px4io failed to start

[andrespalomino]

Hi,
I am using a Voxl 2 IO Board to get a FrSky transmiter SBUS signal but the px4io can not start when the IO board is connected to Voxl2. When running the px4io status in shell like here How to Access the PX4 Shell. I get

pxh> qshell px4io status
INFO  [qshell] Send cmd: 'px4io status'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: px4io status
ERROR [muorb] SLPI: Command px4io not found
ERROR [muorb] SLPI: Failed to execute command: px4io status
INFO  [muorb] SLPI: Sending qshell retval with timestamp 191821788, current timestamp 191821790
INFO  [qshell] cmd returned with: 1
INFO  [qshell] qshell return value timestamp: 191821788, local time: 191824369
ERROR [qshell] Command failed
Command 'qshell' failed, returned -1.

Then I used the command without qshell but it still can't start

pxh> px4io status
ERROR [px4io] not started
ERROR [px4] px4_task_exit: self task not found!

I attempted to command start but it appears to not have the serial port enabled

pxh> px4io start
INFO [arch_px4io_serial] Open failed in init
ERROR [px4io] interface init failed
ERROR [px4] px4_task_exit: self task not found!

The status of the Voxl IO board is Running in waiting mode

Note: I tested the same VoxI IO board in a separated Voxl2 Flight Deck and seems to be working as I get RC commands in px4-listener input_rc and the status is Running in standar mode

Am I missing something?

Thanks

[Eric Katzfey]

@andrespalomino Which port have you connected the px4io board to? The startup file /etc/modalai/voxl-px4.config shows the default way to use px4io. In there you can see that the first thing is to detect the board. What happens if you run qshell px4io detect?

[andrespalomino]

Hi Eric,

The IO board is connected to J19 as shown here Host Connection

Then the px4io detect also shows open failed (notice below I'm running it without qshell)

pxh> qshell px4io detect
INFO  [qshell] Send cmd: 'px4io detect'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: px4io detect
ERROR [muorb] SLPI: Command px4io not found
ERROR [muorb] SLPI: Failed to execute command: px4io detect
INFO  [muorb] SLPI: Sending qshell retval with timestamp 87951625, current timestamp 87951627
INFO  [qshell] cmd returned with: 1
INFO  [qshell] qshell return value timestamp: 87951625, local time: 87956506
ERROR [qshell] Command failed
Command 'qshell' failed, returned -1.
pxh> px4io detect
ERROR [arch_px4io_serial] Open failed in init
ERROR [px4io] interface init failed
ERROR [px4] px4_task_exit: self task not found!

Thanks

[andrespalomino]

Hi @Eric-Katzfey

I was looking at how px4 service is initialized voxl-px4.service and I don't have a config file /etc/modalai/voxl-px4.config. Instead the voxl-px4 bash script points to /etc/modalai/voxl.config and that config file has the px4io detect or start under "M0052" platform

Then I found the system image in this Voxl2 is 1.2.1-M0054-14.1a-perf
This is how we received it at the end of November, would this be the issue?

Below the section of the voxl.config file

# On M0052 the GPS and RC drivers run on the apps processor
if [ $PLATFORM = "M0052" ]; then
    # Pixhawk 4 GPS module
    gps start -d /dev/ttyHS2

    # RC input may be coming via either an external M0065 (aka px4io) module
    # or a directly attached Spektrum receiver. First see if the M0065 is detected.
    # This is only applicable for M0052. M0065 is not yet supported on M0054.
    px4io detect
    PX4IO_STATUS=$?
    /bin/echo "PX4IO detect returned value $PX4IO_STATUS"
    if [ $PX4IO_STATUS -eq 0 ]; then
      /bin/echo "Found M0065, starting px4io"
      px4io start
    else
      /bin/echo "M0065 not detected, starting Spektrum RC driver"
      spektrum_rc start -d /dev/ttyHS1
    fi
# On M0054 the GPS and RC drivers run on SLPI DSP
else
    # Pixhawk 4 GPS module
    # Only the newer Holybro unit is supported on M0054
    qshell gps start -d 7 -b 115200

    # Spektrum RC receiver
    qshell spektrum_rc start -d 8
fi

[Eric Katzfey]

@andrespalomino I would definitely recommend moving to the latest platform release 0.9

[andrespalomino]

@Eric-Katzfey I updated to release 0.9 and that solved the topic.
Thanks!