Questions regarding RB5 5G drone
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@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! -
EKF2_AID_MASK should be set to 1 for GPS.
Have you set CP_DIST > 0? From the warning, it looks like you have the avoidance system on and it may be seeing something.
How are you mounting the GPS unit? Just an un-modified RB5 with mast? I assume you're outdoors with a clear view of the sky. In some cases, interference will throw that error. Setting COM_ARM_WO_GPS will always allow you to arm despite GPS errors. If you still can't arm, there's usualy another issue, maybe as stated above that the obstacle avoidance system is enabled. Another place to check is in QGC under safeties to ensure the avoidance system is disabled.
Againg for the GPS< Flashing blue, means it's still waiting for the GPS to be fully ready. Small blue LED on the side will flash blue showing a lock.
You can also try opening up the GPS check values or disabling some checks. For instance you can open up ekf2_req_sacc from 0.5 to about 0.75.
There's also the GPS check you can experiment with to see what exactly the error is to get to ready (most likely interference). You can try turning off bit 4 for instance. Your mask is currently set to the default 245 or 11110101.
