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    GPS not working

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    • A
      Andre Moura @Eric Katzfey
      last edited by

      @Eric-Katzfey On the new location, we were able to get GPS lock after fixing 12 satellites, which allowed for take-off. During flight we reached 19 satellites at one point. Getting GPS lock with this sensor is a bit challenging, our previous location didn't have that many obstructions, but everything seems to be working.

      Eric KatzfeyE 1 Reply Last reply Reply Quote 0
      • Eric KatzfeyE
        Eric Katzfey ModalAI Team @Andre Moura
        last edited by

        @Andre-Moura Thanks for all of the testing! We really appreciate it, this is all great feedback! It seems that Holybro may have changed the default configuration of the units and that could be why it wasn't coming up properly.

        1 Reply Last reply Reply Quote 1
        • D
          daniel @Andre Moura
          last edited by

          @Andre-Moura We have same issue here but we try to remove -d 7 -b 115200 from /etc/modalai/voxl-px4.config is still not working. Did you modify thr code like this?
          efbb3413-b105-4c9e-9c2e-0f2349389742-image.png

          Removing the 115200 baud rate is still not see GPS log.
          ad127a05-5515-4a8f-9e1b-af96fd7a9625-image.png

          A 1 Reply Last reply Reply Quote 0
          • A
            Andre Moura @daniel
            last edited by

            @daniel I think that's all I did, but here is my /etc/modalai/voxl-px4.config, in case you want to look for any differences:

            #!/bin/sh
            # PX4 commands need the 'px4-' prefix in bash.
            # (px4-alias.sh is expected to be in the PATH)
            . px4-alias.sh
            
            # Figure out what platform we are running on.
            
            # Eventually there will be a utility called voxl-platform that will
            # return the platform tag or an error code. This utility is not yet
            # ubiquitous so it may be that it isn't available. Trying to call a
            # non existent program will generate an error code by the OS. If the
            # program exists and doesn't return an error code then use the results.
            PLATFORM=`/usr/bin/voxl-platform 2> /dev/null`
            RETURNCODE=$?
            if [ $RETURNCODE -ne 0 ]; then
                # If we couldn't get the platform from the voxl-platform utility then check
                # /etc/version to see if there is an M0052 substring in the version string. If so,
                # then we assume that we are on M0052. Otherwise assume M0054.
                VERSIONSTRING=$(</etc/version)
                M0052SUBSTRING="M0052"
                if [[ "$VERSIONSTRING" == *"$M0052SUBSTRING"* ]]; then
                    PLATFORM="M0052"
                else
                    PLATFORM="M0054"
                fi
            fi
            
            # We can only run on M0052 or M0054 so exit with error if that is not the case
            if [ $PLATFORM = "M0052" ]; then
                /bin/echo "Running on M0052"
                if [ "$RC" == "CRSF" ]; then
                    /bin/echo "Error, crossfire not supported on M0052!"
                    exit 0
                fi
            elif [ $PLATFORM = "M0054" ]; then
                /bin/echo "Running on M0054"
            else
                /bin/echo "Error, cannot determine platform!"
                exit 0
            fi
            
            uorb start
            muorb start
            
            # In order to just exit after starting the uorb / muorb modules define
            # the environment variable MINIMAL_PX4. (e.g. export MINIMAL_PX4=1)
            # This is useful for testing / debug where you may want to start drivers
            # and modules manually from the px4 command shell
            if [ ! -z $MINIMAL_PX4 ]; then
                /bin/echo "Running minimal script"
                exit 0
            fi
            
            # Sleep a little here. A lot happens when the uorb and muorb start
            # and we need to make sure that it all completes successfully to avoid
            # any possible race conditions.
            /bin/sleep 1
            
            # IMU (accelerometer / gyroscope)
            # Start this first because it gets the high rate interrupts coming in to the
            # DSP. Without this the DSP will oversleep and miss critical timeouts.
            # TODO: Why is that the case?
            if [ "$IMU" == "ROTATE_IMU_YAW_180" ]; then
                /bin/echo "Starting IMU driver with yaw 180 rotation"
                qshell icm42688p start -s -R 4
            else
                qshell icm42688p start -s
            fi
            
            /bin/sleep 1
            
            # Load in all of the parameters that have been saved in the file
            param load
            
            # Start logging and use timestamps for log files when possible.
            # Add the "-e" option to start logging immediately. Default is
            # to log only when armed
            logger start -t
            
            # We do not change the value of SYS_AUTOCONFIG but if it does not
            # show up as used then it is not reported to QGC and we get a
            # missing parameter error.
            param touch SYS_AUTOCONFIG
            
            # Start all of the device drivers on DSP
            
            # Magnetometer
            if [ "$GPS" == "MATEK" ]; then
                # Use this line for the magnetometer in the Matek Systems M8Q-5883 module
                /bin/echo "Starting Mateksys M8Q-5883 magnetometer"
                qshell qmc5883l start -R 10 -X -b 1
            elif [ "$GPS" == "HERE3" ]; then
                # Use this line for the magnetometer in the Here3 GPS module
                /bin/echo "Starting Here3 ak09916 magnetometer"
                qshell ak09916 start -R 2 -X
            else
                # Use this line for the magnetometer in the Holybro GPS module
                /bin/echo "Starting Holybro magnetometer"
                qshell ist8310 start -R 10 -X -b 1
            fi
            
            # LED driver for the Pixhawk 4 GPS module
            # Older units have i2c address 0x39 (57) and newer ones 0x38 (56)
            # M0054 only supports the newer one. M0052 can support either.
            if [ $PLATFORM = "M0052" ]; then
                qshell rgbled_ncp5623c start -X -b 1 -f 400 -a 57
            fi
            if [ "$GPS" == "HOLYBRO" ]; then
                /bin/echo "Starting Holybro LED driver"
                qshell rgbled_ncp5623c start -X -b 1 -f 400 -a 56
            elif [ "$GPS" == "HERE3" ]; then
                # Use this line for the Here3 GPS module LED controller
                /bin/echo "Starting Here3 LED"
                qshell rgbled start -X -f 400
            fi
            
            # Barometer
            qshell icp10100 start -I -b 5
            
            # ESC driver
            # We start this even if there is a PX4IO module. If there is
            # a PX4IO (M0065) module it will be plugged into the RC port
            # and so this driver will output commands on an empty port.
            qshell modalai_esc start
            qshell mixer load /dev/uart_esc quad_x.main.mix
            
            # APM power monitor
            qshell voxlpm start -X -b 2
            
            # 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.
                px4io detect
                PX4IO_STATUS=$?
                /bin/echo "PX4IO detect returned value $PX4IO_STATUS"
                if [ $PX4IO_STATUS -eq 0 ]; then
                    /bin/echo "Found M0065, starting px4io"
                    # On M0052 px4io only supports RC input, not PWM output
                    px4io start
                else
                    /bin/echo "M0065 not detected, starting Spektrum RC driver"
                    spektrum_rc start -d /dev/ttyHS1
                fi
            # On M0054 the GPS and RC drivers run on SLPI DSP
            else
                if [ "$GPS" == "MATEK" ]; then
                    # Use this gps start line instead for Matek Systems M8Q-5883 module
                    /bin/echo "Starting Mateksys M8Q-5883 GPS"
                    qshell gps start
                elif [ "$GPS" == "HERE3" ]; then
                    # Use this line for the Here3 GPS module
                    /bin/echo "Starting Here3 GPS"
                    qshell gps start
                else
                    # Only the newer Holybro unit is supported on M0054
                    /bin/echo "Starting Holybro GPS"
                    qshell gps start
                fi
            
                # If RC is TBS Crossfire then start its driver.
                # Otherwise, it could be either a directly connected Spektrum receiver
                # or an external M0065 (aka px4io) module.
                if [ "$RC" == "CRSF_MAV" ]; then
                    /bin/echo "Starting TBS crossfire RC - MAV Mode"
                    qshell tbs_crossfire start -m -p 7 -b 115200
                elif [ "$RC" == "CRSF_RAW" ]; then
                    /bin/echo "Starting TBS crossfire RC - CRSF Mode"
                    qshell tbs_crossfire start -c -p 7 -b 250000
                else
                    qshell px4io detect
                    PX4IO_STATUS=$?
                    if [ $PX4IO_STATUS -eq 0 ]; then
                        /bin/echo "Found M0065, starting px4io"
                        # On M0054 we also support PWM output from M0065 (aka PX4IO)
                        # If there are no pwm escs then that connector will be empty.
                        qshell px4io start
                        qshell px4io recovery
                        qshell mixer load /dev/px4io quad_x_io.main.mix
            
                        sleep 1
                        qshell pwm rate -c 1234 -r 400
            			qshell pwm disarmed -c 1234 -p 900
            			qshell pwm min -c 1234 -p 1060
            			qshell pwm max -c 1234 -p 2000
                        qshell pwm failsafe -c 1234 -p -1 -d /dev/px4io
                    else
                        /bin/echo "M0065 not detected, starting Spektrum RC driver"
                        qshell spektrum_rc start -d 8
                    fi
                fi
            fi
            
            /bin/sleep 1
            
            # Start all of the processing modules on DSP
            
            qshell sensors start
            qshell ekf2 start
            qshell mc_pos_control start
            qshell mc_att_control start
            qshell mc_rate_control start
            qshell mc_hover_thrust_estimator start
            qshell land_detector start multicopter
            
            /bin/sleep 1
            
            # Start all of the processing modules on the applications processor
            
            rc_update start
            
            dataman start
            
            navigator start
            
            commander start
            commander mode manual
            
            # This is needed for altitude and position hold modes
            flight_mode_manager start
            
            # Start our service to update system time from GPS
            modalai_gps_timer start
            
            # As of 1.4.11 mavlink configuration has been changed!!! All communications are
            # now done via the mavlink server and voxl-vision-px4!!!
            param set MAV_BROADCAST 0
            
            if [ "$RC" == "CRSF_MAV" ]; then
                # Slow everything way down if we are using TBS Crossfire
                mavlink start -a -x -u 14556 -o 14557 -r 10000 -n lo -m minimal
            
                /bin/sleep 1
            else
                mavlink start -x -u 14556 -o 14557 -r 100000 -n lo -m onboard
            
                /bin/sleep 1
            
                # slow down some of the fastest streams in onboard mode
                mavlink stream -u 14556 -s HIGHRES_IMU -r 10
                mavlink stream -u 14556 -s ATTITUDE -r 10
                mavlink stream -u 14556 -s ATTITUDE_QUATERNION -r 10
                # speed up rc_channels
                mavlink stream -u 14556 -s RC_CHANNELS -r 50
            
                /bin/sleep 1
            fi
            
            if [ $PLATFORM = "M0052" ]; then
                # Start up the IMU server to support VIO. This is done differently on M0054
                imu_server start
            fi
            
            mavlink boot_complete
            
            # For now we use a mavlink bridge for TBS Crossfire support
            if [ "$RC" == "CRSF_MAV" ]; then
                mavlink_bridge start
            fi
            
            # Optional MSP OSD driver for DJI goggles
            # This is only supported on M0054 (with M0125 accessory board)
            if [ $PLATFORM = "M0054" ]; then
                if [ "$OSD" == "OSD" ]; then
                    /bin/echo "Starting OSD driver"
                    msp_osd start -d /dev/ttyHS1
                fi
            fi
            
            

            If your config is like this and it still doesn't work, maybe @Eric-Katzfey can help you better.

            D 1 Reply Last reply Reply Quote 0
            • D
              daniel @Andre Moura
              last edited by

              @Andre-Moura Thank You! We fixed our GPS setting problem.

              1 Reply Last reply Reply Quote 0
              • J
                JustinDev23
                last edited by

                @daniel what ended up being your fix? I was seeing the same issues yesterday with our Sentinel trying to do GPS only outdoor flights. It wouldn't ARM due to the GPS Speed Accuracy. Flashing blue for a minute or two and then turning green after what i assumed was VIO getting healthy.

                @Eric-Katzfey I don't want to use the Sentinel VIO so was hoping there was a GPS Only No VIO params file. It seems like the one posted on the git is still looking at VIO.

                1 Reply Last reply Reply Quote 0
                • James StrawsonJ
                  James Strawson ModalAI Team
                  last edited by

                  you will likely want to configure px4 params to suit your exact use case, e.g. some people will want it to arm without a gps lock, some won't. As a starting point we have "helper" files that can be loaded through QGC that set up the handful of relevant PX4 params for indoor vs outdoor flight

                  Here is the outdoor helper for px4 1.12:
                  https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/blob/master/params/v1.12/ekf2_outdoor_gps_mag.params

                  And the helpers for PX4 1.14:
                  https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/tree/master/params/v1.14/EKF2_helpers

                  J 2 Replies Last reply Reply Quote 0
                  • J
                    JustinDev23 @James Strawson
                    last edited by

                    @James-Strawson Awesome, thanks I am going to load the outdoor params. Just didn't know if someone had already blessed us all with a known good config.

                    1 Reply Last reply Reply Quote 0
                    • J
                      JustinDev23 @James Strawson
                      last edited by

                      @James-Strawson If i stop and disable the VIO server will that still allow GPS to pass through? I am getting good satellite and HDOP but the GPS never transitions from flashing blue to green with the ekf2_outdoor_gps_baro params. it is causing the platform to not allow me to put it in POSCTL. I do not intend to do GPS denied flights at this time and am trying to focus on outdoor 5G flights for a while to build confidence in our GCS software interactions with VOXL.

                      Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                      • Eric KatzfeyE
                        Eric Katzfey ModalAI Team @JustinDev23
                        last edited by

                        @JustinDev23 These parameter settings won't affect the ability of the GPS receiver to get a lock. It is an independent unit and not affected by VIO in any way.

                        J 1 Reply Last reply Reply Quote 0
                        • J
                          JustinDev23 @Eric Katzfey
                          last edited by

                          @Eric-Katzfey, thanks for the response and clarifying.

                          I had a 3D Fix but wasnt able to switch from Manual to Position. I have worked on other projects with Ardupilot mission planner and it could blend or use best from different sources. I wasnt sure exactly how your implementation of GPS and VIO were working together on feeding positional data to the PX4 autopilot.

                          A 1 Reply Last reply Reply Quote 0
                          • A
                            Andre Moura @JustinDev23
                            last edited by

                            @JustinDev23 You can have GPS fix and not have GPS lock on the PX4. Have you checked the number of satellites on QGC? From my experience, GPS lock (required to switch to Position mode) is achieved with 12 satellites or more.
                            Maybe test the drone on a new location with more open space, that did the trick for me.

                            J 1 Reply Last reply Reply Quote 0
                            • J
                              JustinDev23 @Andre Moura
                              last edited by

                              @Andre-Moura sat and hdop have not been an issue on QGC. ekf2_req_nsats is set to 6 and i have had no obstructions and in open space.

                              GPS Horizontal Pos Error too high with 9 sats and 1.4 hdop

                              J 1 Reply Last reply Reply Quote 0
                              • J
                                JustinDev23 @JustinDev23
                                last edited by

                                And if it is not that it is GPS Speed Accuracy too low

                                I would hate to disable those checks but i feel like it is something else that is causing this to occur.

                                @Eric-Katzfey Is there a flow chart for what all is feeding position information to PX4 from VOXL2?

                                1 Reply Last reply Reply Quote 0
                                • tomT
                                  tom admin
                                  last edited by

                                  @JustinDev23 This is the closest to what you're looking for: https://docs.modalai.com/voxl-px4-developer-guide/

                                  J 1 Reply Last reply Reply Quote 0
                                  • J
                                    JustinDev23 @tom
                                    last edited by

                                    @tom Thanks! Looks like what i needed.

                                    1 Reply Last reply Reply Quote 0
                                    • Captain 7thC
                                      Captain 7th @Eric Katzfey
                                      last edited by

                                      @Eric-Katzfey I have the same issue. I tried the method that you mentioned, not only voxl-px4 is not working now, but also I got this error:
                                      Sending initialization request
                                      Got topic data before configuration complete
                                      Got topic data before configuration complete
                                      Got topic data before configuration complete
                                      Got topic data before configuration complete
                                      Got topic data before configuration complete
                                      Got topic data before configuration complete
                                      Got topic data before configuration complete
                                      Got topic data before configuration complete
                                      Got topic data before configuration complete
                                      Got topic data before configuration complete
                                      Got topic data before configuration complete
                                      Got topic data before configuration complete
                                      Got topic data before configuration complete
                                      INFO [muorb] SLPI: muorb aggregator thread running
                                      INFO [muorb] muorb protobuf initalize method succeeded
                                      INFO [muorb] succesfully did ADVERTISE_TEST_TYPE
                                      INFO [muorb] SLPI: Creating pthread test_MUORB

                                      INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097656
                                      INFO [muorb] succesfully did SUBSCRIBE_TEST_TYPE
                                      INFO [muorb] SLPI: Creating pthread test_MUORB

                                      INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097655
                                      INFO [muorb] succesfully did TOPIC_TEST_TYPE
                                      INFO [muorb] SLPI: Creating pthread test_MUORB

                                      INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097654
                                      INFO [muorb] succesfully did UNSUBSCRIBE_TEST_TYPE
                                      INFO [muorb] SLPI: Creating pthread test_MUORB

                                      INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097653
                                      INFO [muorb] muorb test passed
                                      INFO [muorb] SLPI: Advertising remote topic log_message


                                      | ___ \ \ \ / / / |
                                      | |/ / \ V / / /| |
                                      | __/ / \ / /
                                      | |
                                      | | / /^\ \ ___ |
                                      _| / / |_/

                                      px4 starting.

                                      INFO [px4] startup script: /bin/sh /usr/bin/voxl-px4-start 0
                                      INFO [parameters] Starting param sync THREAD


                                      GPS: HOLYBRO
                                      RC: SPEKTRUM
                                      OSD: DISABLE
                                      EXTRA STEPS:


                                      INFO [muorb] SLPI: Starting param sync THREAD
                                      Running on M0054
                                      INFO [muorb] SLPI: before starting the qshell_entry task
                                      INFO [muorb] SLPI: Creating pthread qshell

                                      INFO [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 2097652
                                      INFO [muorb] SLPI: qshell entry.....
                                      INFO [muorb] SLPI: after starting the qshell_entry task
                                      INFO [muorb] SLPI: Init app map initialized
                                      INFO [param] selected parameter default file /data/px4/param/parameters
                                      INFO [muorb] SLPI: Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic
                                      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_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] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic
                                      INFO [parameters] BSON document size 3022 bytes, decoded 3022 bytes (INT32:43, FLOAT:98)
                                      INFO [logger] logger started (mode=all)
                                      Starting IMU driver with no rotation
                                      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: arg0 = 'icm42688p'

                                      INFO [muorb] SLPI: arg1 = 'start'

                                      INFO [muorb] SLPI: arg2 = '-s'

                                      INFO [muorb] SLPI: *** SPI Device ID 0x26000a 2490378
                                      INFO [uORB] Advertising remote topic sensor_accel
                                      INFO [uORB] Advertising remote topic sensor_gyro
                                      INFO [muorb] SLPI: ICM42688P::probe successful!
                                      INFO [muorb] SLPI: on SPI bus 1
                                      INFO [muorb] SLPI: >>> ICM42688P this: 3176e460
                                      INFO [muorb] SLPI: icm42688p #0 on SPI bus 1
                                      INFO [muorb] SLPI:

                                      INFO [muorb] SLPI: Ok executing command: icm42688p start -s
                                      INFO [uORB] Advertising remote topic qshell_retval
                                      INFO [muorb] SLPI: >>> ICM42688P this: 3176e460
                                      INFO [qshell] qshell return value timestamp: 63895427, local time: 63898740
                                      INFO [muorb] SLPI: >>> ICM42688P this: 3176e460
                                      INFO [muorb] SLPI: Register interrupt b21d3164 e620e69c 3176e460
                                      INFO [uORB] Advertising remote topic sensor_gyro_fifo
                                      INFO [uORB] Advertising remote topic sensor_accel_fifo
                                      INFO [uORB] Advertising remote topic imu_server
                                      INFO [muorb] SLPI: >>> ICM42688P this: 3176e460
                                      INFO [qshell] Send cmd: 'icp101xx start -I -b 5'
                                      INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                      INFO [muorb] SLPI: qshell gotten: icp101xx start -I -b 5
                                      INFO [muorb] SLPI: arg0 = 'icp101xx'

                                      INFO [muorb] SLPI: arg1 = 'start'

                                      INFO [muorb] SLPI: arg2 = '-I'

                                      INFO [muorb] SLPI: arg3 = '-b'

                                      INFO [muorb] SLPI: arg4 = '5'

                                      INFO [muorb] SLPI: *** I2C Device ID 0xb76329 12018473
                                      INFO [muorb] SLPI: icp101xx #0 on I2C bus 5
                                      INFO [muorb] SLPI: address 0x63
                                      INFO [muorb] SLPI:

                                      INFO [muorb] SLPI: Ok executing command: icp101xx start -I -b 5
                                      INFO [qshell] qshell return value timestamp: 64943196, local time: 64943952
                                      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: arg0 = 'ist8310'

                                      INFO [muorb] SLPI: arg1 = 'start'

                                      INFO [muorb] SLPI: arg2 = '-R'

                                      INFO [muorb] SLPI: arg3 = '10'

                                      INFO [muorb] SLPI: arg4 = '-X'

                                      INFO [muorb] SLPI: arg5 = '-b'

                                      INFO [muorb] SLPI: arg6 = '1'

                                      INFO [muorb] SLPI: *** I2C Device ID 0x60e09 396809
                                      INFO [muorb] SLPI: ist8310 #0 on I2C bus 1
                                      INFO [muorb] SLPI: (external)
                                      INFO [muorb] SLPI: address 0xE
                                      INFO [muorb] SLPI: rotation 10
                                      INFO [muorb] SLPI:

                                      INFO [muorb] SLPI: Ok executing command: ist8310 start -R 10 -X -b 1
                                      INFO [qshell] qshell return value timestamp: 64990484, local time: 64992712
                                      INFO [qshell] Send cmd: 'gps start'
                                      INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                      INFO [muorb] SLPI: qshell gotten: gps start
                                      INFO [muorb] SLPI: arg0 = 'gps'

                                      INFO [muorb] SLPI: arg1 = 'start'

                                      INFO [muorb] SLPI: Creating pthread gps

                                      INFO [muorb] SLPI: Successfully created px4 task PX4_gps with tid 2097648
                                      INFO [muorb] SLPI: Ok executing command: gps start
                                      INFO [qshell] qshell return value timestamp: 65023088, local time: 65025096
                                      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: arg0 = 'rgbled_ncp5623c'

                                      INFO [muorb] SLPI: arg1 = 'start'

                                      INFO [muorb] SLPI: arg2 = '-X'

                                      INFO [muorb] SLPI: arg3 = '-b'

                                      INFO [muorb] SLPI: arg4 = '1'

                                      INFO [muorb] SLPI: arg5 = '-f'

                                      INFO [muorb] SLPI: arg6 = '400'

                                      INFO [muorb] SLPI: arg7 = '-a'

                                      INFO [muorb] SLPI: arg8 = '56'

                                      INFO [muorb] SLPI: *** I2C Device ID 0x7b3809 8075273
                                      INFO [muorb] SLPI: rgbled_ncp5623c #0 on I2C bus 1
                                      INFO [muorb] SLPI: (external)
                                      INFO [muorb] SLPI: address 0x38
                                      INFO [muorb] SLPI:

                                      INFO [muorb] SLPI: Ok executing command: rgbled_ncp5623c start -X -b 1 -f 400 -a 56
                                      INFO [qshell] qshell return value timestamp: 65062554, local time: 65063907
                                      INFO [uORB] Advertising remote topic sensor_mag
                                      INFO [qshell] Send cmd: 'modal_io start'
                                      INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                      INFO [muorb] SLPI: qshell gotten: modal_io start
                                      INFO [muorb] SLPI: arg0 = 'modal_io'

                                      INFO [muorb] SLPI: arg1 = 'start'

                                      INFO [uORB] Advertising remote topic actuator_outputs
                                      INFO [uORB] Advertising remote topic sensor_baro
                                      INFO [muorb] SLPI: Ok executing command: modal_io start
                                      INFO [muorb] SLPI: Opened UART ESC device
                                      INFO [qshell] qshell return value timestamp: 65169377, local time: 65171079
                                      INFO [uORB] Advertising remote topic actuator_outputs_debug
                                      INFO [uORB] Advertising remote topic esc_status
                                      Starting Spektrum RC
                                      INFO [qshell] Send cmd: 'spektrum_rc start'
                                      INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                      INFO [muorb] SLPI: qshell gotten: spektrum_rc start
                                      INFO [muorb] SLPI: arg0 = 'spektrum_rc'

                                      INFO [muorb] SLPI: arg1 = 'start'

                                      INFO [muorb] SLPI: Creating pthread spektrum_rc_main

                                      INFO [muorb] SLPI: Successfully created px4 task PX4_spektrum_rc_main with tid 2097645
                                      INFO [muorb] SLPI: Ok executing command: spektrum_rc start
                                      INFO [qshell] qshell return value timestamp: 66215910, local time: 66216633
                                      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: arg0 = 'voxlpm'

                                      INFO [muorb] SLPI: arg1 = 'start'

                                      INFO [muorb] SLPI: arg2 = '-X'

                                      INFO [muorb] SLPI: arg3 = '-b'

                                      INFO [muorb] SLPI: arg4 = '2'

                                      INFO [muorb] SLPI: *** I2C Device ID 0xd24411 13779985
                                      INFO [muorb] SLPI: Set i2c address 0x6a, fd 3
                                      INFO [muorb] SLPI: Set i2c address 0x44, fd 3
                                      INFO [uORB] Advertising remote topic battery_status
                                      INFO [muorb] SLPI: voxlpm #0 on I2C bus 2
                                      INFO [muorb] SLPI: (external)
                                      INFO [muorb] SLPI: address 0x44
                                      INFO [muorb] SLPI:

                                      INFO [muorb] SLPI: Ok executing command: voxlpm start -X -b 2
                                      INFO [uORB] Advertising remote topic power_monitor
                                      INFO [qshell] qshell return value timestamp: 67272854, local time: 67275718
                                      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: arg0 = 'sensors'

                                      INFO [muorb] SLPI: arg1 = 'start'

                                      INFO [uORB] Advertising remote topic sensor_selection
                                      INFO [uORB] Advertising remote topic sensors_status_imu
                                      INFO [uORB] Advertising remote topic vehicle_acceleration
                                      INFO [uORB] Advertising remote topic vehicle_angular_velocity
                                      INFO [uORB] Advertising remote topic sensor_combined
                                      INFO [uORB] Advertising remote topic vehicle_air_data
                                      INFO [uORB] Advertising remote topic vehicle_gps_position
                                      INFO [uORB] Advertising remote topic vehicle_magnetometer
                                      INFO [uORB] Advertising remote topic sensor_preflight_mag
                                      INFO [uORB] Advertising remote topic vehicle_imu
                                      INFO [uORB] Advertising remote topic vehicle_imu_status
                                      INFO [muorb] SLPI: Ok executing command: sensors start
                                      INFO [uORB] Advertising remote topic sensors_status_mag
                                      INFO [qshell] qshell return value timestamp: 67434965, local time: 67437421
                                      INFO [uORB] Advertising remote topic sensors_status_baro
                                      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: arg0 = 'ekf2'

                                      INFO [muorb] SLPI: arg1 = 'start'

                                      INFO [uORB] Advertising remote topic vehicle_attitude
                                      INFO [uORB] Advertising remote topic vehicle_local_position
                                      INFO [uORB] Advertising remote topic estimator_event_flags
                                      INFO [uORB] Advertising remote topic estimator_innovation_test_ratios
                                      INFO [uORB] Advertising remote topic estimator_innovation_variances
                                      INFO [uORB] Advertising remote topic estimator_innovations
                                      INFO [uORB] Advertising remote topic estimator_sensor_bias
                                      INFO [uORB] Advertising remote topic estimator_states
                                      INFO [uORB] Advertising remote topic estimator_status_flags
                                      INFO [uORB] Advertising remote topic estimator_status
                                      INFO [muorb] SLPI: Ok executing command: ekf2 start
                                      INFO [qshell] qshell return value timestamp: 67750482, local time: 67753672
                                      INFO [uORB] Advertising remote topic ekf2_timestamps
                                      INFO [uORB] Advertising remote topic vehicle_odometry
                                      INFO [uORB] Advertising remote topic estimator_aid_src_baro_hgt
                                      INFO [uORB] Advertising remote topic estimator_aid_src_fake_pos
                                      INFO [uORB] Advertising remote topic estimator_aid_src_fake_hgt
                                      INFO [uORB] Advertising remote topic estimator_aid_src_mag_heading
                                      INFO [uORB] Advertising remote topic estimator_aid_src_mag
                                      INFO [uORB] Advertising remote topic estimator_aid_src_gravity
                                      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: arg0 = 'mc_pos_control'

                                      INFO [muorb] SLPI: arg1 = 'start'

                                      INFO [uORB] Advertising remote topic takeoff_status
                                      INFO [muorb] SLPI: Ok executing command: mc_pos_control start
                                      INFO [qshell] qshell return value timestamp: 67859638, local time: 67861554
                                      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: arg0 = 'mc_att_control'

                                      INFO [muorb] SLPI: arg1 = 'start'

                                      INFO [muorb] SLPI: Ok executing command: mc_att_control start
                                      INFO [qshell] qshell return value timestamp: 67918747, local time: 67920290
                                      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: arg0 = 'mc_rate_control'

                                      INFO [muorb] SLPI: arg1 = 'start'

                                      INFO [uORB] Advertising remote topic rate_ctrl_status
                                      INFO [muorb] SLPI: Ok executing command: mc_rate_control start
                                      INFO [qshell] qshell return value timestamp: 68027813, local time: 68030404
                                      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: arg0 = 'mc_hover_thrust_estimator'

                                      INFO [muorb] SLPI: arg1 = 'start'

                                      INFO [muorb] SLPI: Ok executing command: mc_hover_thrust_estimator start
                                      INFO [qshell] qshell return value timestamp: 68087592, local time: 68089224
                                      INFO [qshell] Send cmd: 'mc_autotune_attitude_control start'
                                      INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                      INFO [muorb] SLPI: qshell gotten: mc_autotune_attitude_control start
                                      INFO [muorb] SLPI: arg0 = 'mc_autotune_attitude_control'

                                      INFO [muorb] SLPI: arg1 = 'start'

                                      INFO [uORB] Advertising remote topic autotune_attitude_control_status
                                      INFO [muorb] SLPI: Ok executing command: mc_autotune_attitude_control start
                                      INFO [qshell] qshell return value timestamp: 68137157, local time: 68138847
                                      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: arg0 = 'land_detector'

                                      INFO [muorb] SLPI: arg1 = 'start'

                                      INFO [muorb] SLPI: arg2 = 'multicopter'

                                      INFO [muorb] SLPI: Ok executing command: land_detector start multicopter
                                      INFO [qshell] qshell return value timestamp: 68188877, local time: 68189722
                                      INFO [uORB] Advertising remote topic vehicle_land_detected
                                      INFO [qshell] Send cmd: 'manual_control start'
                                      INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                      INFO [muorb] SLPI: qshell gotten: manual_control start
                                      INFO [muorb] SLPI: arg0 = 'manual_control'

                                      INFO [muorb] SLPI: arg1 = 'start'

                                      INFO [muorb] SLPI: Ok executing command: manual_control start
                                      INFO [uORB] Advertising remote topic manual_control_setpoint
                                      INFO [qshell] qshell return value timestamp: 68237903, local time: 68239705
                                      INFO [qshell] Send cmd: 'control_allocator start'
                                      INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                      INFO [muorb] SLPI: qshell gotten: control_allocator start
                                      INFO [muorb] SLPI: arg0 = 'control_allocator'

                                      INFO [muorb] SLPI: arg1 = 'start'

                                      INFO [uORB] Advertising remote topic control_allocator_status
                                      INFO [uORB] Marking DeviceNode(control_allocator_status) as advertised in process_remote_topic
                                      INFO [uORB] Advertising remote topic actuator_motors
                                      INFO [uORB] Advertising remote topic actuator_servos
                                      INFO [uORB] Advertising remote topic actuator_servos_trim
                                      INFO [muorb] SLPI: Ok executing command: control_allocator start
                                      INFO [qshell] qshell return value timestamp: 68577984, local time: 68579385
                                      INFO [qshell] Send cmd: 'rc_update start'
                                      INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                      INFO [muorb] SLPI: qshell gotten: rc_update start
                                      INFO [muorb] SLPI: arg0 = 'rc_update'

                                      INFO [muorb] SLPI: arg1 = 'start'

                                      INFO [muorb] SLPI: Ok executing command: rc_update start
                                      INFO [qshell] qshell return value timestamp: 68873945, local time: 68874998
                                      INFO [qshell] Send cmd: 'commander start'
                                      INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                      INFO [muorb] SLPI: qshell gotten: commander start
                                      INFO [muorb] SLPI: arg0 = 'commander'

                                      INFO [muorb] SLPI: arg1 = 'start'

                                      INFO [muorb] SLPI: Creating pthread commander

                                      INFO [muorb] SLPI: Successfully created px4 task PX4_commander with tid 2097641
                                      INFO [uORB] Advertising remote topic led_control
                                      INFO [muorb] SLPI: LED: open /dev/led0 failed (22)
                                      INFO [muorb] SLPI: Ok executing command: commander start
                                      INFO [uORB] Advertising remote topic tune_control
                                      INFO [qshell] qshell return value timestamp: 69104924, local time: 69107190
                                      INFO [uORB] Advertising remote topic event
                                      INFO [uORB] Advertising remote topic health_report
                                      INFO [uORB] Advertising remote topic failsafe_flags
                                      INFO [uORB] Advertising remote topic actuator_armed
                                      INFO [uORB] Advertising remote topic vehicle_control_mode
                                      INFO [uORB] Advertising remote topic vehicle_thrust_setpoint
                                      INFO [uORB] Advertising remote topic vehicle_torque_setpoint
                                      INFO [uORB] Advertising remote topic vehicle_rates_setpoint
                                      INFO [uORB] Advertising remote topic vehicle_status
                                      INFO [uORB] Advertising remote topic failure_detector_status
                                      INFO [uORB] Advertising remote topic vehicle_local_position_setpoint
                                      INFO [uORB] Advertising remote topic vehicle_attitude_setpoint
                                      INFO [qshell] Send cmd: 'commander mode manual'
                                      INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                      INFO [muorb] SLPI: qshell gotten: commander mode manual
                                      INFO [muorb] SLPI: arg0 = 'commander'

                                      INFO [muorb] SLPI: arg1 = 'mode'

                                      INFO [muorb] SLPI: arg2 = 'manual'

                                      INFO [uORB] Advertising remote topic vehicle_command
                                      INFO [muorb] SLPI: Ok executing command: commander mode manual
                                      INFO [qshell] qshell return value timestamp: 69148498, local time: 69150136
                                      INFO [uORB] Advertising remote topic vehicle_command_ack
                                      INFO [uORB] Marking DeviceNode(vehicle_attitude_setpoint) as advertised in process_remote_topic
                                      INFO [qshell] Send cmd: 'param_set_selector start'
                                      INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                      INFO [muorb] SLPI: qshell gotten: param_set_selector start
                                      INFO [muorb] SLPI: arg0 = 'param_set_selector'

                                      INFO [muorb] SLPI: arg1 = 'start'

                                      INFO [muorb] SLPI: Ok executing command: param_set_selector start
                                      INFO [qshell] qshell return value timestamp: 69186104, local time: 69187696
                                      INFO [qshell] Send cmd: 'flight_mode_manager start'
                                      INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                      INFO [muorb] SLPI: qshell gotten: flight_mode_manager start
                                      INFO [muorb] SLPI: arg0 = 'flight_mode_manager'

                                      INFO [muorb] SLPI: arg1 = 'start'

                                      INFO [uORB] Marking DeviceNode(vehicle_command) as advertised in process_remote_topic
                                      INFO [muorb] SLPI: Ok executing command: flight_mode_manager start
                                      INFO [qshell] qshell return value timestamp: 69346243, local time: 69347753
                                      INFO [uORB] Advertising remote topic actuator_controls_status_0
                                      INFO [dataman] data manager file '/data/px4/dataman' size is 7866640 bytes
                                      INFO [muorb] SLPI: Advertising remote topic transponder_report
                                      INFO [muorb] SLPI: Advertising remote topic rtl_time_estimate
                                      INFO [muorb] SLPI: Advertising remote topic position_setpoint_triplet
                                      INFO [mavlink] mode: Onboard, data rate: 100000 B/s on udp port 14556 remote port 14557
                                      INFO [muorb] SLPI: Advertising remote topic telemetry_status
                                      INFO [mavlink] partner IP: 127.0.0.1
                                      INFO [muorb] SLPI: Advertising remote topic vehicle_visual_odometry
                                      INFO [muorb] SLPI: Advertising remote topic obstacle_distance
                                      INFO [muorb] SLPI: Advertising remote topic offboard_control_mode
                                      INFO [muorb] SLPI: Advertising remote topic timesync_status
                                      INFO [uORB] Advertising remote topic estimator_aid_src_ev_hgt
                                      INFO [uORB] Advertising remote topic estimator_aid_src_ev_pos
                                      INFO [uORB] Advertising remote topic estimator_aid_src_ev_vel
                                      INFO [uORB] Advertising remote topic estimator_aid_src_ev_yaw
                                      INFO [mavlink] mode: Normal, data rate: 100000 B/s on udp port 14558 remote port 14559
                                      INFO [muorb] SLPI: Marking DeviceNode(telemetry_status) as advertised in process_remote_topic
                                      INFO [mavlink] partner IP: 127.0.0.1
                                      INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
                                      INFO [px4] Startup script returned successfully
                                      INFO [muorb] SLPI: u-blox firmware version: SPG 3.01
                                      INFO [muorb] SLPI: u-blox protocol version: 18.00
                                      INFO [muorb] SLPI: u-blox module: NEO-M8N-0
                                      INFO [uORB] Advertising remote topic sensor_gps
                                      INFO [muorb] SLPI: Advertising remote topic ping
                                      INFO [uORB] Advertising remote topic mavlink_log
                                      INFO [muorb] SLPI: Connection to ground station lost
                                      INFO [muorb] SLPI: GCS connection regained
                                      INFO [muorb] SLPI: Connection to ground station lost
                                      INFO [muorb] SLPI: GCS connection regained
                                      INFO [muorb] SLPI: Connection to ground station lost
                                      INFO [muorb] SLPI: GCS connection regained
                                      INFO [muorb] SLPI: Connection to ground station lost
                                      INFO [muorb] SLPI: GCS connection regained
                                      INFO [muorb] SLPI: Connection to ground station lost
                                      INFO [muorb] SLPI: GCS connection regained
                                      INFO [muorb] SLPI: Connection to ground station lost
                                      INFO [muorb] SLPI: GCS connection regained
                                      INFO [muorb] SLPI: Connection to ground station lost
                                      INFO [muorb] SLPI: GCS connection regained
                                      INFO [muorb] SLPI: Connection to ground station lost
                                      INFO [muorb] SLPI: GCS connection regained
                                      INFO [muorb] SLPI: Connection to ground station lost
                                      INFO [muorb] SLPI: GCS connection regained
                                      INFO [muorb] SLPI: Connection to ground station lost
                                      INFO [muorb] SLPI: GCS connection regained
                                      INFO [muorb] SLPI: Connection to ground station lost
                                      INFO [muorb] SLPI: GCS connection regained
                                      INFO [muorb] SLPI: Connection to ground station lost
                                      INFO [muorb] SLPI: GCS connection regained
                                      WARN [uORB] orb_advertise_multi: failed to set queue size

                                      1 Reply Last reply Reply Quote 0
                                      • Captain 7thC
                                        Captain 7th @Eric Katzfey
                                        last edited by

                                        @Eric-Katzfey
                                        I tried this method, but it still is not working! Here is the console:

                                        Sending initialization request
                                        Got topic data before configuration complete
                                        Got topic data before configuration complete
                                        Got topic data before configuration complete
                                        Got topic data before configuration complete
                                        Got topic data before configuration complete
                                        Got topic data before configuration complete
                                        Got topic data before configuration complete
                                        Got topic data before configuration complete
                                        Got topic data before configuration complete
                                        Got topic data before configuration complete
                                        Got topic data before configuration complete
                                        Got topic data before configuration complete
                                        Got topic data before configuration complete
                                        INFO  [muorb] SLPI: muorb aggregator thread running
                                        INFO  [muorb] muorb protobuf initalize method succeeded
                                        INFO  [muorb] succesfully did ADVERTISE_TEST_TYPE
                                        INFO  [muorb] SLPI: Creating pthread test_MUORB
                                        
                                        INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097656
                                        INFO  [muorb] succesfully did SUBSCRIBE_TEST_TYPE
                                        INFO  [muorb] SLPI: Creating pthread test_MUORB
                                        
                                        INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097655
                                        INFO  [muorb] succesfully did TOPIC_TEST_TYPE
                                        INFO  [muorb] SLPI: Creating pthread test_MUORB
                                        
                                        INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097654
                                        INFO  [muorb] succesfully did UNSUBSCRIBE_TEST_TYPE
                                        INFO  [muorb] SLPI: Creating pthread test_MUORB
                                        
                                        INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097653
                                        INFO  [muorb] muorb test passed
                                        INFO  [muorb] SLPI: Advertising remote topic log_message
                                        
                                        ______  __   __    ___ 
                                        | ___ \ \ \ / /   /   |
                                        | |_/ /  \ V /   / /| |
                                        |  __/   /   \  / /_| |
                                        | |     / /^\ \ \___  |
                                        \_|     \/   \/     |_/
                                        
                                        px4 starting.
                                        
                                        INFO  [px4] startup script: /bin/sh /usr/bin/voxl-px4-start 0
                                        INFO  [parameters] Starting param sync THREAD
                                        
                                        *************************
                                        GPS: HOLYBRO
                                        RC: SPEKTRUM
                                        OSD: DISABLE
                                        EXTRA STEPS:
                                        	
                                        *************************
                                        
                                        INFO  [muorb] SLPI: Starting param sync THREAD
                                        Running on M0054
                                        INFO  [muorb] SLPI: before starting the qshell_entry task
                                        INFO  [muorb] SLPI: Creating pthread qshell
                                        
                                        INFO  [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 2097652
                                        INFO  [muorb] SLPI: qshell entry.....
                                        INFO  [muorb] SLPI: after starting the qshell_entry task
                                        INFO  [muorb] SLPI: Init app map initialized
                                        INFO  [param] selected parameter default file /data/px4/param/parameters
                                        INFO  [muorb] SLPI: Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic
                                        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_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] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic
                                        INFO  [parameters] BSON document size 3022 bytes, decoded 3022 bytes (INT32:43, FLOAT:98)
                                        INFO  [logger] logger started (mode=all)
                                        Starting IMU driver with no rotation
                                        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:   arg0 = 'icm42688p'
                                        
                                        INFO  [muorb] SLPI:   arg1 = 'start'
                                        
                                        INFO  [muorb] SLPI:   arg2 = '-s'
                                        
                                        INFO  [muorb] SLPI: *** SPI Device ID 0x26000a 2490378
                                        INFO  [uORB] Advertising remote topic sensor_accel
                                        INFO  [uORB] Advertising remote topic sensor_gyro
                                        INFO  [muorb] SLPI: ICM42688P::probe successful!
                                        INFO  [muorb] SLPI: on SPI bus 1
                                        INFO  [muorb] SLPI: >>> ICM42688P this: 3176e460
                                        INFO  [muorb] SLPI: icm42688p #0 on SPI bus 1
                                        INFO  [muorb] SLPI: 
                                        
                                        INFO  [muorb] SLPI: Ok executing command: icm42688p start -s
                                        INFO  [uORB] Advertising remote topic qshell_retval
                                        INFO  [muorb] SLPI: >>> ICM42688P this: 3176e460
                                        INFO  [qshell] qshell return value timestamp: 63895427, local time: 63898740
                                        INFO  [muorb] SLPI: >>> ICM42688P this: 3176e460
                                        INFO  [muorb] SLPI: Register interrupt b21d3164 e620e69c 3176e460
                                        INFO  [uORB] Advertising remote topic sensor_gyro_fifo
                                        INFO  [uORB] Advertising remote topic sensor_accel_fifo
                                        INFO  [uORB] Advertising remote topic imu_server
                                        INFO  [muorb] SLPI: >>> ICM42688P this: 3176e460
                                        INFO  [qshell] Send cmd: 'icp101xx start -I -b 5'
                                        INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                        INFO  [muorb] SLPI: qshell gotten: icp101xx start -I -b 5
                                        INFO  [muorb] SLPI:   arg0 = 'icp101xx'
                                        
                                        INFO  [muorb] SLPI:   arg1 = 'start'
                                        
                                        INFO  [muorb] SLPI:   arg2 = '-I'
                                        
                                        INFO  [muorb] SLPI:   arg3 = '-b'
                                        
                                        INFO  [muorb] SLPI:   arg4 = '5'
                                        
                                        INFO  [muorb] SLPI: *** I2C Device ID 0xb76329 12018473
                                        INFO  [muorb] SLPI: icp101xx #0 on I2C bus 5
                                        INFO  [muorb] SLPI:  address 0x63
                                        INFO  [muorb] SLPI: 
                                        
                                        INFO  [muorb] SLPI: Ok executing command: icp101xx start -I -b 5
                                        INFO  [qshell] qshell return value timestamp: 64943196, local time: 64943952
                                        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:   arg0 = 'ist8310'
                                        
                                        INFO  [muorb] SLPI:   arg1 = 'start'
                                        
                                        INFO  [muorb] SLPI:   arg2 = '-R'
                                        
                                        INFO  [muorb] SLPI:   arg3 = '10'
                                        
                                        INFO  [muorb] SLPI:   arg4 = '-X'
                                        
                                        INFO  [muorb] SLPI:   arg5 = '-b'
                                        
                                        INFO  [muorb] SLPI:   arg6 = '1'
                                        
                                        INFO  [muorb] SLPI: *** I2C Device ID 0x60e09 396809
                                        INFO  [muorb] SLPI: ist8310 #0 on I2C bus 1
                                        INFO  [muorb] SLPI:  (external)
                                        INFO  [muorb] SLPI:  address 0xE
                                        INFO  [muorb] SLPI:  rotation 10
                                        INFO  [muorb] SLPI: 
                                        
                                        INFO  [muorb] SLPI: Ok executing command: ist8310 start -R 10 -X -b 1
                                        INFO  [qshell] qshell return value timestamp: 64990484, local time: 64992712
                                        INFO  [qshell] Send cmd: 'gps start'
                                        INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                        INFO  [muorb] SLPI: qshell gotten: gps start
                                        INFO  [muorb] SLPI:   arg0 = 'gps'
                                        
                                        INFO  [muorb] SLPI:   arg1 = 'start'
                                        
                                        INFO  [muorb] SLPI: Creating pthread gps
                                        
                                        INFO  [muorb] SLPI: Successfully created px4 task PX4_gps with tid 2097648
                                        INFO  [muorb] SLPI: Ok executing command: gps start
                                        INFO  [qshell] qshell return value timestamp: 65023088, local time: 65025096
                                        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:   arg0 = 'rgbled_ncp5623c'
                                        
                                        INFO  [muorb] SLPI:   arg1 = 'start'
                                        
                                        INFO  [muorb] SLPI:   arg2 = '-X'
                                        
                                        INFO  [muorb] SLPI:   arg3 = '-b'
                                        
                                        INFO  [muorb] SLPI:   arg4 = '1'
                                        
                                        INFO  [muorb] SLPI:   arg5 = '-f'
                                        
                                        INFO  [muorb] SLPI:   arg6 = '400'
                                        
                                        INFO  [muorb] SLPI:   arg7 = '-a'
                                        
                                        INFO  [muorb] SLPI:   arg8 = '56'
                                        
                                        INFO  [muorb] SLPI: *** I2C Device ID 0x7b3809 8075273
                                        INFO  [muorb] SLPI: rgbled_ncp5623c #0 on I2C bus 1
                                        INFO  [muorb] SLPI:  (external)
                                        INFO  [muorb] SLPI:  address 0x38
                                        INFO  [muorb] SLPI: 
                                        
                                        INFO  [muorb] SLPI: Ok executing command: rgbled_ncp5623c start -X -b 1 -f 400 -a 56
                                        INFO  [qshell] qshell return value timestamp: 65062554, local time: 65063907
                                        INFO  [uORB] Advertising remote topic sensor_mag
                                        INFO  [qshell] Send cmd: 'modal_io start'
                                        INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                        INFO  [muorb] SLPI: qshell gotten: modal_io start
                                        INFO  [muorb] SLPI:   arg0 = 'modal_io'
                                        
                                        INFO  [muorb] SLPI:   arg1 = 'start'
                                        
                                        INFO  [uORB] Advertising remote topic actuator_outputs
                                        INFO  [uORB] Advertising remote topic sensor_baro
                                        INFO  [muorb] SLPI: Ok executing command: modal_io start
                                        INFO  [muorb] SLPI: Opened UART ESC device
                                        INFO  [qshell] qshell return value timestamp: 65169377, local time: 65171079
                                        INFO  [uORB] Advertising remote topic actuator_outputs_debug
                                        INFO  [uORB] Advertising remote topic esc_status
                                        Starting Spektrum RC
                                        INFO  [qshell] Send cmd: 'spektrum_rc start'
                                        INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                        INFO  [muorb] SLPI: qshell gotten: spektrum_rc start
                                        INFO  [muorb] SLPI:   arg0 = 'spektrum_rc'
                                        
                                        INFO  [muorb] SLPI:   arg1 = 'start'
                                        
                                        INFO  [muorb] SLPI: Creating pthread spektrum_rc_main
                                        
                                        INFO  [muorb] SLPI: Successfully created px4 task PX4_spektrum_rc_main with tid 2097645
                                        INFO  [muorb] SLPI: Ok executing command: spektrum_rc start
                                        INFO  [qshell] qshell return value timestamp: 66215910, local time: 66216633
                                        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:   arg0 = 'voxlpm'
                                        
                                        INFO  [muorb] SLPI:   arg1 = 'start'
                                        
                                        INFO  [muorb] SLPI:   arg2 = '-X'
                                        
                                        INFO  [muorb] SLPI:   arg3 = '-b'
                                        
                                        INFO  [muorb] SLPI:   arg4 = '2'
                                        
                                        INFO  [muorb] SLPI: *** I2C Device ID 0xd24411 13779985
                                        INFO  [muorb] SLPI: Set i2c address 0x6a, fd 3
                                        INFO  [muorb] SLPI: Set i2c address 0x44, fd 3
                                        INFO  [uORB] Advertising remote topic battery_status
                                        INFO  [muorb] SLPI: voxlpm #0 on I2C bus 2
                                        INFO  [muorb] SLPI:  (external)
                                        INFO  [muorb] SLPI:  address 0x44
                                        INFO  [muorb] SLPI: 
                                        
                                        INFO  [muorb] SLPI: Ok executing command: voxlpm start -X -b 2
                                        INFO  [uORB] Advertising remote topic power_monitor
                                        INFO  [qshell] qshell return value timestamp: 67272854, local time: 67275718
                                        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:   arg0 = 'sensors'
                                        
                                        INFO  [muorb] SLPI:   arg1 = 'start'
                                        
                                        INFO  [uORB] Advertising remote topic sensor_selection
                                        INFO  [uORB] Advertising remote topic sensors_status_imu
                                        INFO  [uORB] Advertising remote topic vehicle_acceleration
                                        INFO  [uORB] Advertising remote topic vehicle_angular_velocity
                                        INFO  [uORB] Advertising remote topic sensor_combined
                                        INFO  [uORB] Advertising remote topic vehicle_air_data
                                        INFO  [uORB] Advertising remote topic vehicle_gps_position
                                        INFO  [uORB] Advertising remote topic vehicle_magnetometer
                                        INFO  [uORB] Advertising remote topic sensor_preflight_mag
                                        INFO  [uORB] Advertising remote topic vehicle_imu
                                        INFO  [uORB] Advertising remote topic vehicle_imu_status
                                        INFO  [muorb] SLPI: Ok executing command: sensors start
                                        INFO  [uORB] Advertising remote topic sensors_status_mag
                                        INFO  [qshell] qshell return value timestamp: 67434965, local time: 67437421
                                        INFO  [uORB] Advertising remote topic sensors_status_baro
                                        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:   arg0 = 'ekf2'
                                        
                                        INFO  [muorb] SLPI:   arg1 = 'start'
                                        
                                        INFO  [uORB] Advertising remote topic vehicle_attitude
                                        INFO  [uORB] Advertising remote topic vehicle_local_position
                                        INFO  [uORB] Advertising remote topic estimator_event_flags
                                        INFO  [uORB] Advertising remote topic estimator_innovation_test_ratios
                                        INFO  [uORB] Advertising remote topic estimator_innovation_variances
                                        INFO  [uORB] Advertising remote topic estimator_innovations
                                        INFO  [uORB] Advertising remote topic estimator_sensor_bias
                                        INFO  [uORB] Advertising remote topic estimator_states
                                        INFO  [uORB] Advertising remote topic estimator_status_flags
                                        INFO  [uORB] Advertising remote topic estimator_status
                                        INFO  [muorb] SLPI: Ok executing command: ekf2 start
                                        INFO  [qshell] qshell return value timestamp: 67750482, local time: 67753672
                                        INFO  [uORB] Advertising remote topic ekf2_timestamps
                                        INFO  [uORB] Advertising remote topic vehicle_odometry
                                        INFO  [uORB] Advertising remote topic estimator_aid_src_baro_hgt
                                        INFO  [uORB] Advertising remote topic estimator_aid_src_fake_pos
                                        INFO  [uORB] Advertising remote topic estimator_aid_src_fake_hgt
                                        INFO  [uORB] Advertising remote topic estimator_aid_src_mag_heading
                                        INFO  [uORB] Advertising remote topic estimator_aid_src_mag
                                        INFO  [uORB] Advertising remote topic estimator_aid_src_gravity
                                        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:   arg0 = 'mc_pos_control'
                                        
                                        INFO  [muorb] SLPI:   arg1 = 'start'
                                        
                                        INFO  [uORB] Advertising remote topic takeoff_status
                                        INFO  [muorb] SLPI: Ok executing command: mc_pos_control start
                                        INFO  [qshell] qshell return value timestamp: 67859638, local time: 67861554
                                        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:   arg0 = 'mc_att_control'
                                        
                                        INFO  [muorb] SLPI:   arg1 = 'start'
                                        
                                        INFO  [muorb] SLPI: Ok executing command: mc_att_control start
                                        INFO  [qshell] qshell return value timestamp: 67918747, local time: 67920290
                                        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:   arg0 = 'mc_rate_control'
                                        
                                        INFO  [muorb] SLPI:   arg1 = 'start'
                                        
                                        INFO  [uORB] Advertising remote topic rate_ctrl_status
                                        INFO  [muorb] SLPI: Ok executing command: mc_rate_control start
                                        INFO  [qshell] qshell return value timestamp: 68027813, local time: 68030404
                                        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:   arg0 = 'mc_hover_thrust_estimator'
                                        
                                        INFO  [muorb] SLPI:   arg1 = 'start'
                                        
                                        INFO  [muorb] SLPI: Ok executing command: mc_hover_thrust_estimator start
                                        INFO  [qshell] qshell return value timestamp: 68087592, local time: 68089224
                                        INFO  [qshell] Send cmd: 'mc_autotune_attitude_control start'
                                        INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                        INFO  [muorb] SLPI: qshell gotten: mc_autotune_attitude_control start
                                        INFO  [muorb] SLPI:   arg0 = 'mc_autotune_attitude_control'
                                        
                                        INFO  [muorb] SLPI:   arg1 = 'start'
                                        
                                        INFO  [uORB] Advertising remote topic autotune_attitude_control_status
                                        INFO  [muorb] SLPI: Ok executing command: mc_autotune_attitude_control start
                                        INFO  [qshell] qshell return value timestamp: 68137157, local time: 68138847
                                        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:   arg0 = 'land_detector'
                                        
                                        INFO  [muorb] SLPI:   arg1 = 'start'
                                        
                                        INFO  [muorb] SLPI:   arg2 = 'multicopter'
                                        
                                        INFO  [muorb] SLPI: Ok executing command: land_detector start multicopter
                                        INFO  [qshell] qshell return value timestamp: 68188877, local time: 68189722
                                        INFO  [uORB] Advertising remote topic vehicle_land_detected
                                        INFO  [qshell] Send cmd: 'manual_control start'
                                        INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                        INFO  [muorb] SLPI: qshell gotten: manual_control start
                                        INFO  [muorb] SLPI:   arg0 = 'manual_control'
                                        
                                        INFO  [muorb] SLPI:   arg1 = 'start'
                                        
                                        INFO  [muorb] SLPI: Ok executing command: manual_control start
                                        INFO  [uORB] Advertising remote topic manual_control_setpoint
                                        INFO  [qshell] qshell return value timestamp: 68237903, local time: 68239705
                                        INFO  [qshell] Send cmd: 'control_allocator start'
                                        INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                        INFO  [muorb] SLPI: qshell gotten: control_allocator start
                                        INFO  [muorb] SLPI:   arg0 = 'control_allocator'
                                        
                                        INFO  [muorb] SLPI:   arg1 = 'start'
                                        
                                        INFO  [uORB] Advertising remote topic control_allocator_status
                                        INFO  [uORB] Marking DeviceNode(control_allocator_status) as advertised in process_remote_topic
                                        INFO  [uORB] Advertising remote topic actuator_motors
                                        INFO  [uORB] Advertising remote topic actuator_servos
                                        INFO  [uORB] Advertising remote topic actuator_servos_trim
                                        INFO  [muorb] SLPI: Ok executing command: control_allocator start
                                        INFO  [qshell] qshell return value timestamp: 68577984, local time: 68579385
                                        INFO  [qshell] Send cmd: 'rc_update start'
                                        INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                        INFO  [muorb] SLPI: qshell gotten: rc_update start
                                        INFO  [muorb] SLPI:   arg0 = 'rc_update'
                                        
                                        INFO  [muorb] SLPI:   arg1 = 'start'
                                        
                                        INFO  [muorb] SLPI: Ok executing command: rc_update start
                                        INFO  [qshell] qshell return value timestamp: 68873945, local time: 68874998
                                        INFO  [qshell] Send cmd: 'commander start'
                                        INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                        INFO  [muorb] SLPI: qshell gotten: commander start
                                        INFO  [muorb] SLPI:   arg0 = 'commander'
                                        
                                        INFO  [muorb] SLPI:   arg1 = 'start'
                                        
                                        INFO  [muorb] SLPI: Creating pthread commander
                                        
                                        INFO  [muorb] SLPI: Successfully created px4 task PX4_commander with tid 2097641
                                        INFO  [uORB] Advertising remote topic led_control
                                        INFO  [muorb] SLPI: LED: open /dev/led0 failed (22)
                                        INFO  [muorb] SLPI: Ok executing command: commander start
                                        INFO  [uORB] Advertising remote topic tune_control
                                        INFO  [qshell] qshell return value timestamp: 69104924, local time: 69107190
                                        INFO  [uORB] Advertising remote topic event
                                        INFO  [uORB] Advertising remote topic health_report
                                        INFO  [uORB] Advertising remote topic failsafe_flags
                                        INFO  [uORB] Advertising remote topic actuator_armed
                                        INFO  [uORB] Advertising remote topic vehicle_control_mode
                                        INFO  [uORB] Advertising remote topic vehicle_thrust_setpoint
                                        INFO  [uORB] Advertising remote topic vehicle_torque_setpoint
                                        INFO  [uORB] Advertising remote topic vehicle_rates_setpoint
                                        INFO  [uORB] Advertising remote topic vehicle_status
                                        INFO  [uORB] Advertising remote topic failure_detector_status
                                        INFO  [uORB] Advertising remote topic vehicle_local_position_setpoint
                                        INFO  [uORB] Advertising remote topic vehicle_attitude_setpoint
                                        INFO  [qshell] Send cmd: 'commander mode manual'
                                        INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                        INFO  [muorb] SLPI: qshell gotten: commander mode manual
                                        INFO  [muorb] SLPI:   arg0 = 'commander'
                                        
                                        INFO  [muorb] SLPI:   arg1 = 'mode'
                                        
                                        INFO  [muorb] SLPI:   arg2 = 'manual'
                                        
                                        INFO  [uORB] Advertising remote topic vehicle_command
                                        INFO  [muorb] SLPI: Ok executing command: commander mode manual
                                        INFO  [qshell] qshell return value timestamp: 69148498, local time: 69150136
                                        INFO  [uORB] Advertising remote topic vehicle_command_ack
                                        INFO  [uORB] Marking DeviceNode(vehicle_attitude_setpoint) as advertised in process_remote_topic
                                        INFO  [qshell] Send cmd: 'param_set_selector start'
                                        INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                        INFO  [muorb] SLPI: qshell gotten: param_set_selector start
                                        INFO  [muorb] SLPI:   arg0 = 'param_set_selector'
                                        
                                        INFO  [muorb] SLPI:   arg1 = 'start'
                                        
                                        INFO  [muorb] SLPI: Ok executing command: param_set_selector start
                                        INFO  [qshell] qshell return value timestamp: 69186104, local time: 69187696
                                        INFO  [qshell] Send cmd: 'flight_mode_manager start'
                                        INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                                        INFO  [muorb] SLPI: qshell gotten: flight_mode_manager start
                                        INFO  [muorb] SLPI:   arg0 = 'flight_mode_manager'
                                        
                                        INFO  [muorb] SLPI:   arg1 = 'start'
                                        
                                        INFO  [uORB] Marking DeviceNode(vehicle_command) as advertised in process_remote_topic
                                        INFO  [muorb] SLPI: Ok executing command: flight_mode_manager start
                                        INFO  [qshell] qshell return value timestamp: 69346243, local time: 69347753
                                        INFO  [uORB] Advertising remote topic actuator_controls_status_0
                                        INFO  [dataman] data manager file '/data/px4/dataman' size is 7866640 bytes
                                        INFO  [muorb] SLPI: Advertising remote topic transponder_report
                                        INFO  [muorb] SLPI: Advertising remote topic rtl_time_estimate
                                        INFO  [muorb] SLPI: Advertising remote topic position_setpoint_triplet
                                        INFO  [mavlink] mode: Onboard, data rate: 100000 B/s on udp port 14556 remote port 14557
                                        INFO  [muorb] SLPI: Advertising remote topic telemetry_status
                                        INFO  [mavlink] partner IP: 127.0.0.1
                                        INFO  [muorb] SLPI: Advertising remote topic vehicle_visual_odometry
                                        INFO  [muorb] SLPI: Advertising remote topic obstacle_distance
                                        INFO  [muorb] SLPI: Advertising remote topic offboard_control_mode
                                        INFO  [muorb] SLPI: Advertising remote topic timesync_status
                                        INFO  [uORB] Advertising remote topic estimator_aid_src_ev_hgt
                                        INFO  [uORB] Advertising remote topic estimator_aid_src_ev_pos
                                        INFO  [uORB] Advertising remote topic estimator_aid_src_ev_vel
                                        INFO  [uORB] Advertising remote topic estimator_aid_src_ev_yaw
                                        INFO  [mavlink] mode: Normal, data rate: 100000 B/s on udp port 14558 remote port 14559
                                        INFO  [muorb] SLPI: Marking DeviceNode(telemetry_status) as advertised in process_remote_topic
                                        INFO  [mavlink] partner IP: 127.0.0.1
                                        INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
                                        INFO  [px4] Startup script returned successfully
                                        INFO  [muorb] SLPI: u-blox firmware version: SPG 3.01
                                        INFO  [muorb] SLPI: u-blox protocol version: 18.00
                                        INFO  [muorb] SLPI: u-blox module: NEO-M8N-0
                                        INFO  [uORB] Advertising remote topic sensor_gps
                                        INFO  [muorb] SLPI: Advertising remote topic ping
                                        INFO  [uORB] Advertising remote topic mavlink_log
                                        INFO  [muorb] SLPI: Connection to ground station lost	
                                        INFO  [muorb] SLPI: GCS connection regained	
                                        INFO  [muorb] SLPI: Connection to ground station lost	
                                        INFO  [muorb] SLPI: GCS connection regained	
                                        INFO  [muorb] SLPI: Connection to ground station lost	
                                        INFO  [muorb] SLPI: GCS connection regained	
                                        INFO  [muorb] SLPI: Connection to ground station lost	
                                        INFO  [muorb] SLPI: GCS connection regained	
                                        INFO  [muorb] SLPI: Connection to ground station lost	
                                        INFO  [muorb] SLPI: GCS connection regained	
                                        INFO  [muorb] SLPI: Connection to ground station lost	
                                        INFO  [muorb] SLPI: GCS connection regained	
                                        INFO  [muorb] SLPI: Connection to ground station lost	
                                        INFO  [muorb] SLPI: GCS connection regained	
                                        INFO  [muorb] SLPI: Connection to ground station lost	
                                        INFO  [muorb] SLPI: GCS connection regained	
                                        INFO  [muorb] SLPI: Connection to ground station lost	
                                        INFO  [muorb] SLPI: GCS connection regained	
                                        INFO  [muorb] SLPI: Connection to ground station lost	
                                        INFO  [muorb] SLPI: GCS connection regained	
                                        INFO  [muorb] SLPI: Connection to ground station lost	
                                        INFO  [muorb] SLPI: GCS connection regained	
                                        INFO  [muorb] SLPI: Connection to ground station lost	
                                        INFO  [muorb] SLPI: GCS connection regained	
                                        WARN  [uORB] orb_advertise_multi: failed to set queue size
                                        
                                        
                                        Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                                        • Eric KatzfeyE
                                          Eric Katzfey ModalAI Team @Captain 7th
                                          last edited by

                                          @Captain-7th Are you saying that the GPS is not working? I don't see anything in the included logs to indicate that GPS is not working.

                                          Captain 7thC 1 Reply Last reply Reply Quote 0
                                          • Captain 7thC
                                            Captain 7th @Eric Katzfey
                                            last edited by

                                            @Eric-Katzfey Dear Eric,

                                            The log shows that the voxl-px4 is does not get completed and it crashes after a while:

                                            INFO  [muorb] SLPI: GCS connection regained	
                                            INFO  [muorb] SLPI: Connection to ground station lost	
                                            INFO  [muorb] SLPI: GCS connection regained	
                                            INFO  [muorb] SLPI: Connection to ground station lost	
                                            INFO  [muorb] SLPI: GCS connection regained	
                                            INFO  [muorb] SLPI: Connection to ground station lost	
                                            INFO  [muorb] SLPI: GCS connection regained	
                                            INFO  [muorb] SLPI: Connection to ground station lost	
                                            INFO  [muorb] SLPI: GCS connection regained	
                                            INFO  [muorb] SLPI: Connection to ground station lost	
                                            INFO  [muorb] SLPI: GCS connection regained	
                                            INFO  [muorb] SLPI: Connection to ground station lost	
                                            INFO  [muorb] SLPI: GCS connection regained	
                                            INFO  [muorb] SLPI: Connection to ground station lost	
                                            INFO  [muorb] SLPI: GCS connection regained	
                                            INFO  [muorb] SLPI: Connection to ground station lost	
                                            INFO  [muorb] SLPI: GCS connection regained	
                                            INFO  [muorb] SLPI: Connection to ground station lost	
                                            INFO  [muorb] SLPI: GCS connection regained	
                                            INFO  [muorb] SLPI: Connection to ground station lost	
                                            INFO  [muorb] SLPI: GCS connection regained	
                                            INFO  [muorb] SLPI: Connection to ground station lost	
                                            INFO  [muorb] SLPI: GCS connection regained	
                                            WARN  [uORB] orb_advertise_multi: failed to set queue size
                                            

                                            what are these errors? after these messages, I couldn't run again the voxl-px4 again! so I decided the follow this way:

                                            After reading some posts, I decided to upgrade the SDK version to the latest. I tried to upgrade the SDK from 1.0.0 to 1.3.0. Then running "apt update && apt upgrade"

                                            Then, followed some hints from you that you mentioned in some other post. I found the /usr/bin/voxl-px4-start file and added these commands at the end of the file:

                                            1. qshell gps stop
                                            2. /bin/sleep 1
                                            3. qshell gps start -b 9600

                                            Then, in my browser (HTTP://ip.address), it shows 255 satellites, but the GPS is still blinking in red color (should it be blue color?) Also, I checked the QGS app, it does not show the number of satellites and the drone location on the map. (I am in an indoor env, but I put the drone very close to the open window.)

                                            Eric KatzfeyE 1 Reply Last reply Reply Quote 0
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