 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
onboard  pipe  ID: 331 compid: 197
to AP msg ID:   331 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
onboard  pipe  ID: 330 compid: 197
to AP msg ID:   330 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
onboard  pipe  ID:  84 compid: 197
to AP msg ID:    84 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
onboard  pipe  ID: 331 compid: 197
to AP msg ID:   331 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
onboard  pipe  ID:  84 compid: 197
to AP msg ID:    84 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Got response cb 0
onboard  pipe  ID: 330 compid: 197
to AP msg ID:   330 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
onboard  pipe  ID: 331 compid: 197
to AP msg ID:   331 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
onboard  pipe  ID:  84 compid: 197
to AP msg ID:    84 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
onboard  pipe  ID: 331 compid: 197
to AP msg ID:   331 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
onboard  pipe  ID: 330 compid: 197
to AP msg ID:   330 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Got response cb 0
onboard  pipe  ID:  84 compid: 197
to AP msg ID:    84 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
onboard  pipe  ID: 331 compid: 197
to AP msg ID:   331 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
onboard  pipe  ID:  84 compid: 197
to AP msg ID:    84 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
onboard  pipe  ID: 330 compid: 197
to AP msg ID:   330 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
onboard  pipe  ID: 331 compid: 197
to AP msg ID:   331 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
onboard  pipe  ID:  84 compid: 197
to AP msg ID:    84 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
onboard  pipe  ID: 331 compid: 197
to AP msg ID:   331 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
onboard  pipe  ID: 330 compid: 197
to AP msg ID:   330 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
onboard  pipe  ID:  84 compid: 197
to AP msg ID:    84 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
onboard  pipe  ID: 331 compid: 197
to AP msg ID:   331 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
onboard  pipe  ID:  84 compid: 197
to AP msg ID:    84 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
onboard  pipe  ID: 331 compid: 197
to AP msg ID:   331 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
onboard  pipe  ID: 330 compid: 197
to AP msg ID:   330 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data

ravi

@ravi

mavlink-server status issue seems random.

I stopped the service and changed the baud rate, and ran app from the terminal "voxl-mavlink-server"

Seems MAVLink connection established. and getting an AP heart rate at 0.3Hz.

Then I tried the same with mavlink service.
I terminated it running process for the mavlik-server.
They started the MAVLink service. and checked status and not starting.

voxl2:/$ systemctl start voxl-mavlink-server
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: failed (Result: exit-code) since Thu 2023-03-02 13:29:47 UTC; 3s ago
  Process: 11260 ExecStart=/usr/bin/voxl-mavlink-server (code=exited, status=255)
  Process: 11253 ExecStartPre=/bin/sleep 2 (code=exited, status=0/SUCCESS)
 Main PID: 11260 (code=exited, status=255)

Mar 02 13:29:47 m0054 voxl-mavlink-server[11260]: ERROR: Unable to configure bus 12 (baudrate 460800) with voxl_io
Mar 02 13:29:47 m0054 voxl-mavlink-server[11260]: Stopping autopilot io module
Mar 02 13:29:47 m0054 voxl-mavlink-server[11260]: Stopping gcs io module
Mar 02 13:29:47 m0054 voxl-mavlink-server[11260]: Stopping pipe io module
Mar 02 13:29:47 m0054 voxl-mavlink-server[11260]: closing remaining client pipes
Mar 02 13:29:47 m0054 voxl-mavlink-server[11260]: closing remaining server pipes
Mar 02 13:29:47 m0054 voxl-mavlink-server[11260]: Removing PID file
Mar 02 13:29:47 m0054 voxl-mavlink-server[11260]: exiting
Mar 02 13:29:47 m0054 systemd[1]: voxl-mavlink-server.service: Main process exited, code=exited, status=255/n/a
Mar 02 13:29:47 m0054 systemd[1]: voxl-mavlink-server.service: Failed with result 'exit-code'.
voxl2:/$ systemctl start voxl-mavlink-server

Then tried from the terminal again, getting the error as below.

voxl2:/$ voxl-mavlink-server
loading our own config file
=================================================================
Parameters as loaded from config file:
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:          1
autopilot_uart_bus:           12
autopilot_uart_baudrate:      460800
autopilot_mission_delay_start:      -1
autopilot_mission_delay_sound:      0
autopilot_mission_force_restart:      0
autopilot_mission_notif_dur:      0.10
udp_mtu:                      500
gcs_timeout_s                 4.50
en_external_ap_timesync:      1
en_external_ap_heartbeat:     1
=================================================================
Couldn't locate SUID for flight_controller
Failed to detect flight controller sensor
ERROR:   fc_sensor_initialize failed
ERROR:   Failed to initialize slpi
ERROR:   Encountered error while initializing bus 12
ERROR: Unable to configure bus 12 (baudrate 460800) with voxl_io
Stopping autopilot io module
Stopping gcs io module
Stopping pipe io module
closing remaining client pipes
closing remaining server pipes
Removing PID file
exiting
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:
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:          1
autopilot_uart_bus:           12
autopilot_uart_baudrate:      460800
autopilot_mission_delay_start:      -1
autopilot_mission_delay_sound:      0
autopilot_mission_force_restart:      0
autopilot_mission_notif_dur:      0.10
udp_mtu:                      500
gcs_timeout_s                 4.50
en_external_ap_timesync:      1
en_external_ap_heartbeat:     1
=================================================================
Couldn't locate SUID for flight_controller
Failed to detect flight controller sensor
ERROR:   fc_sensor_initialize failed
ERROR:   Failed to initialize slpi
ERROR:   Encountered error while initializing bus 12
ERROR: Unable to configure bus 12 (baudrate 460800) with voxl_io
Stopping autopilot io module
Stopping gcs io module
Stopping pipe io module
closing remaining client pipes
closing remaining server pipes
Removing PID file
exiting
voxl2:/$

ravi

@Eric-Katzfey

I am testing with J18(VOXl2) and J1(TELEM1) port.
Seems SLPI is throwing a lot of errors in demsg.
and @115200 buadrate.

MAVLink connections are getting lost in a few minutes.
and getting rx loss of 124% on FCv2 QGC.

Can you let me know if the J18 DSP port is buggy or how to fix these errors?
After a few minutes or a few restarts of VOXl-mavlink-server. it stops working and shows an error and exits

Couldn't locate SUID for flight_controller
Failed to detect flight controller sensor
ERROR:   fc_sensor_initialize failed
ERROR:   Failed to initialize slpi
ERROR:   Encountered error while initializing bus 12
ERROR: Unable to configure bus 12 (baudrate 115200) with voxl_io
Stopping autopilot io module
Stopping gcs io module
Stopping pipe io module
closing remaining client pipes
closing remaining server pipes
Removing PID file
exiting

====> dmesg log while voxl-mavlink-server running stopped working and throwing an error when starting

[  460.730018] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  460.730717] subsys-restart: subsystem_powerup(): [kworker/u19:0:2054]: Powering up slpi
[  460.730901] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  460.790600] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  460.853124] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  460.853154] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  460.860922] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  460.860928] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2054]: Restart sequence for slpi completed.
[  460.861499] 1118855912:Entered
[  460.861942] 1118855912:SMD QRTR driver probed
[  460.862983] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  460.866169] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  460.866208] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  460.874694] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[  462.106273] Fatal error on slpi!
[  462.106348] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:SNS_SEE_I_1:0x68:sns_stream_service.c:436:req_found.
[  462.106375] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  462.108414] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  462.108416] subsys-restart: subsystem_shutdown(): [kworker/u19:0:2054]: Shutting down slpi
[  462.120395] rpmh_rsc_send_data: 17 callbacks suppressed
[  462.120396] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  462.120423] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30040
[  462.121677] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  462.121691] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  462.122027] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  462.122151] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  462.122757] subsys-restart: subsystem_powerup(): [kworker/u19:0:2054]: Powering up slpi
[  462.122886] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  462.178193] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  462.240639] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  462.240671] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  462.240789] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30040
[  462.247665] 1118855912:Entered
[  462.248151] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  462.248158] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2054]: Restart sequence for slpi completed.
[  462.249366] 1118855912:SMD QRTR driver probed
[  462.252554] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  462.254897] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  462.254962] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  462.261500] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[  463.481618] Fatal error on slpi!
[  463.481694] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:SNS_SEE_I_1:0x68:sns_stream_service.c:436:req_found.
[  463.481720] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  463.483312] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  463.483315] subsys-restart: subsystem_shutdown(): [kworker/u19:0:2054]: Shutting down slpi
[  463.495481] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  463.495494] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  463.495505] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  463.495516] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  463.495528] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  463.495539] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  463.495551] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  463.498539] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  463.498548] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  463.498944] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  463.499294] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  463.499834] subsys-restart: subsystem_powerup(): [kworker/u19:0:2054]: Powering up slpi
[  463.499987] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  463.558705] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  463.619354] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  463.619389] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  463.626313] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  463.626319] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2054]: Restart sequence for slpi completed.
[  463.629242] 1118855912:Entered
[  463.631383] 1118855912:SMD QRTR driver probed
[  463.633320] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  463.633334] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  463.633688] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  463.641981] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[  464.864191] Fatal error on slpi!
[  464.864266] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:SNS_SEE_I_0:0x69:sns_stream_service.c:436:req_found.
[  464.864291] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  464.867315] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  464.867320] subsys-restart: subsystem_shutdown(): [kworker/u19:0:2054]: Shutting down slpi
[  464.883697] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  464.883706] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  464.885643] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  464.885787] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  464.887190] subsys-restart: subsystem_powerup(): [kworker/u19:0:2054]: Powering up slpi
[  464.887455] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  464.945581] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  465.007996] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  465.008139] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  465.015414] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  465.015420] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2054]: Restart sequence for slpi completed.
[  465.015924] 1118855912:Entered
[  465.016498] 1118855912:SMD QRTR driver probed
[  465.019954] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  465.023578] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  465.023627] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  465.029301] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[  466.256347] Fatal error on slpi!
[  466.256432] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:SNS_SEE_I_0:0x69:sns_stream_service.c:436:req_found.
[  466.256456] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  466.259074] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  466.259079] subsys-restart: subsystem_shutdown(): [kworker/u19:0:2054]: Shutting down slpi
[  466.275522] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  466.275806] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  466.277897] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  466.278247] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  466.279336] subsys-restart: subsystem_powerup(): [kworker/u19:0:2054]: Powering up slpi
[  466.279500] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  466.338642] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  466.399095] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  466.399127] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  466.405824] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  466.405830] 1118855912:Entered
[  466.405832] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2054]: Restart sequence for slpi completed.
[  466.406031] 1118855912:SMD QRTR driver probed
[  466.407495] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  466.411445] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  466.412552] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  466.419864] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[  467.641878] Fatal error on slpi!
[  467.641957] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:SNS_SEE_I_1:0x68:sns_stream_service.c:436:req_found.
[  467.641983] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  467.644997] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  467.645001] subsys-restart: subsystem_shutdown(): [kworker/u19:0:2054]: Shutting down slpi
[  467.656914] rpmh_rsc_send_data: 19 callbacks suppressed
[  467.656915] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  467.656940] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30040
[  467.658270] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  467.658280] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  467.658668] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  467.659779] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  467.661747] subsys-restart: subsystem_powerup(): [kworker/u19:0:2054]: Powering up slpi
[  467.661931] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  467.716145] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  467.778657] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  467.778688] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  467.778800] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30040
[  467.786334] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  467.786340] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2054]: Restart sequence for slpi completed.
[  467.786864] 1118855912:Entered
[  467.787109] 1118855912:SMD QRTR driver probed
[  467.790948] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  467.795012] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  467.795026] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  467.800505] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[  469.020359] Fatal error on slpi!
[  469.020432] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:SNS_SEE_I_0:0x69:sns_stream_service.c:436:req_found.
[  469.020458] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  469.022405] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  469.022408] subsys-restart: subsystem_shutdown(): [kworker/u19:0:2054]: Shutting down slpi
[  469.034300] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  469.034318] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  469.034337] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  469.034348] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  469.034360] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  469.034371] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  469.034382] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  469.040876] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  469.040986] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  469.041166] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  469.041336] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  469.042154] subsys-restart: subsystem_powerup(): [kworker/u19:0:2054]: Powering up slpi
[  469.042336] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  469.101055] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  469.161468] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  469.161515] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  469.168694] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  469.168702] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2054]: Restart sequence for slpi completed.
[  469.168830] 1118855912:Entered
[  469.169190] 1118855912:SMD QRTR driver probed
[  469.170647] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  469.177803] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  469.178019] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  469.183206] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[  470.408342] Fatal error on slpi!
[  470.408426] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:SNS_SEE_I_0:0x69:sns_stream_service.c:436:req_found.
[  470.408454] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  470.410929] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  470.410934] subsys-restart: subsystem_shutdown(): [kworker/u19:0:2054]: Shutting down slpi
[  470.428290] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  470.428426] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  470.430688] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  470.430827] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  470.431771] subsys-restart: subsystem_powerup(): [kworker/u19:0:2054]: Powering up slpi
[  470.431903] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  470.491572] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  470.554485] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  470.554528] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  470.561372] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  470.561377] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2054]: Restart sequence for slpi completed.
[  470.562108] 1118855912:Entered
[  470.562411] 1118855912:SMD QRTR driver probed
[  470.567554] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  470.569456] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  470.569501] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  470.575413] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[  471.808443] Fatal error on slpi!
[  471.808525] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:SNS_SEE_I_0:0x69:sns_stream_service.c:436:req_found.
[  471.808553] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  471.811212] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  471.811217] subsys-restart: subsystem_shutdown(): [kworker/u19:0:2054]: Shutting down slpi
[  471.827600] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  471.827611] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  471.829473] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  471.829658] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  471.830216] subsys-restart: subsystem_powerup(): [kworker/u19:0:2054]: Powering up slpi
[  471.830370] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  471.885397] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  471.947763] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  471.947797] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  471.955860] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  471.955865] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2054]: Restart sequence for slpi completed.
[  471.957236] 1118855912:Entered
[  471.958811] 1118855912:SMD QRTR driver probed
[  471.959979] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  471.962094] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  471.962128] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  471.969208] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[  473.190744] Fatal error on slpi!
[  473.190818] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:SNS_SEE_I_0:0x69:sns_stream_service.c:436:req_found.
[  473.190843] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  473.193872] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  473.193878] subsys-restart: subsystem_shutdown(): [kworker/u19:0:2054]: Shutting down slpi
[  473.205809] rpmh_rsc_send_data: 11 callbacks suppressed
[  473.205810] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  473.205837] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30040
[  473.206983] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  473.206995] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  473.207337] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  473.210007] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  473.210544] subsys-restart: subsystem_powerup(): [kworker/u19:0:2054]: Powering up slpi
[  473.211534] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  473.267488] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  473.329966] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  473.330083] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  473.337309] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  473.337313] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2054]: Restart sequence for slpi completed.
[  473.337774] 1118855912:Entered
[  473.338098] 1118855912:SMD QRTR driver probed
[  473.339277] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  473.343685] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  473.343696] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  473.351954] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[  474.571003] Fatal error on slpi!
[  474.571089] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:SNS_SEE_I_1:0x68:sns_stream_service.c:436:req_found.
[  474.571117] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  474.574318] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  474.574322] subsys-restart: subsystem_shutdown(): [kworker/u19:0:2054]: Shutting down slpi
[  474.586295] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  474.586323] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30040
[  474.587793] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  474.587808] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  474.592474] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  474.592629] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  474.593885] subsys-restart: subsystem_powerup(): [kworker/u19:0:2054]: Powering up slpi
[  474.594047] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  474.648774] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  474.710135] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  474.710177] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  474.716090] 1118855912:Entered
[  474.716142] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  474.716147] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2054]: Restart sequence for slpi completed.
[  474.716593] 1118855912:SMD QRTR driver probed
[  474.718796] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  474.724814] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  474.724833] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  474.730730] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[  475.966509] Fatal error on slpi!
[  475.966596] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:SNS_SEE_I_1:0x68:sns_stream_service.c:436:req_found.
[  475.966624] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  475.969220] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  475.969224] subsys-restart: subsystem_shutdown(): [kworker/u19:0:2054]: Shutting down slpi
[  475.981165] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  475.981191] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30040
[  475.983399] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  475.983410] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  475.987724] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  475.987865] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  475.989595] subsys-restart: subsystem_powerup(): [kworker/u19:0:2054]: Powering up slpi
[  475.989762] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  476.047626] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  476.107799] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  476.107835] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  476.114130] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  476.114135] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2054]: Restart sequence for slpi completed.
[  476.116482] 1118855912:Entered
[  476.119264] 1118855912:SMD QRTR driver probed
[  476.121677] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  476.122117] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  476.122133] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  476.130800] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[  477.367311] Fatal error on slpi!
[  477.367394] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:SNS_SEE_I_1:0x68:sns_stream_service.c:436:req_found.
[  477.367420] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  477.370476] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  477.370480] subsys-restart: subsystem_shutdown(): [kworker/u19:0:2054]: Shutting down slpi
[  477.382395] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  477.382419] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30040
[  477.383806] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  477.383817] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  477.384136] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  477.384263] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  477.384816] subsys-restart: subsystem_powerup(): [kworker/u19:0:2054]: Powering up slpi
[  477.385120] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  477.443490] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  477.506162] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  477.506193] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  477.506290] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30040
[  477.512803] 1118855912:Entered
[  477.513075] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  477.513079] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2054]: Restart sequence for slpi completed.
[  477.513148] 1118855912:SMD QRTR driver probed
[  477.515628] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  477.521213] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  477.521250] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  477.525781] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[  503.375461] Fatal error on slpi!
[  503.375541] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:SNS_SEE_I_1:0x68:sns_stream_service.c:436:req_found.
[  503.375566] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  503.378697] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  503.378700] subsys-restart: subsystem_shutdown(): [kworker/u19:0:2054]: Shutting down slpi
[  503.390607] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  503.390638] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30040
[  503.391897] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  503.391976] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  503.392269] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  503.393461] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  503.394021] subsys-restart: subsystem_powerup(): [kworker/u19:0:2054]: Powering up slpi
[  503.394144] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  503.455432] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  503.515539] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  503.515566] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  503.521829] 1118855912:Entered
[  503.521855] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  503.521861] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2054]: Restart sequence for slpi completed.
[  503.522191] 1118855912:SMD QRTR driver probed
[  503.523845] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  503.530404] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  503.530421] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  503.535973] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[  928.349273] perf: interrupt took too long (2502 > 2500), lowering kernel.perf_event_max_sample_rate to 79750

[ 1413.270080] perf: interrupt took too long (3128 > 3127), lowering kernel.perf_event_max_sample_rate to 63750
[ 2701.369922] perf: interrupt took too long (3915 > 3910), lowering kernel.perf_event_max_sample_rate to 51000

FCv2 QGC mavlink status when communication working

nsh> mavlink status

instance #0:
    mavlink chan: #0
    type:        GENERIC LINK OR RADIO
    flow control: OFF
    rates:
      tx: 1322.9 B/s
      txerr: 0.0 B/s
      tx rate mult: 0.050
      tx rate max: 1200 B/s
      rx: 4758.9 B/s
      rx loss: 128.0%
    Received Messages:
      sysid:  1, compid:197, Total: 3287 (lost: 425347)
        msgid:    0, Rate:  0.3 Hz, last 0.15s ago
        msgid:  330, Rate:  7.3 Hz, last 0.18s ago
        msgid:  331, Rate: 12.1 Hz, last 0.05s ago
        msgid:   84, Rate: 11.6 Hz, last 0.08s ago
      sysid:  1, compid:196, Total: 37 (lost: 0)
        msgid:    0, Rate:  0.3 Hz, last 2.44s ago
    FTP enabled: YES, TX enabled: YES
    mode: Onboard
    Forwarding: On
    MAVLink version: 2
    transport protocol: serial (/dev/ttyS6 @115200)

FCv2 QGC mavlink status when "connection to mission computer lost"

mavlink status

instance #0:
    mavlink chan: #0
    type:        GENERIC LINK OR RADIO
    flow control: OFF
    rates:
      tx: 1621.3 B/s
      txerr: 0.0 B/s
      tx rate mult: 0.050
      tx rate max: 1200 B/s
      rx: 0.0 B/s
      rx loss: 125.6%
    Received Messages:
      sysid:  1, compid:197, Total: 6025 (lost: 765633)
      sysid:  1, compid:196, Total: 69 (lost: 0)
    FTP enabled: YES, TX enabled: YES
    mode: Onboard
    Forwarding: On
    MAVLink version: 2
    transport protocol: serial (/dev/ttyS6 @115200)

Please update if J18 is usable or not for MAVLink?

Eric Katzfey

@ravi J18 should work. Let's try this one step at a time and see if we can figure out where the issue is. Start by disabling the voxl-mavlink-server, voxl-px4, etc. services and power cycle the VOXL 2. With port set to 12 and baudrate at 57600 does voxl-mavlink-server -z show connection with autopilot? If so, does it stay connected? And can you connect GCS? If all of that works fine, power cycle the VOXL 2 and just make sure that it reliably works. Let me know how all that goes before we move to the next step.

Eric Katzfey

@ravi Keep in mind you must power cycle the VOXL 2 between each thing you do because the DSP (SLPI) won't cleanly shut down and if you try to start voal-mavlink-server again it will fail.

ravi

@Eric-Katzfey

I tested J18(VOXl2) SDK 1.5 and J1(FCv2) firmware V1.15.2.
VOXL2 is connected with FCv2.
FCv2 connected with QGC.

I rebooted VOXL2. But after a few minutes, MAVLink connection broke.

I will test J18 later.

Now, to move forward. using J9 for 5G modem and connected with J1 FCv2.
Connection seems stable. Now the connection is lost.

But now the major issue is that RX loss is 124%.
I disabled messages 331,84 and configured 330 @ 10Hz.

Still, I am experiencing a 21.3% Rx loss.
The only messages visible is Heatbeat(0) and Obstacle_distance(330).

I did check. How many messages does FCv2 lose?
seems to be successfully receiving only 10-11 messages per second
and losing 254 messages per second.
So, actually getting only <5% messages successfully.

mavlink status with VOXL2 default configuration of vision-hub


instance #0:
    mavlink chan: #0
    type:        GENERIC LINK OR RADIO
    flow control: ON
    rates:
      tx: 639.8 B/s
      txerr: 0.0 B/s
      tx rate mult: 0.302
      tx rate max: 1200 B/s
      rx: 13464.5 B/s
      rx loss: 124.4%
    Received Messages:
      sysid:  1, compid:197, Total: 97158 (lost: 12227092)
        msgid:    0, Rate:  1.0 Hz, last 0.04s ago
        msgid:   84, Rate: 31.3 Hz, last 0.01s ago
        msgid:  331, Rate: 32.4 Hz, last 0.03s ago
        msgid:  330, Rate: 20.3 Hz, last 0.02s ago
      sysid:  1, compid:196, Total: 1135 (lost: 0)
        msgid:    0, Rate:  0.9 Hz, last 0.08s ago
    FTP enabled: YES, TX enabled: YES
    mode: Normal
    Forwarding: On
    MAVLink version: 2
    transport protocol: serial (/dev/ttyS6 @230400)

mavlink status with VOXL2 disabled 331, 84, and 331@10Hz in vision-hub config

instance #0:
    mavlink chan: #0
    type:        GENERIC LINK OR RADIO
    flow control: OFF
    rates:
      tx: 1106.7 B/s
      txerr: 0.0 B/s
      tx rate mult: 0.310
      tx rate max: 1200 B/s
      rx: 1828.2 B/s
      rx loss: 21.3%
    Received Messages:
      sysid:  1, compid:197, Total: 7820 (lost: 180596)
        msgid:    0, Rate:  1.0 Hz, last 0.37s ago
        msgid:  330, Rate: 10.0 Hz, last 0.06s ago
      sysid:  1, compid:196, Total: 672 (lost: 0)
        msgid:    0, Rate:  0.9 Hz, last 0.97s ago
    FTP enabled: YES, TX enabled: YES
    mode: Normal
    Forwarding: On
    MAVLink version: 2
    transport protocol: serial (/dev/ttyS6 @921600)

mavlink status with VOXL2 disabled 331, 84, and 331@10Hz in vision-hub config

if MAVLink mode changed to onboard mode

instance #0:
    mavlink chan: #0
    type:        GENERIC LINK OR RADIO
    flow control: OFF
    rates:
      tx: 21751.5 B/s
      txerr: 0.0 B/s
      tx rate mult: 1.000
      tx rate max: 46080 B/s
      rx: 2429.8 B/s
      rx loss: 82.9%
    Received Messages:
      sysid:  1, compid:197, Total: 44616 (lost: 3811731)
        msgid:    0, Rate:  1.0 Hz, last 0.51s ago
        msgid:  330, Rate: 10.0 Hz, last 0.01s ago
        msgid:  111, Rate:100.9 Hz, last 0.08s ago
      sysid:  1, compid:196, Total: 1358 (lost: 0)
        msgid:    0, Rate:  0.9 Hz, last 1.02s ago
    FTP enabled: YES, TX enabled: YES
    mode: Onboard
    Forwarding: On
    MAVLink version: 2
    transport protocol: serial (/dev/ttyS6 @921600)

Is it expected behaviour?
How to debug Rx loss?
Also, there is a huge difference in success and loss.
Is PX4 filtering or discarding packets?
Originally, we were losing 95% messages, and it is showing 21.3% loss.
How to calculate Rx loss because the actual is way higher?

Eric Katzfey

@ravi It's acting like you have a mismatch in baudrate settings for the UARTs. Try setting the baudrate to 115200 for port 12 in /etc/modalai/voxl-mavlink-server.conf. In order to setup the FCv2 connect to QGC with USB and set SER_TEL1_BAUD to 115200 8N1, then reboot. Make sure you are connected to the TELEM1 connector on FCv2 and J18 on VOXL 2.

ravi

@Eric-Katzfey

As said,
I will test J18 later.

Currently, I am using J9 of a 5G modem and connected with J1 of FCv2.

Connection seems stable. using a 921600 baud rate with port 2.
The major issue is RX loss.

seeing 95% message loss, as I explained in an earlier post.

below is mavlink status visible on QGC mavlink console:

nsh> mavlink status

instance #0:
    mavlink chan: #0
    type:        GENERIC LINK OR RADIO
    flow control: OFF
    rates:
      tx: 1106.7 B/s
      txerr: 0.0 B/s
      tx rate mult: 0.310
      tx rate max: 1200 B/s
      rx: 1828.2 B/s
      rx loss: 21.3%
    Received Messages:
      sysid:  1, compid:197, Total: 7820 (lost: 180596)
        msgid:    0, Rate:  1.0 Hz, last 0.37s ago
        msgid:  330, Rate: 10.0 Hz, last 0.06s ago
      sysid:  1, compid:196, Total: 672 (lost: 0)
        msgid:    0, Rate:  0.9 Hz, last 0.97s ago
    FTP enabled: YES, TX enabled: YES
    mode: Normal
    Forwarding: On
    MAVLink version: 2
    transport protocol: serial (/dev/ttyS6 @921600)

As above, the RX loss showing is 21.3% which is huge.
It is in normal mode. If I change the mavling mode to onboard, it is an 83% loss. and with vision hub odomatry, distance massages it is getting worst like 125%.

Now. This Rx loss does not match the number.

      sysid:  1, compid:197, Total: 7820 (lost: 180596)

As per this MAVLink status, the total successfully received messages are 7820, and the lost are 180596.
So, actual loss is (180596/(7820+180596)) = 95.8%.
And it is showing only 21.3%.

So, MAVLink is working between VOXl2 and FCv2. Currently using UART port 2 of VOXl2, not 12. I will debug it later. Once setup is complete.

Eric Katzfey

@ravi Here is what I see on my setup testing with baudrate 921600, TELEM1 (J1), and J18 (12):

nsh> mavlink status

instance #0:
    GCS heartbeat valid
    mavlink chan: #0
    type:        GENERIC LINK OR RADIO
    flow control: OFF
    rates:
      tx: 1773.5 B/s
      txerr: 0.0 B/s
      tx rate mult: 1.000
      tx rate max: 46080 B/s
      rx: 570.5 B/s
      rx loss: 0.0%
    Received Messages:
      sysid:255, compid:190, Total: 2341 (lost: 57)
        msgid:  126, Rate:  nan Hz, last 0.01s ago
        msgid:    4, Rate:  0.1 Hz, last 2.27s ago
        msgid:    0, Rate:  1.0 Hz, last 0.58s ago
        msgid:   69, Rate: 29.1 Hz, last 0.02s ago
      sysid:  1, compid:197, Total: 108 (lost: 0)
        msgid:    0, Rate:  1.0 Hz, last 0.86s ago
    FTP enabled: YES, TX enabled: YES
    mode: Normal
    Forwarding: Off
    MAVLink version: 2
    transport protocol: serial (/dev/ttyS6 @921600)
    ping statistics:
      last: 14.29 ms
      mean: 31.46 ms
      max: 135.44 ms
      min: 13.21 ms
      dropped packets: 0

Eric Katzfey

@ravi I'm suspecting you have a bad cable or the cable is subject to some interference. Can you try this on a benchtop with just a VOXL 2 and an FC v2 and no other components? Is it currently integrated into a custom drone? Can you look at the signal quality on the TX and RX UART lines with an oscilloscope?