Questions regarding RB5 5G drone
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Since some text was missing, I have attached the complete dump here:
root@qrb5165-rb5:~# systemctl status rb5-px4-start
ā 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 -
@MJ Can you disable the startup service?
systemctl disable rb5-px4-startand then reboot. Then, adb into the RB5 and launch px4 from the command linem0052-px4and paste the output of that here. That should tell us more information about what is going wrong. -
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.configI tried this several times, every time exact the same message.
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@MJ There should be a program called
ssc_sensor_info. Can you run that and paste the output of that here? Also the output ofls -l /usr/lib/libs*? -
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.0.0.0sh-4.4# ssc_sensor_info ssc_sensor_info v1.7 sh-4.4# -
@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.
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@Eric-Katzfey
Yes...any ideas what to do now? Thanks! -
@MJ We are discussing internally...
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@MJ What do you get when you enter
ps aux | grep sscorps aux | grep sensor? -
@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_infodoesn't report all of the sensors then px4 will never work as it relies on that ability. -
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# -
@Eric-Katzfey
Will try to re-flash within a day or two, so I'll get back to you with the updates. -
This post is deleted! -
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? -
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.
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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.
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@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?
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Also when I go to QGC - Vehicle setup - Safety, I get this error
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When EFK2_AID_MASK is set to 1, following errors occur:
I emphasize that drone is under clear and sunny sky
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@RichieRich
Are there any updates or suggestions regarding above mentioned issues? Thanks!
