Re-configure VOXL2 1.4 for GHOST Receiver/Transmitter?

pthomason

Hello, we recently had to get our VOXL2 board replaced and the returned unit doesn't appear to have the correct configuration for our original transmitter and receiver. Our transmitter is an ORQA FPV.Ctrl with a Ghost UberLite-24 module. The receiver on our Sentnel is a small white board, with one antenna port, and the word 'GHOST' printed on it. The new VOXL2 is running voxl-suite 1.4.0.

Out of the box the system appears to be using RC=CRSF_RAW in the /etc/modalai/voxl-px4.conf file. This results in 'px4-listener input_rc' returning all zeros for stick inputs, 16 channels, and rssi of 0, and rssi_dbm as 'nan'. QGroundControl shows the channel monitor, but the sliders do not respond to stick inputs.

When I change to RC=GHST 'px4-listener input_rc' shows the same as CRSF_RAW above, QGroundControl shows no channel-monitor section at all.

voxl2:/$ voxl-inspect-sku

family code:   MRB-D0006 (sentinel)
compute board: 4 (voxl2)
hw version:    2
cam config:    11
modem config:  24 (M0090-3-2 Sierra EM9291))
tx config:     7 (elrs_beta_fpv)
extras config: 0 (none)
SKU:           MRB-D0006-4-V2-C11-T7-M24-X0

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
--------------------------------------------------------------------------------
voxl-suite:   1.4.0
--------------------------------------------------------------------------------
Packages:
Repo:  http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.4/binary-arm64/
Last Updated: 2023-03-02 12:58:49
WARNING: repo file has changed since last update,
        packages may have originated from a different repo
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
libmodal-cv                               0.5.16
libmodal-exposure                         0.1.3
libmodal-journal                          0.2.2
libmodal-json                             0.4.3
libmodal-pipe                             2.10.4
libqrb5165-io                             0.4.7
libvoxl-cci-direct                        0.2.3
libvoxl-cutils                            0.1.1
modalai-slpi                              1.1.19
mv-voxl                                   0.1-r0
qrb5165-bind                              0.1-r0
qrb5165-dfs-server                        0.2.0
qrb5165-imu-server                        1.1.0
qrb5165-rangefinder-server                0.1.4
qrb5165-slpi-test-sig                     01-r0
qrb5165-system-tweaks                     0.3.2
qrb5165-tflite                            2.8.0-2
voxl-bind-spektrum                        0.1.1
voxl-camera-calibration                   0.5.9
voxl-camera-server                        2.0.8
voxl-ceres-solver                         2:1.14.0-10
voxl-configurator                         0.9.4
voxl-cpu-monitor                          0.5.1
voxl-docker-support                       1.3.1
voxl-elrs                                 0.3.4
voxl-esc                                  1.4.8
voxl-feature-tracker                      0.5.2
voxl-flow-server                          0.3.6
voxl-fsync-mod                            1.0-r0
voxl-gphoto2-server                       0.0.10
voxl-gpio-mod                             1.0-r0
voxl-io-server                            0.0.4
voxl-jpeg-turbo                           2.1.3-5
voxl-lepton-server                        1.3.3
voxl-lepton-tracker                       0.0.4
voxl-libgphoto2                           0.0.4
voxl-libuvc                               1.0.7
voxl-logger                               0.4.9
voxl-mavcam-manager                       0.5.7
voxl-mavlink                              0.1.1
voxl-mavlink-server                       1.4.4
voxl-modem                                1.1.3
voxl-mongoose                             7.7.0-1
voxl-mpa-to-ros                           0.3.9
voxl-mpa-tools                            1.3.4
voxl-open-vins                            0.4.14
voxl-open-vins-server                     0.2.83
voxl-opencv                               4.5.5-2
voxl-osd                                  0.0.2
voxl-platform-mod                         1.0-r0
voxl-portal                               0.7.2
voxl-px4                                  1.14.0-2.0.85
voxl-px4-imu-server                       0.1.2
voxl-px4-params                           0.5.8
voxl-qvio-server                          1.1.1
voxl-remote-id                            0.0.9
voxl-reset-slpi                           0.0.1
voxl-state-estimator                      0.0.3
voxl-streamer                             0.7.5
voxl-suite                                1.4.0
voxl-tag-detector                         0.0.4
voxl-tflite-server                        0.3.7
voxl-utils                                1.4.4
voxl-uvc-server                           0.1.7
voxl-vision-hub                           1.8.17
voxl-vtx                                  1.1.3
voxl2-io                                  0.0.3
voxl2-system-image                        1.8.02-r0
voxl2-wlan                                1.0-r0
--------------------------------------------------------------------------------

voxl2:/$ voxl-inspect-services
Scanning services...

 Service Name             |  Enabled  |   Running   |  CPU Usage
-------------------------------------------------------------------
 docker-autorun           | Disabled  | Not Running |
 modallink-relink         | Disabled  | Not Running |
 voxl-auto-logger         | Disabled  | Not Running |
 voxl-camera-server       |  Enabled  |   Running   |    30.1%
 voxl-cpu-monitor         |  Enabled  |   Running   |     0.3%
 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-imu-server          |  Enabled  |   Running   |     2.0%
 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   |     2.1%
 voxl-modem               |  Enabled  |   Running   |     0.1%
 voxl-open-vins-server    | Disabled  | Not Running |
 voxl-osd                 | Disabled  | Not Running |
 voxl-portal              |  Enabled  |   Running   |     0.1%
 voxl-px4-imu-server      | Disabled  | Not Running |
 voxl-px4                 |  Enabled  |   Running   |    15.9%
 voxl-qvio-server         |  Enabled  |   Running   |     1.2%
 voxl-rangefinder-server  | Disabled  | Not Running |
 voxl-remote-id           | Disabled  | Not Running |
 voxl-softap              |  Enabled  |  Completed  |
 voxl-state-estimator     | Disabled  | Not Running |
 voxl-static-ip           | Disabled  | Not Running |
 voxl-streamer            |  Enabled  |   Running   |     1.1%
 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          |  Enabled  |   Running   |     1.2%
 voxl-vrx                 | Disabled  | Not Running |
 voxl-vtx                 | Disabled  | Not Running |
 voxl-wait-for-fs         |  Enabled  |  Completed  |

Eric Katzfey

First of all I would update the SDK to something newer. That's probably not going to solve this issue but it makes it easier for us to support you when you are on the current SDK. To help troubleshoot can you show the output of px4-qshell ghst_rc status. Run that status command a few times.

pthomason

Hello again,

This is the voxl-configure-mpa I've got after running voxl-configure-sku...

voxl2:/$ voxl-configure-mpa
------------------------------------------------------------------
               Welcome to voxl-configure-mpa!

VOXL is currently thinks it is in the following hardware:

family code:   MRB-D0006 (sentinel)
compute board: 4 (voxl2)
hw version:    2
cam config:    11
modem config:  7 (VOXL 2 5G Quectel (M0067/M0090-3-01))
tx config:     9 (ghost)
extras config: 0 (none)
SKU:           MRB-D0006-4-V2-C11-T9-M7-X0

If this doesn't look right, quit and run voxl-configure-sku to
set it correctly. Then run voxl-configure-mpa again.


Continue? y/n: n
Ok, exiting

This seems to apply correctly, but QGroundControl still shows no control stick responses.

px4-shell ghst_rc status doesn't seem to indicate that the process is running, and I've rebooted the Sentinel after using the voxl-configure-mpa command..

voxl2:/$ px4-qshell ghst_rc status
INFO  [qshell] Send cmd: 'ghst_rc status'
INFO  [qshell] qshell return value timestamp: 395926563, local time: 395930281
voxl2:/$ px4-qshell ghst_rc status
INFO  [qshell] Send cmd: 'ghst_rc status'
INFO  [qshell] qshell return value timestamp: 398284392, local time: 398286173
voxl2:/$ px4-qshell ghst_rc status
INFO  [qshell] Send cmd: 'ghst_rc status'
INFO  [qshell] qshell return value timestamp: 399164515, local time: 399166110
voxl2:/$ px4-qshell ghst_rc status
INFO  [qshell] Send cmd: 'ghst_rc status'
INFO  [qshell] qshell return value timestamp: 399840897, local time: 399844011
voxl2:/$ px4-qshell ghst_rc status
INFO  [qshell] Send cmd: 'ghst_rc status'
INFO  [qshell] qshell return value timestamp: 412583664, local time: 412586186
voxl2:/$ px4-qshell ghst_rc status
INFO  [qshell] Send cmd: 'ghst_rc status'
INFO  [qshell] qshell return value timestamp: 418824570, local time: 418825970
voxl2:/$ px4-qshell ghst_rc status
INFO  [qshell] Send cmd: 'ghst_rc status'
INFO  [qshell] qshell return value timestamp: 422361921, local time: 422364518

Eric Katzfey

Looks like the px4- version of the command isn't printing anything. You'll need to stop px4 running as a service with systemctl stop voxl-px4. Then wait a few seconds. Then start voxl-px4 from the command line in non-daemon mode with voxl-px4 -d. Once the startup script completes and you get a px4 prompt enter qshell ghst_rc status.

pthomason

@Eric-Katzfey

Here's the results of that set of commands...

voxl2:/$ systemctl stop voxl-px4
voxl2:/$ voxl-px4 -d
[INFO] Reading from /etc/modalai/voxl-px4.conf
Found DSP signature file
[INFO] Disabling daemon mode

*************************
AIRFRAME=MULTICOPTER
GPS=AUTODETECT
RC=GHST
ESC=VOXL_ESC
POWER MANAGER=VOXLPM
AIRSPEED SENSOR=NONE
DISTANCE SENSOR=NONE
OSD=DISABLE
DAEMON_MODE=DISABLE
SENSOR_CAL=ACTUAL
ARTIFACT_MODE=DISABLE
EXTRA STEPS:
*************************

INFO  [px4] mlockall() enabled. PX4's virtual address space is locked into RAM.
INFO  [px4] assuming working directory is rootfs, no symlinks needed.
INFO  [muorb] Got muorb init command
Sending initialization request
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
INFO  [muorb] SLPI: muorb aggregator thread running
INFO  [muorb] muorb protobuf initalize method succeeded
INFO  [muorb] succesfully did ADVERTISE_TEST_TYPE
INFO  [muorb] SLPI: Creating pthread test_MUORB

INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097656
INFO  [muorb] succesfully did SUBSCRIBE_TEST_TYPE
INFO  [muorb] SLPI: Creating pthread test_MUORB

INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097655
INFO  [muorb] SLPI: Creating pthread test_MUORB

INFO  [muorb] succesfully did TOPIC_TEST_TYPE
INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097654
INFO  [muorb] succesfully did UNSUBSCRIBE_TEST_TYPE
INFO  [muorb] SLPI: Creating pthread test_MUORB

INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097653
INFO  [muorb] muorb test passed

______  __   __    ___
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
INFO  [muorb] SLPI: Advertising remote topic log_message
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [px4] startup script: /bin/sh /usr/bin/voxl-px4-start 0
INFO  [parameters] Starting param sync THREAD

*************************
AIRFRAME: MULTICOPTER
GPS: AUTODETECT
RC: GHST
ESC: VOXL_ESC
POWER MANAGER: VOXLPM
AIRSPEED SENSOR: NONE
DISTANCE SENSOR: NONE
OSD: DISABLE
ARTIFACT_MODE: DISABLE
EXTRA STEPS:

*************************

Running on M0054
INFO  [muorb] SLPI: Starting param sync THREAD
INFO  [muorb] SLPI: before starting the qshell_entry task
INFO  [muorb] SLPI: Creating pthread qshell

INFO  [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 2097652
INFO  [muorb] SLPI: qshell entry.....
INFO  [muorb] SLPI: after starting the qshell_entry task
INFO  [muorb] SLPI: Init app map initialized
INFO  [param] selected parameter default file /data/px4/param/parameters
INFO  [muorb] SLPI: 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] SLPI: Advertising remote topic parameter_update
INFO  [muorb] SLPI: Marking DeviceNode(parameter_client_set_value_request) as advertised in process_remote_to
INFO  [uORB] Marking DeviceNode(parameter_server_set_used_request) as advertised in process_remote_topic
INFO  [muorb] SLPI: Marking DeviceNode(parameter_server_set_used_response) as advertised in process_remote_to
INFO  [uORB] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic
INFO  [parameters] BSON document size 2664 bytes, decoded 2664 bytes (INT32:37, FLOAT:86)
INFO  [logger] logger started (mode=all)
Starting IMU driver with no rotation
INFO  [qshell] Send cmd: 'icm42688p start -s'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: icm42688p start -s
INFO  [muorb] SLPI:   arg0 = 'icm42688p'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI:   arg2 = '-s'

INFO  [muorb] SLPI: *** SPI Device ID 0x26000a 2490378
INFO  [uORB] Advertising remote topic sensor_accel
INFO  [uORB] Advertising remote topic sensor_gyro
INFO  [muorb] SLPI: ICM42688P::probe successful!
INFO  [muorb] SLPI: on SPI bus 1
INFO  [muorb] SLPI: icm42688p #0 on SPI bus 1
INFO  [muorb] SLPI:

INFO  [muorb] SLPI: >>> ICM42688P this: b25fff68
INFO  [muorb] SLPI: Ok executing command: icm42688p start -s
INFO  [uORB] Advertising remote topic qshell_retval
INFO  [muorb] SLPI: >>> ICM42688P this: b25fff68
INFO  [qshell] qshell return value timestamp: 70192095, local time: 70194772
INFO  [muorb] SLPI: >>> ICM42688P this: b25fff68
INFO  [muorb] SLPI: Register interrupt b214ec48 e61f670c b25fff68
INFO  [uORB] Advertising remote topic sensor_gyro_fifo
INFO  [uORB] Advertising remote topic sensor_accel_fifo
INFO  [qshell] Send cmd: 'icp101xx start -I -b 5'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: icp101xx start -I -b 5
INFO  [muorb] SLPI:   arg0 = 'icp101xx'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI:   arg2 = '-I'

INFO  [muorb] SLPI:   arg3 = '-b'

INFO  [muorb] SLPI:   arg4 = '5'

INFO  [muorb] SLPI: *** I2C Device ID 0xb76329 12018473
INFO  [muorb] SLPI: Set up I2C bus mutex for bus 5
INFO  [uORB] Advertising remote topic imu_server
INFO  [muorb] SLPI: icp101xx #0 on I2C bus 5
INFO  [muorb] SLPI:  address 0x63
INFO  [muorb] SLPI:

INFO  [muorb] SLPI: Ok executing command: icp101xx start -I -b 5
INFO  [qshell] qshell return value timestamp: 70221943, local time: 70224937
Looking for qmc5883l magnetometer
INFO  [qshell] Send cmd: 'qmc5883l start -R 10 -X -b 1'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: qmc5883l start -R 10 -X -b 1
INFO  [muorb] SLPI:   arg0 = 'qmc5883l'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI:   arg2 = '-R'

INFO  [muorb] SLPI:   arg3 = '10'

INFO  [muorb] SLPI:   arg4 = '-X'

INFO  [muorb] SLPI:   arg5 = '-b'

INFO  [muorb] SLPI:   arg6 = '1'

INFO  [muorb] SLPI: *** I2C Device ID 0x80d09 527625
INFO  [muorb] SLPI: Set up I2C bus mutex for bus 1
INFO  [muorb] SLPI: qmc5883l #0 on I2C bus 1
INFO  [muorb] SLPI:  (external)
INFO  [muorb] SLPI:  address 0xD
INFO  [muorb] SLPI:  rotation 10
INFO  [muorb] SLPI:

INFO  [muorb] SLPI: Ok executing command: qmc5883l start -R 10 -X -b 1
INFO  [qshell] qshell return value timestamp: 70254774, local time: 70258408
Looking for ist8310 magnetometer
INFO  [qshell] Send cmd: 'ist8310 start -R 10 -X -b 1'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: ist8310 start -R 10 -X -b 1
INFO  [muorb] SLPI:   arg0 = 'ist8310'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI:   arg2 = '-R'

INFO  [muorb] SLPI:   arg3 = '10'

INFO  [muorb] SLPI:   arg4 = '-X'

INFO  [muorb] SLPI:   arg5 = '-b'

INFO  [muorb] SLPI:   arg6 = '1'

INFO  [muorb] SLPI: *** I2C Device ID 0x60e09 396809
INFO  [muorb] SLPI: Set up I2C bus mutex for bus 1
ERROR [muorb] SLPI: i2c probe failed
INFO  [muorb] SLPI: PX4_qshell: no instance started (no device on bus?)
ERROR [muorb] SLPI: Failed to execute command: ist8310 start -R 10 -X -b 1
INFO  [qshell] cmd returned with: -1
INFO  [qshell] qshell return value timestamp: 70289802, local time: 70292586
ERROR [qshell] Command failed
INFO  [muorb] SLPI: >>> ICM42688P this: b25fff68
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: gps start
INFO  [muorb] SLPI:   arg0 = 'gps'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI: Creating pthread gps

INFO  [qshell] Send cmd: 'gps start'
INFO  [muorb] SLPI: Successfully created px4 task PX4_gps with tid 2097648
INFO  [muorb] SLPI: Ok executing command: gps start
INFO  [qshell] qshell return value timestamp: 70319527, local time: 70322599
Looking for ncp5623c RGB LED
INFO  [muorb] SLPI: GPS UART baudrate set to 115200
INFO  [qshell] Send cmd: 'rgbled_ncp5623c start -X -b 1 -f 400 -a 56'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: rgbled_ncp5623c start -X -b 1 -f 400 -a 56
INFO  [muorb] SLPI:   arg0 = 'rgbled_ncp5623c'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI:   arg2 = '-X'

INFO  [muorb] SLPI:   arg3 = '-b'

INFO  [muorb] SLPI:   arg4 = '1'

INFO  [muorb] SLPI:   arg5 = '-f'

INFO  [muorb] SLPI:   arg6 = '400'

INFO  [muorb] SLPI:   arg7 = '-a'

INFO  [muorb] SLPI:   arg8 = '56'

INFO  [muorb] SLPI: *** I2C Device ID 0x7b3809 8075273
INFO  [muorb] SLPI: Set up I2C bus mutex for bus 1
INFO  [muorb] SLPI: Set i2c address 0x38, fd 3
ERROR [muorb] SLPI: i2c probe failed
INFO  [muorb] SLPI: PX4_qshell: no instance started (no device on bus?)
ERROR [muorb] SLPI: 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: 70362363, local time: 70366032
ERROR [qshell] Command failed
INFO  [uORB] Advertising remote topic sensor_mag
Starting VOXL ESC driver
INFO  [uORB] Advertising remote topic sensor_baro
INFO  [qshell] Send cmd: 'voxl_esc start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: voxl_esc start
INFO  [muorb] SLPI:   arg0 = 'voxl_esc'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [uORB] Advertising remote topic actuator_outputs
INFO  [muorb] SLPI: VOXL_ESC: Starting VOXL ESC driver
INFO  [muorb] SLPI: Params: VOXL_ESC_CONFIG: 1
INFO  [muorb] SLPI: Params: VOXL_ESC_MODE: 0
INFO  [muorb] SLPI: Params: VOXL_ESC_BAUD: 2000000
INFO  [muorb] SLPI: Params: VOXL_ESC_FUNC1: 103
INFO  [muorb] SLPI: Params: VOXL_ESC_FUNC2: 102
INFO  [muorb] SLPI: Params: VOXL_ESC_FUNC3: 104
INFO  [muorb] SLPI: Params: VOXL_ESC_FUNC4: 101
INFO  [muorb] SLPI: Params: VOXL_ESC_SDIR1: 0
INFO  [muorb] SLPI: Params: VOXL_ESC_SDIR2: 0
INFO  [muorb] SLPI: Params: VOXL_ESC_SDIR3: 0
INFO  [muorb] SLPI: Params: VOXL_ESC_SDIR4: 0
INFO  [muorb] SLPI: Params: VOXL_ESC_RPM_MIN: 1000
INFO  [muorb] SLPI: Params: VOXL_ESC_RPM_MAX: 7000
INFO  [muorb] SLPI: Params: VOXL_ESC_T_PERC: 90
INFO  [muorb] SLPI: Params: VOXL_ESC_T_DEAD: 20
INFO  [muorb] SLPI: Params: VOXL_ESC_T_EXPO: 35
INFO  [muorb] SLPI: Params: VOXL_ESC_T_MINF: 0.150000
INFO  [muorb] SLPI: Params: VOXL_ESC_T_COSP: 0.990000
INFO  [muorb] SLPI: Params: VOXL_ESC_VLOG: 1
INFO  [muorb] SLPI: Params: VOXL_ESC_PUB_BST: 1
INFO  [muorb] SLPI: Params: VOXL_ESC_T_WARN: 0
INFO  [muorb] SLPI: Params: VOXL_ESC_T_OVER: 0
INFO  [muorb] SLPI: Params: GPIO_CTL_CH: 0
INFO  [muorb] SLPI: Ok executing command: voxl_esc start
INFO  [muorb] SLPI: VOXL_ESC: Opening UART ESC device 2, baud rate 2000000
INFO  [muorb] SLPI: VOXL_ESC: Successfully opened UART ESC device
INFO  [muorb] SLPI: VOXL_ESC: Detecting ESCs...
INFO  [muorb] SLPI: VOXL_ESC:   ESC ID     : 0
INFO  [muorb] SLPI: VOXL_ESC:   Board Type : 37: ModalAi 4-in-1 ESC (M0134-1)
INFO  [muorb] SLPI: VOXL_ESC:   Unique ID  : 0x203330385246571800200038
INFO  [muorb] SLPI: VOXL_ESC:   Firmware   : version   39, hash 9c6233d6
INFO  [muorb] SLPI: VOXL_ESC:   Bootloader : version  183, hash b4fa2cf8
INFO  [muorb] SLPI: VOXL_ESC:   Reply time : 111us
INFO  [muorb] SLPI: VOXL_ESC:
INFO  [qshell] qshell return value timestamp: 70512857, local time: 70515915
INFO  [muorb] SLPI: VOXL_ESC:   ESC ID     : 1
INFO  [muorb] SLPI: VOXL_ESC:   Board Type : 37: ModalAi 4-in-1 ESC (M0134-1)
INFO  [muorb] SLPI: VOXL_ESC:   Unique ID  : 0x2033303852465719003D004B
INFO  [muorb] SLPI: VOXL_ESC:   Firmware   : version   39, hash 9c6233d6
INFO  [muorb] SLPI: VOXL_ESC:   Bootloader : version  183, hash b4fa2cf8
INFO  [muorb] SLPI: VOXL_ESC:   Reply time : 799us
INFO  [muorb] SLPI: VOXL_ESC:
INFO  [muorb] SLPI: VOXL_ESC:   ESC ID     : 2
INFO  [muorb] SLPI: VOXL_ESC:   Board Type : 37: ModalAi 4-in-1 ESC (M0134-1)
INFO  [muorb] SLPI: VOXL_ESC:   Unique ID  : 0x203330385246571800200048
INFO  [muorb] SLPI: VOXL_ESC:   Firmware   : version   39, hash 9c6233d6
INFO  [muorb] SLPI: VOXL_ESC:   Bootloader : version  183, hash b4fa2cf8
INFO  [muorb] SLPI: VOXL_ESC:   Reply time : 104us
INFO  [muorb] SLPI: VOXL_ESC:
INFO  [muorb] SLPI: VOXL_ESC:   ESC ID     : 3
INFO  [muorb] SLPI: VOXL_ESC:   Board Type : 37: ModalAi 4-in-1 ESC (M0134-1)
INFO  [muorb] SLPI: VOXL_ESC:   Unique ID  : 0x203330385246571800200045
INFO  [muorb] SLPI: VOXL_ESC:   Firmware   : version   39, hash 9c6233d6
INFO  [muorb] SLPI: VOXL_ESC:   Bootloader : version  183, hash b4fa2cf8
INFO  [muorb] SLPI: VOXL_ESC:   Reply time : 705us
INFO  [muorb] SLPI: VOXL_ESC:
INFO  [muorb] SLPI: VOXL_ESC: Use extened rpm packet : 1
INFO  [muorb] SLPI: VOXL_ESC: All ESCs successfully detected
Starting GHST RC driver
INFO  [qshell] Send cmd: 'ghst_rc start -d 7'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: ghst_rc start -d 7
INFO  [muorb] SLPI:   arg0 = 'ghst_rc'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI:   arg2 = '-d'

INFO  [muorb] SLPI:   arg3 = '7'

INFO  [muorb] SLPI: Ok executing command: ghst_rc start -d 7
INFO  [uORB] Advertising remote topic input_rc
INFO  [qshell] qshell return value timestamp: 70549244, local time: 70551299
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] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: voxlpm start -X -b 2
INFO  [muorb] SLPI:   arg0 = 'voxlpm'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI:   arg2 = '-X'

INFO  [muorb] SLPI:   arg3 = '-b'

INFO  [muorb] SLPI:   arg4 = '2'

INFO  [muorb] SLPI: *** I2C Device ID 0xd24411 13779985
INFO  [muorb] SLPI: Set up I2C bus mutex for bus 2
INFO  [muorb] SLPI: Set i2c address 0x6a, fd 4
INFO  [muorb] SLPI: Set i2c address 0x44, fd 4
INFO  [uORB] Advertising remote topic battery_status
INFO  [muorb] SLPI: voxlpm #0 on I2C bus 2
INFO  [muorb] SLPI:  (external)
INFO  [muorb] SLPI:  address 0x44
INFO  [muorb] SLPI:

INFO  [muorb] SLPI: Ok executing command: voxlpm start -X -b 2
INFO  [uORB] Advertising remote topic power_monitor
INFO  [qshell] qshell return value timestamp: 70586095, local time: 70588109
INFO  [qshell] Send cmd: 'sensors start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: sensors start
INFO  [muorb] SLPI:   arg0 = 'sensors'

INFO  [muorb] SLPI:   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 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] SLPI: Ok executing command: sensors start
INFO  [qshell] qshell return value timestamp: 70809096, local time: 70811296
INFO  [uORB] Advertising remote topic sensors_status_baro
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: ekf2 start
INFO  [muorb] SLPI:   arg0 = 'ekf2'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [qshell] Send cmd: 'ekf2 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] SLPI: Ok executing command: ekf2 start
INFO  [qshell] qshell return value timestamp: 71198944, local time: 71201108
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  [uORB] Advertising remote topic estimator_aid_src_baro_hgt
INFO  [qshell] Send cmd: 'mc_pos_control start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: mc_pos_control start
INFO  [muorb] SLPI:   arg0 = 'mc_pos_control'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [uORB] Advertising remote topic takeoff_status
INFO  [muorb] SLPI: Ok executing command: mc_pos_control start
INFO  [qshell] qshell return value timestamp: 71313275, local time: 71316082
INFO  [qshell] Send cmd: 'mc_att_control start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: mc_att_control start
INFO  [muorb] SLPI:   arg0 = 'mc_att_control'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI: Ok executing command: mc_att_control start
INFO  [qshell] qshell return value timestamp: 71359435, local time: 71361812
INFO  [qshell] Send cmd: 'mc_rate_control start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: mc_rate_control start
INFO  [muorb] SLPI:   arg0 = 'mc_rate_control'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI: u-blox firmware version: SPG 5.10
INFO  [muorb] SLPI: u-blox protocol version: 34.10
INFO  [muorb] SLPI: u-blox module: MAX-M10S
INFO  [uORB] Advertising remote topic rate_ctrl_status
INFO  [muorb] SLPI: Ok executing command: mc_rate_control start
INFO  [qshell] qshell return value timestamp: 71483137, local time: 71484877
INFO  [qshell] Send cmd: 'mc_hover_thrust_estimator start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: mc_hover_thrust_estimator start
INFO  [muorb] SLPI:   arg0 = 'mc_hover_thrust_estimator'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI: Ok executing command: mc_hover_thrust_estimator start
INFO  [qshell] qshell return value timestamp: 71533437, local time: 71535280
INFO  [qshell] Send cmd: 'mc_autotune_attitude_control start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: mc_autotune_attitude_control start
INFO  [muorb] SLPI:   arg0 = 'mc_autotune_attitude_control'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [uORB] Advertising remote topic autotune_attitude_control_status
INFO  [muorb] SLPI: Ok executing command: mc_autotune_attitude_control start
INFO  [qshell] qshell return value timestamp: 71573161, local time: 71576568
INFO  [qshell] Send cmd: 'land_detector start multicopter'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: land_detector start multicopter
INFO  [muorb] SLPI:   arg0 = 'land_detector'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI:   arg2 = 'multicopter'

INFO  [muorb] SLPI: Ok executing command: land_detector start multicopter
INFO  [qshell] qshell return value timestamp: 71617286, local time: 71619917
INFO  [uORB] Advertising remote topic vehicle_land_detected
INFO  [qshell] Send cmd: 'manual_control start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: manual_control start
INFO  [muorb] SLPI:   arg0 = 'manual_control'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI: Ok executing command: manual_control start
INFO  [qshell] qshell return value timestamp: 71667009, local time: 71668829
INFO  [uORB] Advertising remote topic manual_control_setpoint
INFO  [qshell] Send cmd: 'control_allocator start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: control_allocator start
INFO  [muorb] SLPI:   arg0 = 'control_allocator'

INFO  [muorb] SLPI:   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] SLPI: Ok executing command: control_allocator start
INFO  [qshell] qshell return value timestamp: 72042152, local time: 72044686
INFO  [qshell] Send cmd: 'load_mon start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: load_mon start
INFO  [muorb] SLPI:   arg0 = 'load_mon'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI: Ok executing command: load_mon start
INFO  [uORB] Advertising remote topic cpuload
INFO  [qshell] qshell return value timestamp: 72078955, local time: 72080979
INFO  [qshell] Send cmd: 'rc_update start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: rc_update start
INFO  [muorb] SLPI:   arg0 = 'rc_update'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI: GPS UART baudrate set to 115200
INFO  [muorb] SLPI: Ok executing command: rc_update start
INFO  [uORB] Advertising remote topic rc_channels
INFO  [qshell] qshell return value timestamp: 72453167, local time: 72456118
INFO  [qshell] Send cmd: 'commander start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: commander start
INFO  [muorb] SLPI:   arg0 = 'commander'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI: Creating pthread commander

INFO  [muorb] SLPI: Successfully created px4 task PX4_commander with tid 2097640
INFO  [uORB] Advertising remote topic led_control
INFO  [muorb] SLPI: LED: open /dev/led0 failed (22)
INFO  [uORB] Advertising remote topic tune_control
INFO  [muorb] SLPI: Ok executing command: commander start
INFO  [qshell] qshell return value timestamp: 72721949, local time: 72724567
INFO  [uORB] Advertising remote topic event
INFO  [uORB] Advertising remote topic mavlink_log
INFO  [muorb] SLPI: Preflight Fail: Accel 0 uncalibrated
INFO  [muorb] SLPI: Preflight Fail: Compass 0 uncalibrated
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] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: flight_mode_manager start
INFO  [muorb] SLPI:   arg0 = 'flight_mode_manager'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [uORB] Advertising remote topic vehicle_command
INFO  [muorb] SLPI: Ok executing command: flight_mode_manager start
INFO  [qshell] qshell return value timestamp: 72847484, local time: 72849829
INFO  [dataman] data manager file '/data/px4/dataman' size is 7866640 bytes
INFO  [muorb] SLPI: Advertising remote topic transponder_report
INFO  [muorb] SLPI: Advertising remote topic rtl_time_estimate
INFO  [muorb] SLPI: Advertising remote topic position_setpoint_triplet
INFO  [modal_io_bridge] Modal IO Bridge driver starting
INFO  [mavlink] mode: Onboard, data rate: 100000 B/s on udp port 14556 remote port 14557
INFO  [muorb] SLPI: Advertising remote topic telemetry_status
INFO  [mavlink] partner IP: 127.0.0.1
INFO  [muorb] SLPI: Advertising remote topic offboard_control_mode
INFO  [muorb] SLPI: Advertising remote topic vehicle_visual_odometry
INFO  [muorb] SLPI: Advertising remote topic obstacle_distance
INFO  [muorb] SLPI: Advertising remote topic timesync_status
INFO  [uORB] Advertising remote topic estimator_aid_src_ev_hgt
INFO  [uORB] Advertising remote topic estimator_aid_src_ev_pos
INFO  [uORB] Advertising remote topic estimator_aid_src_ev_vel
INFO  [uORB] Advertising remote topic estimator_aid_src_ev_yaw
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] SLPI: 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  [muorb] SLPI: Preflight Fail: Accel 0 uncalibrated
INFO  [muorb] SLPI: Preflight Fail: Compass 0 uncalibrated
INFO  [muorb] SLPI: GPS UART baudrate set to 9600
INFO  [muorb] SLPI: Preflight Fail: Accel 0 uncalibrated
INFO  [muorb] SLPI: Preflight Fail: Compass 0 uncalibrated

pxh> qshINFO  [muorb] SLPI: GPS UART baudrate set to 38400
pxh> qsheINFO  [muorb] SLPI: Got ack to initial CFG_VALSET!
pxh> qshellINFO  [muorb] SLPI: u-blox firmware version: SPG 5.10
INFO  [muorb] SLPI: u-blox protocol version: 34.10
INFO  [muorb] SLPI: u-blox module: MAX-M10S
pxh> qshell INFO  [uORB] Advertising remote topic sensor_gps
pxh> qshell ghst_rc status
INFO  [qshell] Send cmd: 'ghst_rc status'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: ghst_rc status
INFO  [muorb] SLPI:   arg0 = 'ghst_rc'

INFO  [muorb] SLPI:   arg1 = 'status'

INFO  [muorb] SLPI: UART device: 7
INFO  [muorb] SLPI: UART RX bytes: 0
INFO  [muorb] SLPI: Telemetry disabled: Singlewire RC port
INFO  [muorb] SLPI: ghst_rc: cycle interval: 4909 events, 4602.09us avg, min 4517us max 5234us 60.313us rms

INFO  [muorb] SLPI: ghst_rc: publish interval: 4909 events, 4602.08us avg, min 4519us max 5216us 60.657us rms
INFO  [muorb] SLPI: Ok executing command: ghst_rc status
INFO  [qshell] qshell return value timestamp: 93142469, local time: 93144181
pxh> qshell ghst_rc status
INFO  [qshell] Send cmd: 'ghst_rc status'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: ghst_rc status
INFO  [muorb] SLPI:   arg0 = 'ghst_rc'

INFO  [muorb] SLPI:   arg1 = 'status'

INFO  [muorb] SLPI: UART device: 7
INFO  [muorb] SLPI: UART RX bytes: 0
INFO  [muorb] SLPI: Telemetry disabled: Singlewire RC port
INFO  [muorb] SLPI: ghst_rc: cycle interval: 9465 events, 4604.74us avg, min 4517us max 5234us 62.283us rms

INFO  [muorb] SLPI: ghst_rc: publish interval: 9465 events, 4604.73us avg, min 4519us max 5216us 61.851us rms
INFO  [muorb] SLPI: Ok executing command: ghst_rc status
INFO  [qshell] qshell return value timestamp: 114136059, local time: 114138421
pxh> qshell ghst_rc status
INFO  [qshell] Send cmd: 'ghst_rc status'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: ghst_rc status
INFO  [muorb] SLPI:   arg0 = 'ghst_rc'

INFO  [muorb] SLPI:   arg1 = 'status'

INFO  [muorb] SLPI: UART device: 7
INFO  [muorb] SLPI: UART RX bytes: 0
INFO  [muorb] SLPI: Telemetry disabled: Singlewire RC port
INFO  [muorb] SLPI: ghst_rc: cycle interval: 12405 events, 4605.51us avg, min 4517us max 5234us 62.184us rms

INFO  [muorb] SLPI: ghst_rc: publish interval: 12404 events, 4605.50us avg, min 4519us max 5216us 62.220us rm
INFO  [muorb] SLPI: Ok executing command: ghst_rc status
INFO  [qshell] qshell return value timestamp: 127681055, local time: 127683879
pxh> INFO  [muorb] SLPI: Preflight Fail: Accel 0 uncalibrated
INFO  [muorb] SLPI: Preflight Fail: Compass 0 uncalibrated
INFO  [muorb] SLPI: Preflight Fail: Accel 0 uncalibrated
INFO  [muorb] SLPI: Preflight Fail: Compass 0 uncalibrated
INFO  [muorb] SLPI: Preflight Fail: Accel 0 uncalibrated
INFO  [muorb] SLPI: Preflight Fail: Compass 0 uncalibrated
INFO  [muorb] SLPI: Preflight Fail: Accel 0 uncalibrated
INFO  [muorb] SLPI: Preflight Fail: Compass 0 uncalibrated

I hope this helps, I'm not sure what 'normal' output looks like in this case.

Eric Katzfey

It shows that no bytes have been received over the UART. So you need to see why there are no bytes coming across. Is the receiver generating any? You can attach a oscilloscope to the transmit line from the receiver and see if it is trying to send anything. Are you sure that the receiver and transmitter are properly bound?

ModalAI Forum

Re-configure VOXL2 1.4 for GHOST Receiver/Transmitter?