Questions regarding RB5 5G drone

[MJ]

Since some text was missing, I have attached the complete dump here:

root@qrb5165-rb5:~# systemctl status rb5-px4-start
● rb5-px4-start.service - rb5-px4-start
Loaded: loaded (/etc/systemd/system/rb5-px4-start.service; enabled; vendor preset: enabled)
Active: failed (Result: exit-code) since Wed 2022-03-30 21:14:17 UTC; 11min ago
Main PID: 2320 (code=exited, status=134)

Mar 30 21:14:08 qrb5165-rb5 systemd[1]: Started rb5-px4-start.
Mar 30 21:14:17 qrb5165-rb5 bash[2320]: terminate called after throwing an instance of 'std::runtime_error'
Mar 30 21:14:17 qrb5165-rb5 bash[2320]: what(): FATAL: could not find sensors QMI service
Mar 30 21:14:17 qrb5165-rb5 bash[2320]: /usr/bin/m0052-px4: line 18: 2321 Aborted px4 $DAEMON -s /etc/modalai/full-m0052.config
Mar 30 21:14:17 qrb5165-rb5 systemd[1]: rb5-px4-start.service: Main process exited, code=exited, status=134/n/a
Mar 30 21:14:17 qrb5165-rb5 systemd[1]: rb5-px4-start.service: Failed with result 'exit-code'.

Here is the full-m0052.config (unedited, from January 2022)
https://pastebin.com/j5WNgF5Q

[Eric Katzfey]

@MJ Can you disable the startup service? systemctl disable rb5-px4-start and then reboot. Then, adb into the RB5 and launch px4 from the command line m0052-px4 and paste the output of that here. That should tell us more information about what is going wrong.

[MJ]

@Eric-Katzfey

Please find the output here:

root@qrb5165-rb5:~# m0052-px4
INFO  [px4] mlockall() enabled. PX4's virtual address space is locked into RAM.
INFO  [px4] assuming working directory is rootfs, no symlinks needed.

______  __   __    ___
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [px4] Calling startup script: /bin/sh /etc/modalai/full-m0052.config 0
terminate called after throwing an instance of 'std::runtime_error'
  what():  FATAL: could not find sensors QMI service
/usr/bin/m0052-px4: line 18:  5180 Aborted                 px4 $DAEMON -s /etc/modalai/full-m0052.config

I tried this several times, every time exact the same message.

[Eric Katzfey]

@MJ There should be a program called ssc_sensor_info. Can you run that and paste the output of that here? Also the output of ls -l /usr/lib/libs*?

[MJ]

@Eric-Katzfey

sh-4.4# ls -l /usr/lib/libs*
-rw-r--r-- 1 root root     4010 Oct 27  2015 /usr/lib/libsafe_iop.a
lrwxrwxrwx 1 root root       18 Oct 27  2015 /usr/lib/libsafe_iop.so -> libsafe_iop.so.0.3
lrwxrwxrwx 1 root root       18 Oct 27  2015 /usr/lib/libsafe_iop.so.0 -> libsafe_iop.so.0.3
-rw-r--r-- 1 root root     9976 Oct 27  2015 /usr/lib/libsafe_iop.so.0.3
-rwxr-xr-x 1 root root   231664 Dec  6 21:46 /usr/lib/libsdsprpc.so
lrwxrwxrwx 1 root root       22 Dec  6 21:59 /usr/lib/libsensorslog.so -> libsensorslog.so.1.0.0
lrwxrwxrwx 1 root root       22 Dec  6 21:59 /usr/lib/libsensorslog.so.1 -> libsensorslog.so.1.0.0
-rwxr-xr-x 1 root root     5648 Dec  6 21:47 /usr/lib/libsensorslog.so.1.0.0
-rwxr-xr-x 1 root root    42840 Dec  6 21:49 /usr/lib/libsimple_selectors.so
lrwxrwxrwx 1 root root       19 Dec  6 21:59 /usr/lib/libsns_api.so -> libsns_api.so.0.0.0
lrwxrwxrwx 1 root root       19 Dec  6 21:59 /usr/lib/libsns_api.so.0 -> libsns_api.so.0.0.0
-rwxr-xr-x 1 root root    22104 Dec  6 21:47 /usr/lib/libsns_api.so.0.0.0
lrwxrwxrwx 1 root root       35 Dec  6 21:59 /usr/lib/libsns_direct_channel_stub.so -> libsns_direct_channel_stub.so.1.0.0
lrwxrwxrwx 1 root root       35 Dec  6 21:59 /usr/lib/libsns_direct_channel_stub.so.1 -> libsns_direct_channel_stub.so.1.0.0
-rwxr-xr-x 1 root root     9880 Dec  6 21:47 /usr/lib/libsns_direct_channel_stub.so.1.0.0
lrwxrwxrwx 1 root root       28 Dec  6 21:59 /usr/lib/libsns_fastRPC_util.so -> libsns_fastRPC_util.so.1.0.0
lrwxrwxrwx 1 root root       28 Dec  6 21:59 /usr/lib/libsns_fastRPC_util.so.1 -> libsns_fastRPC_util.so.1.0.0
-rwxr-xr-x 1 root root     9880 Dec  6 21:47 /usr/lib/libsns_fastRPC_util.so.1.0.0
lrwxrwxrwx 1 root root       29 Dec  6 21:59 /usr/lib/libsns_registry_skel.so -> libsns_registry_skel.so.1.0.0
lrwxrwxrwx 1 root root       29 Dec  6 21:59 /usr/lib/libsns_registry_skel.so.1 -> libsns_registry_skel.so.1.0.0
-rwxr-xr-x 1 root root     9952 Dec  6 21:47 /usr/lib/libsns_registry_skel.so.1.0.0
lrwxrwxrwx 1 root root       18 Dec  6 21:59 /usr/lib/libsnsapi.so -> libsnsapi.so.1.0.0
lrwxrwxrwx 1 root root       18 Dec  6 21:59 /usr/lib/libsnsapi.so.1 -> libsnsapi.so.1.0.0
-rw-r--r-- 1 root root 12163280 Sep 28  2021 /usr/lib/libsnsapi.so.1.0.0
lrwxrwxrwx 1 root root       22 Dec  6 21:59 /usr/lib/libsnsdiaglog.so -> libsnsdiaglog.so.1.0.0
lrwxrwxrwx 1 root root       22 Dec  6 21:59 /usr/lib/libsnsdiaglog.so.1 -> libsnsdiaglog.so.1.0.0
-rwxr-xr-x 1 root root    22256 Dec  6 21:47 /usr/lib/libsnsdiaglog.so.1.0.0
lrwxrwxrwx 1 root root       18 Dec  6 21:59 /usr/lib/libsparse.so.0 -> libsparse.so.0.0.0
-rwxr-xr-x 1 root root    30584 Dec  6 21:46 /usr/lib/libsparse.so.0.0.0
lrwxrwxrwx 1 root root       15 Dec  6 21:59 /usr/lib/libssc.so -> libssc.so.1.0.0
lrwxrwxrwx 1 root root       15 Dec  6 21:59 /usr/lib/libssc.so.1 -> libssc.so.1.0.0
-rwxr-xr-x 1 root root    91992 Dec  6 21:47 /usr/lib/libssc.so.1.0.0
-rwxr-xr-x 1 root root     9992 Dec  6 21:46 /usr/lib/libssc_default_listener.so
lrwxrwxrwx 1 root root       15 Dec  6 22:00 /usr/lib/libssd.so -> libssd.so.1.0.0
lrwxrwxrwx 1 root root       15 Dec  6 22:00 /usr/lib/libssd.so.1 -> libssd.so.1.0.0
-rwxr-xr-x 1 root root     9896 Dec  6 21:47 /usr/lib/libssd.so.1.0.0
-rwxr-xr-x 1 root root    46864 Dec  6 21:49 /usr/lib/libstats_calculator_portable.so
lrwxrwxrwx 1 root root       19 Feb 28  2018 /usr/lib/libstonith.so.1 -> libstonith.so.1.0.0
-rw-r--r-- 1 root root    26480 Feb 28  2018 /usr/lib/libstonith.so.1.0.0
-rwxr-xr-x 1 root root    51240 Dec  6 21:47 /usr/lib/libstreamparser.so
lrwxrwxrwx 1 root root       16 Dec  6 21:59 /usr/lib/libsync.so.0 -> libsync.so.0.0.0
-rwxr-xr-x 1 root root     9904 Dec  6 21:46 /usr/lib/libsync.so.0.0.0
-rwxr-xr-x 1 root root    26456 Dec  6 21:46 /usr/lib/libsynx.so
lrwxrwxrwx 1 root root       20 Dec  6 21:59 /usr/lib/libsysutils.so.0 -> libsysutils.so.0.0.0
-rwxr-xr-x 1 root root    34728 Dec  6 21:46 /usr/lib/libsysutils.so.0.0.0

sh-4.4# ssc_sensor_info
ssc_sensor_info v1.7
sh-4.4#

[Eric Katzfey]

@MJ Your library listing looks reasonable. But ssc_sensor_info should dump a bunch of information about all of the sensors it sees so there is definitely something wrong there.

[MJ]

@Eric-Katzfey
Yes...any ideas what to do now? Thanks!

[Eric Katzfey]

@MJ We are discussing internally...

[Eric Katzfey]

@MJ What do you get when you enter ps aux | grep ssc or ps aux | grep sensor?

[Eric Katzfey]

@MJ Can your reflash the system image? https://docs.modalai.com/Qualcomm-Flight-RB5-system-image/. It will delete everything on your board so backup any important data before doing this. If ssc_sensor_info doesn't report all of the sensors then px4 will never work as it relies on that ability.

[MJ]

@Eric-Katzfey

sh-4.4# ps aux | grep ssc
system    1273  1.0  0.0   2068  1260 ?        Ss   20:16   0:02 /usr/bin/sscrpcd sensorspd
root      3764  0.0  0.0   2708   648 pts/0    S<+  20:20   0:00 grep ssc
sh-4.4#

sh-4.4# ps aux | grep sensor
system    1273  0.9  0.0   2068  1260 ?        Ss   20:16   0:02 /usr/bin/sscrpcd sensorspd
sensors   1281  0.0  0.0 186552  5896 ?        Ssl  20:16   0:00 /usr/bin/sensors.qti
root      4196  0.0  0.0   2708   620 pts/0    S<+  20:21   0:00 grep sensor
sh-4.4#

[MJ]

@Eric-Katzfey
Will try to re-flash within a day or two, so I'll get back to you with the updates.

[MJ]

This post is deleted!

[MJ]

Re-flash solved all the previous issues.

But still I'm unable to arm the unit.

Following instruction provided here
https://docs.modalai.com/Qualcomm-Flight-RB5-user-guide-first-flight/
doesn't help as I receive GPS and AHRS errors (while the unit is placed under open and clear sky).

Regarding the GPS, I receive the "GPS accuracy too low" (while receiving 10-12 satellites).

What could be the cause of these errors?
Also is the GPS necessary to at least test the motors?
Is it possible to fly without the GPS?

[A Former User]

Hi @MJ ,

Check to see if you have your outdoor parameters correctly set: https://gitlab.com/voxl-public/flight-core-px4/px4-parameters/-/tree/master/helpers/rb5

Sometimes the ekf2 aid mask is still set to 280.

You can arm the drone without GPS by setting COM_ARM_WO_GPS to 1.

[A Former User]

Also, are the GPS LEDs illuminating? There should be the main one which should go from blue to green when it's ready. And a small one flashing on the side that shows a GPS lock.

[MJ]

@RichieRich

I have made following changes (WO_GPS to 1 and EFK2_AID_MASK to 1 and to 0)

but now I receive following error:

The main GPS LED (blue) slowly blinks, but only in blue color.
The FIX LED has short blinks in blue color.

Could you please advise what to do?

[MJ]

Also when I go to QGC - Vehicle setup - Safety, I get this error

[MJ]

When EFK2_AID_MASK is set to 1, following errors occur:

I emphasize that drone is under clear and sunny sky

[MJ]

@RichieRich
Are there any updates or suggestions regarding above mentioned issues? Thanks!