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  4. GPS not working

GPS not working

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  • A Andre Moura

    @Eric-Katzfey Hello, today I tested removing -d 7 -b 115200 from /etc/modalai/voxl-px4.config and it seems like the GPS service is working correctly on startup. I'm still going to test if I can get more fixed satellites and GPS lock on a new location with more open space and then get back to this post with more information.

    D Offline
    D Offline
    daniel
    Contributor
    wrote on last edited by
    #27

    @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
    0
    • D daniel

      @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 Offline
      A Offline
      Andre Moura
      Contributor
      wrote on last edited by
      #28

      @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
      0
      • A Andre Moura

        @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 Offline
        D Offline
        daniel
        Contributor
        wrote on last edited by
        #29

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

        1 Reply Last reply
        0
        • J Offline
          J Offline
          JustinDev23
          Contributor
          wrote on last edited by
          #30

          @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
          0
          • James StrawsonJ Offline
            James StrawsonJ Offline
            James Strawson
            ModalAI Team
            wrote on last edited by
            #31

            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
            0
            • James StrawsonJ James Strawson

              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 Offline
              J Offline
              JustinDev23
              Contributor
              wrote on last edited by
              #32

              @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
              0
              • James StrawsonJ James Strawson

                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 Offline
                J Offline
                JustinDev23
                Contributor
                wrote on last edited by
                #33

                @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
                0
                • J JustinDev23

                  @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 Offline
                  Eric KatzfeyE Offline
                  Eric Katzfey
                  ModalAI Team
                  wrote on last edited by
                  #34

                  @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
                  0
                  • Eric KatzfeyE Eric Katzfey

                    @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 Offline
                    J Offline
                    JustinDev23
                    Contributor
                    wrote on last edited by
                    #35

                    @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
                    0
                    • J JustinDev23

                      @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 Offline
                      A Offline
                      Andre Moura
                      Contributor
                      wrote on last edited by
                      #36

                      @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
                      0
                      • A Andre Moura

                        @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 Offline
                        J Offline
                        JustinDev23
                        Contributor
                        wrote on last edited by
                        #37

                        @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
                        0
                        • J JustinDev23

                          @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 Offline
                          J Offline
                          JustinDev23
                          Contributor
                          wrote on last edited by
                          #38

                          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
                          0
                          • tomT Offline
                            tomT Offline
                            tom
                            admin
                            wrote on last edited by
                            #39

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

                            J 1 Reply Last reply
                            0
                            • tomT tom

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

                              J Offline
                              J Offline
                              JustinDev23
                              Contributor
                              wrote on last edited by
                              #40

                              @tom Thanks! Looks like what i needed.

                              1 Reply Last reply
                              0
                              • Eric KatzfeyE Eric Katzfey

                                @andremoura The GPS unit will come up and get a fix on it's own after it has been powered on so that doesn't indicate anything about the health of the connection to the flight controller. If the result of px4-listener sensor_gps is never published then there is likely a problem with your connection to the GPS unit. The GPS driver on VOXL2 runs on the DSP, not on the applications processor so you have to use qshell to interact with it. So, for status, you would use px4-qshell gps status. Have you made any changes to the Sentinel hardware or is it exactly the same as it was shipped?

                                Captain 7thC Offline
                                Captain 7thC Offline
                                Captain 7th
                                Contributor
                                wrote on last edited by
                                #41

                                @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
                                0
                                • Eric KatzfeyE Eric Katzfey

                                  @andremoura Okay, that's not very useful. Let's try something else. First of all can you post the contents of the file /etc/systemd/system/voxl-px4.service? Then, stop the service from autostarting voxl-px4 with the commands systemctl disable voxl-px4 and sync. Then reboot the drone. When you adb back in to the drone you can run voxl-inspect-services to verify that voxl-px4 isn't running. Then you can start voxl-px4 manually from the command line with voxl-px4 and then post all of the output from that.

                                  Captain 7thC Offline
                                  Captain 7thC Offline
                                  Captain 7th
                                  Contributor
                                  wrote on last edited by
                                  #42

                                  @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
                                  0
                                  • Captain 7thC Captain 7th

                                    @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 Offline
                                    Eric KatzfeyE Offline
                                    Eric Katzfey
                                    ModalAI Team
                                    wrote on last edited by
                                    #43

                                    @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
                                    0
                                    • Eric KatzfeyE Eric Katzfey

                                      @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 Offline
                                      Captain 7thC Offline
                                      Captain 7th
                                      Contributor
                                      wrote on last edited by
                                      #44

                                      @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
                                      0
                                      • Captain 7thC Captain 7th

                                        @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 Offline
                                        Eric KatzfeyE Offline
                                        Eric Katzfey
                                        ModalAI Team
                                        wrote on last edited by
                                        #45

                                        @Captain-7th The connection to ground station has nothing to do with GPS. That is probably something related to your wireless network link. So I still don't see why you think GPS wasn't working.

                                        Captain 7thC 1 Reply Last reply
                                        0
                                        • Eric KatzfeyE Eric Katzfey

                                          @Captain-7th The connection to ground station has nothing to do with GPS. That is probably something related to your wireless network link. So I still don't see why you think GPS wasn't working.

                                          Captain 7thC Offline
                                          Captain 7thC Offline
                                          Captain 7th
                                          Contributor
                                          wrote on last edited by
                                          #46

                                          @Eric-Katzfey Could you please tell me when the GPS is working, should it start blinking blue or red? Currently, mine is red! Please also let me know how I can check my GPS is working properly or not.

                                          Eric KatzfeyE 1 Reply Last reply
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