Latest supported VOXL2 PX4 firmware version on HITL/Hardware

[A Former User]

Hello,
I am working on VOXL2 1.4.1 system image. I want to use recent GPS <-> VIO transitions which was developed on mainline PX4 over here into ModalAI PX4 firmware. I went through voxl-dev branch on ModalAI PX4 github repository and I see above PR is already merged into voxl-dev branch. I have chacked out px4-firmware version v1.14.0-2.0.8-dev on ModalAI px4 repository.
So I compiled firmware and flashed the same on VOXL2 via voxl-px4 package. I am facing two major problems now :

1. While running HITL I am getting below shown error. VOXL2 automatically reboots after few seconds and I am unable to do anything further.

voxl2:/$ voxl-px4-hitl 
Found DSP signature file
Setting GPS Parameters for HITL
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] startup script: /bin/sh /etc/modalai/voxl-px4-hitl-gps-parameters.config 0
WARN  [uORB] already loaded
  SYS_HITL: curr: 0ERROR [parameters] Timeout waiting for parameter_client_set_value_response for SYS_HITL
 -> new: 1
  CBRK_SUPPLY_CHK: curr: 0ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CBRK_SUPPLY_CHK
 -> new: 894281
  COM_DISARM_PRFLT: curr: 10.0000ERROR [parameters] Timeout waiting for parameter_client_set_value_response for COM_DISARM_PRFLT
 -> new: -1.0000
ERROR [parameters] param export failed (-1)
ERROR [parameters] param auto save failed (-1)
  COM_RC_IN_MODE: curr: 3ERROR [parameters] Timeout waiting for parameter_client_set_value_response for COM_RC_IN_MODE
 -> new: 1
  NAV_RCL_ACT: curr: 2ERROR [parameters] Timeout waiting for parameter_client_set_value_response for NAV_RCL_ACT
 -> new: 0
  EKF2_AID_MASK: curr: 0ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_AID_MASK
 -> new: 1
  EKF2_EV_CTRL: curr: 15ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_EV_CTRL
 -> new: 0
ERROR [parameters] param export failed (-1)
ERROR [param] Param save failed (-1)
ERROR [parameters] param export failed (-1)
ERROR [parameters] param auto save failed (-1)
Shutdown scheduled for Fri 2023-01-20 03:19:47 UTC, use 'shutdown -c' to cancel.
INFO  [px4] Startup script returned successfully
pxh> 

2. While running this firmware in normal hardware mode I am able to run firmware on voxl2 but on QGroundControl I am geeting error of "SYS_AUTOSTART" parameter not found as shown in below image
   

Please help to solve this issue.

3. Also What is latest supported PX4 firmware on VOXL2 hardware? Is v1.14.0-2.0.8-dev supported in HITL and hardware?

[Eric Katzfey]

@Aks The currently supported version of voxl-px4 is 1.12.31. Any of the 1.14.x versions are dev versions that are based on latest mainline px4 but are not fully functional yet and generally require newer system images.

[A Former User]

@Eric-Katzfey Thank for you the response.

• Are 1.14.x version tested on any of your drones at ModalAI?

• Can I give it it a try with system image 1.4.1 since I want to have newer EKF2 imrovements to be tested on my custom drone based on VOXL2?

• Any date by which 1.14.x versions would be officially supported?

[Eric Katzfey]

@Aks Yes, we are flying with the 1.14 code. You need to use latest system image with it (Ideally 1.5.4 or later). There has been limited testing and there are known limitations (Like position hold mode not working) and we don't recommend that you use this version yet. We are trying to get a release based on 1.14 out within the next couple of months.

[A Former User]

@Eric-Katzfey Thank you for the update. Looking forward for 1.14 release. Let me know once you start supporting the same.

[A Former User]

@Eric-Katzfey Is PX4 1.14 version released in newest SDK 1.5.5? Please let me know in order to start testing it out.

[Eric Katzfey]

@Aks Voxl platform release 0.9.5 is our latest and includes system image 1.5.5 and voxl-px4 1.12.31. The 1.14.0 based voxl-px4 will be part of our 1.0.0 platform release that we are all working feverishly on and hope to be able to release within the next couple of months.

[A Former User]

@Eric-Katzfey Thank you for the update. A small query, Will 1.0.0 platform image also support older PX4 firmware say 1.12.31? Do you see anything breaking in terms of backward compatibility?

[Eric Katzfey]

@Aks I don't anticipate any issues running 1.12.31 on platform release 1.0.0