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    VOXL2 not arming

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    • yashas katteY
      yashas katte
      last edited by

      I don't understand how to use the drivers , the link provided in the docs is depreciated.
      I checked with oscilloscope on Voxl2 TX : we got heartbeat packets. but input_rc is never published.
      This oscliscope's output:
      164f7026-33ed-4ccc-904e-e3fe813c6236-image.png

      Pls help , Thanks in advance

      Eric KatzfeyE 2 Replies Last reply Reply Quote 0
      • Eric KatzfeyE
        Eric Katzfey Dev Team @yashas katte
        last edited by

        @yashas-katte Okay, that's a good start. Are you autostarting px4 using the /etc/systemd/system/voxl-px4.service? There are certain options you can provide to the voxl-px4 start script to specify which drivers are started. Can you tell me what options are provided to voxl-px4 in your case?

        1 Reply Last reply Reply Quote 0
        • Eric KatzfeyE
          Eric Katzfey Dev Team @yashas katte
          last edited by

          @yashas-katte Also, can you now look at the RX line on VOXL2 to see if the receiver is trying to send anything back?

          1 Reply Last reply Reply Quote 0
          • yashas katteY
            yashas katte
            last edited by

            There is nothing coming through the RX pin. I launched VOXL-PX4 manually after disabling mavlink server and voxl-px4.
            When I set csrf to mavlink mode , there is no error in px4 terminal. But there is no rc_input(never published).
            Same result with ppm also. when set at sbus , ibus , dsmx modes.
            Also , I get an error saying PX4-IO failed to detect.
            I am assuming that only works with we have IO expander board which we are not using currently.
            Is that the problem?

            Eric KatzfeyE 1 Reply Last reply Reply Quote 0
            • Eric KatzfeyE
              Eric Katzfey Dev Team @yashas katte
              last edited by

              @yashas-katte To use a TBS Crossfire receiver in Mavlink mode you start px4 with the command voxl-px4 -r where the -r option specifies the mavlink option. Take a look at the file /usr/bin/voxl-px4 to see how it operates. It is just a bash script. Also, it uses the file /etc/modalai/voxl-px4.config to do the actual startup. Can you manually start with voxl-px4 -r from the command line and then post all of the output you get from px4? Also, there are a number of configuration options with the TBS Crossfire receiver. You have to make sure that the pins are configured correctly for it to work with PX4. If PX4 is sending out the mavlink heartbeat message to the receiver and it is not responding then I would suspect that the receiver hasn't been configured correctly.

              1 Reply Last reply Reply Quote 0
              • yashas katteY
                yashas katte
                last edited by

                This -r flag worked I am able to rc data! , I edited the service file to add -r.
                But I am facing another issue.
                The connection between Qgrouncontrol keeps getting dropped and connected again.
                I have set voxl-configure-mpa --factory-reset.
                As I had to disable those when I run voxl-px4 manually.
                Is there something wrong there?

                voxl2:/$ voxl-px4 -r
Found DSP signature file
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/voxl-px4.config 0
Running on M0054
INFO  [muorb] SLPI: Creating qurt thread hpwork

INFO  [muorb] SLPI: Successfully created px4 task PX4_hpwork with tid 83
INFO  [muorb] SLPI: Creating qurt thread lpwork

INFO  [muorb] SLPI: Successfully created px4 task PX4_lpwork with tid 82
INFO  [muorb] SLPI: Creating qurt thread wkr_hrt

INFO  [muorb] SLPI: Successfully created px4 task PX4_wkr_hrt with tid 81
INFO  [muorb] SLPI: Creating qurt thread client_sync_thread

INFO  [muorb] SLPI: Successfully created px4 task PX4_client_sync_thread with tid 80
INFO  [muorb] SLPI: Creating qurt thread wq_manager

INFO  [muorb] SLPI: Successfully created px4 task PX4_wq_manager with tid 79
INFO  [muorb] SLPI: Creating qurt thread qshell

INFO  [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 78
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: Creating qurt thread wq_SPI1

INFO  [muorb] SLPI: Successfully created px4 task PX4_wq_SPI1 with tid 77
INFO  [muorb] SLPI: *** SPI Device ID 0x26000a 2490378
INFO  [uorb] Advertising remote topic sensor_accel
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] Advertising remote topic sensor_gyro
INFO  [uorb] Advertising remote topic imu_server
INFO  [muorb] SLPI: on SPI bus 1
INFO  [muorb] SLPI: icm42688p #0 on SPI bus 1 (devid=0x0)
INFO  [muorb] SLPI: 

INFO  [muorb] SLPI: Ok executing command: icm42688p start -s
INFO  [muorb] SLPI: Sending qshell retval with timestamp 49225949, current timestamp 49225949
INFO  [uorb] Advertising remote topic qshell_retval
INFO  [qshell] qshell return value timestamp: 49225949, local time: 49231289
INFO  [muorb] SLPI: Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic
ERROR [muorb] SLPI: Cannot reset all parameters on client side
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_client_set_value_response) as advertised in process_remote_topic
INFO  [logger] logger started (mode=all)
Starting Holybro 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: Creating qurt thread wq_I2C1

INFO  [muorb] SLPI: Successfully created px4 task PX4_wq_I2C1 with tid 76
INFO  [muorb] SLPI: *** I2C Device ID 0x60e09 396809
ERROR [muorb] SLPI: i2c probe failed
ERROR [muorb] SLPI: Failed to execute command: ist8310 start -R 10 -X -b 1
INFO  [muorb] SLPI: Sending qshell retval with timestamp 51937708, current timestamp 51937709
INFO  [qshell] cmd returned with: -1
INFO  [qshell] qshell return value timestamp: 51937708, local time: 51939344
ERROR [qshell] Command failed
Starting Holybro LED driver
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: Creating qurt thread wq_I2C1

INFO  [muorb] SLPI: Successfully created px4 task PX4_wq_I2C1 with tid 4172
INFO  [muorb] SLPI: *** I2C Device ID 0x7b3809 8075273
ERROR [muorb] SLPI: i2c probe failed
ERROR [muorb] SLPI: Failed to execute command: rgbled_ncp5623c start -X -b 1 -f 400 -a 56                                                                     
INFO  [muorb] SLPI: Sending qshell retval with timestamp 51984318, current timestamp 51984320
INFO  [qshell] cmd returned with: -1
INFO  [qshell] qshell return value timestamp: 51984318, local time: 51986095
ERROR [qshell] Command failed
INFO  [qshell] Send cmd: 'icp10100 start -I -b 5'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: icp10100 start -I -b 5
INFO  [muorb] SLPI: Creating qurt thread wq_I2C5

INFO  [muorb] SLPI: Successfully created px4 task PX4_wq_I2C5 with tid 8268
INFO  [muorb] SLPI: *** I2C Device ID 0x9c6329 10249001
INFO  [muorb] SLPI: probe probe succeeded. data = 0x1 0x48
INFO  [muorb] SLPI: icp10100 #0 on I2C bus 5

INFO  [muorb] SLPI: Ok executing command: icp10100 start -I -b 5
INFO  [muorb] SLPI: Sending qshell retval with timestamp 52031607, current timestamp 52031609
INFO  [qshell] qshell return value timestamp: 52031607, local time: 52033362
INFO  [qshell] Send cmd: 'modalai_esc start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [uorb] Advertising remote topic sensor_baro
INFO  [muorb] SLPI: qshell gotten: modalai_esc start
INFO  [muorb] SLPI: Creating qurt thread wq_hp_default

INFO  [muorb] SLPI: Successfully created px4 task PX4_wq_hp_default with tid 75
INFO  [uorb] Advertising remote topic test_motor
INFO  [muorb] SLPI: Ok executing command: modalai_esc start
INFO  [muorb] SLPI: Sending qshell retval with timestamp 52107976, current timestamp 52107978
INFO  [muorb] SLPI: Opened UART ESC device
INFO  [qshell] qshell return value timestamp: 52107976, local time: 52109827
INFO  [qshell] Send cmd: 'mixer load /dev/uart_esc quad_x.main.mix'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: mixer load /dev/uart_esc quad_x.main.mix
INFO  [muorb] SLPI: Creating qurt thread wq_rate_ctrl

INFO  [muorb] SLPI: Successfully created px4 task PX4_wq_rate_ctrl with tid 73
INFO  [muorb] SLPI: Ok executing command: mixer load /dev/uart_esc quad_x.main.mix
INFO  [muorb] SLPI: Sending qshell retval with timestamp 52178454, current timestamp 52178456
INFO  [qshell] qshell return value timestamp: 52178454, local time: 52181721
INFO  [uorb] Advertising remote topic actuator_outputs
INFO  [uorb] Advertising remote topic multirotor_motor_limits
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: Creating qurt thread wq_I2C2

INFO  [muorb] SLPI: Successfully created px4 task PX4_wq_I2C2 with tid 4171
INFO  [muorb] SLPI: *** I2C Device ID 0x784411 7881745
INFO  [uorb] Advertising remote topic battery_status
INFO  [muorb] SLPI: voxlpm #0 on I2C bus 2 (external)

INFO  [muorb] SLPI: Ok executing command: voxlpm start -X -b 2
INFO  [muorb] SLPI: Sending qshell retval with timestamp 52248695, current timestamp 52248698
INFO  [qshell] qshell return value timestamp: 52248695, local time: 52250854
INFO  [uorb] Advertising remote topic power_monitor
Starting Holybro GPS
INFO  [qshell] Send cmd: 'gps start -d 7 -b 115200'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: gps start -d 7 -b 115200
INFO  [muorb] SLPI: Creating qurt thread gps

INFO  [muorb] SLPI: Successfully created px4 task PX4_gps with tid 72
INFO  [muorb] SLPI: Ok executing command: gps start -d 7 -b 115200
INFO  [muorb] SLPI: Sending qshell retval with timestamp 52317126, current timestamp 52317128
INFO  [qshell] qshell return value timestamp: 52317126, local time: 52318912
Starting TBS crossfire RC - MAV Mode
INFO  [qshell] Send cmd: 'tbs_crossfire start -m -p 7 -b 115200'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: tbs_crossfire start -m -p 7 -b 115200
INFO  [muorb] SLPI: Creating qurt thread tbs_crossfire_main

INFO  [muorb] SLPI: Successfully created px4 task PX4_tbs_crossfire_main with tid 70
INFO  [muorb] SLPI: Ok executing command: tbs_crossfire start -m -p 7 -b 115200
INFO  [muorb] SLPI: Sending qshell retval with timestamp 52348137, current timestamp 52348139
INFO  [muorb] SLPI: Creating qurt thread tbs_crossfire_mav

INFO  [muorb] SLPI: Successfully created px4 task PX4_tbs_crossfire_mav with tid 69
INFO  [qshell] qshell return value timestamp: 52348137, local time: 52351007
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: Creating qurt thread wq_nav_and_controllers

INFO  [muorb] SLPI: Successfully created px4 task PX4_wq_nav_and_controllers with tid 67
INFO  [uorb] Advertising remote topic vehicle_acceleration
INFO  [muorb] SLPI: Ok executing command: sensors start
INFO  [muorb] SLPI: Sending qshell retval with timestamp 53436075, current timestamp 53436077
INFO  [uorb] Advertising remote topic vehicle_angular_acceleration
INFO  [uorb] Advertising remote topic vehicle_angular_velocity
INFO  [qshell] qshell return value timestamp: 53436075, local time: 53443048
INFO  [muorb] SLPI: Creating qurt thread wq_INS0

INFO  [muorb] SLPI: Successfully created px4 task PX4_wq_INS0 with tid 66
INFO  [uorb] Advertising remote topic vehicle_imu
INFO  [uorb] Advertising remote topic vehicle_imu_status
INFO  [uorb] Advertising remote topic sensors_status_imu
INFO  [uorb] Advertising remote topic vehicle_air_data
INFO  [uorb] Advertising remote topic sensor_selection
INFO  [uorb] Advertising remote topic sensor_combined
INFO  [qshell] Send cmd: 'ekf2 start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: ekf2 start
INFO  [muorb] SLPI: Ok executing command: ekf2 start
INFO  [muorb] SLPI: Sending qshell retval with timestamp 53738412, current timestamp 53738414
INFO  [qshell] qshell return value timestamp: 53738412, local time: 53741299
INFO  [uorb] Advertising remote topic ekf2_timestamps
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: Ok executing command: mc_pos_control start
INFO  [muorb] SLPI: Sending qshell retval with timestamp 53806315, current timestamp 53806317
INFO  [qshell] qshell return value timestamp: 53806315, local time: 53809617
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: Ok executing command: mc_att_control start
INFO  [muorb] SLPI: Sending qshell retval with timestamp 53883470, current timestamp 53883473
INFO  [qshell] qshell return value timestamp: 53883470, local time: 53887354
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: Ok executing command: mc_rate_control start
INFO  [muorb] SLPI: Sending qshell retval with timestamp 53979850, current timestamp 53979852
INFO  [qshell] qshell return value timestamp: 53979850, local time: 53981827
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: Ok executing command: mc_hover_thrust_estimator start
INFO  [muorb] SLPI: Sending qshell retval with timestamp 54052733, current timestamp 54052736
INFO  [qshell] qshell return value timestamp: 54052733, local time: 54054615
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: Ok executing command: land_detector start multicopter
INFO  [muorb] SLPI: Sending qshell retval with timestamp 54117935, current timestamp 54117938
INFO  [qshell] qshell return value timestamp: 54117935, local time: 54120972
INFO  [uorb] Advertising remote topic vehicle_land_detected
INFO  [commander] LED: open /dev/led0 failed (22)
INFO  [muorb] SLPI: Advertising remote topic led_control
INFO  [muorb] SLPI: Advertising remote topic tune_control
INFO  [PreFlightCheck] Failed EKF health preflight check while waiting for filter to settle
INFO  [muorb] SLPI: Advertising remote topic vehicle_control_mode
INFO  [muorb] SLPI: Advertising remote topic vehicle_status
INFO  [muorb] SLPI: Advertising remote topic actuator_armed
INFO  [muorb] SLPI: Advertising remote topic position_setpoint_triplet
INFO  [muorb] SLPI: Advertising remote topic commander_state
INFO  [muorb] SLPI: Advertising remote topic vehicle_status_flags
INFO  [uorb] Advertising remote topic rate_ctrl_status
INFO  [uorb] Advertising remote topic actuator_controls_0
INFO  [muorb] SLPI: Advertising remote topic vehicle_command
INFO  [commander] Handling Commander command 176
INFO  [muorb] SLPI: Advertising remote topic vehicle_command_ack
INFO  [mavlink] Enabling TBS Crossfire mode in mavlink
INFO  [mavlink] mode: Minimal, data rate: 10000 B/s on udp port 14556 remote port 14557
INFO  [muorb] SLPI: Marking DeviceNode(vehicle_command) as advertised in process_remote_topic
INFO  [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
INFO  [muorb] SLPI: Advertising remote topic telemetry_status
INFO  [px4] Startup script returned successfully
pxh> INFO  [uorb] Marking DeviceNode(mavlink_rx_msg) as advertised in process_remote_topic

                Thanks for helping

                Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                • Eric KatzfeyE
                  Eric Katzfey Dev Team @yashas katte
                  last edited by

                  @yashas-katte Are you trying to use the TBS Crossfire receiver as your connection to QGC or do you also have a separate wireless network connection for that?

                  1 Reply Last reply Reply Quote 0
                  • yashas katteY
                    yashas katte
                    last edited by

                    I did not understand by what do you mean by connecting TBS crossfire receiver to QGC.
                    I know that communication between PX4 and QGC happens through UDP then through mavlink.
                    I just have a expander board , with a usb wifi adapter connected to it.

                    Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                    • Eric KatzfeyE
                      Eric Katzfey Dev Team @yashas katte
                      last edited by

                      @yashas-katte Okay, great. There is actually a way to tunnel the UDP packets using the TBS Crossfire (transceiver). We have support for it but it doesn't really work very well yet. The startup file /etc/modalai/voxl-px4.config, however, assumes that when you specify the -r option that you want to use this feature in addition to using the TBS Crossfire as an RC receiver. So it will do a couple of things that may be interfering with your normal WiFi based QGC connection. Edit that file and look for the lines that have if [ "$RC" == "CRSF_MAV" ]; then. The first couple are fine and what you want for RC control. The last two can be causing problems with your setup and should be commented out. You don't want to slow everything in mavlink down and you don't want to start the mavlink_bridge.

                      1 Reply Last reply Reply Quote 0
                      • yashas katteY
                        yashas katte
                        last edited by

                        VOXL2 is arming now. Thanks for the response!
                        We are facing new issues with esc calibration.
                        Out motor setup is EMAX 1407 3300KV.
                        On no load it is pulling 10Amps but the motors are heating till extent of it burning during calibration.
                        I ran voxl-esc-tools provided in the website.
                        Also , When we tested VOXL2 drone. After particular throttle input value the motor directions are reversed.
                        While doing the spin test we are able to get correct rpm as specified in the command.
                        Only during the calibration we are facing motor heating issue.

                        Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                        • Eric KatzfeyE
                          Eric Katzfey Dev Team @yashas katte
                          last edited by

                          @yashas-katte Could you please start a new forum question for these new ESC issues? Thanks!

                          1 Reply Last reply Reply Quote 0
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