# ERROR: failed to initialize IMU0

Source: https://forum.modalai.com/topic/1068/error-failed-to-initialize-imu0
Category: Flight Core and Legacy VOXL (https://forum.modalai.com/category/9/flight-core-and-legacy-voxl)
Tags: flight-deck
Posted: 2022-06-30 00:27:54 UTC by JP Drone
Replies: 8 · Views: 1779

## JP Drone · 2022-06-30 00:27:54 UTC

I got new VOXL Flight Deck.
But it seems imu0 is not detected.
voxl-imu-server.conf is default.
Do I need to do any configuration to use IMU0?

```
/ # voxl-list-pipes | grep "imu"
imu1

/ # journalctl -u voxl-imu-server
-- Logs begin at Thu 1970-01-01 00:00:04 UTC, end at Mon 2022-06-27 07:43:07 UT
C. --
Jan 01 00:00:07 apq8096 systemd[1]: Starting voxl-imu-server...
Jan 01 00:00:09 apq8096 systemd[1]: Started voxl-imu-server.
Jan 01 00:00:09 apq8096 voxl-imu-server[2782]: ERROR: imu_detect failed to find a valid part
Jan 01 00:00:09 apq8096 voxl-imu-server[2782]: ERROR: failed to initialize IMU0
```

M0019-REV B

## Reply by James Strawson (ModalAI staff) · 2022-06-30 04:46:09 UTC

Do you mind sharing the output of `voxl-imu-server --test` and `voxl-version` thanks!

VIO can be configured to use either IMU, to select IMU1 just run voxl-configure-qvio and select IMU1 when prompted which to use.

## Reply by JP Drone · 2022-07-01 00:20:36 UTC

```
voxl:~$ voxl-imu-server --test
exising instance of voxl-imu-server found, attempting to stop it
ERROR: imu_detect failed to find a valid part
detected ICM20948 on spi bus[id] 1
Starting self-test on ICM20948 on SPI bus 1
gyro axis: 0 ratio: 1.009 response: 15858 factory: 15709 offset_dps: -0.97
gyro axis: 1 ratio: 1.012 response: 18092 factory: 17878 offset_dps: -0.08
gyro axis: 2 ratio: 1.004 response: 20218 factory: 20145 offset_dps: -0.22
accl axis: 0 ratio: 0.998 response:  6729 factory:  6742
accl axis: 1 ratio: 1.001 response:  7094 factory:  7086
accl axis: 2 ratio: 1.017 response:  8710 factory:  8561
=================================================================
RESULT FOR IMU0 on SPI BUS 10
GYRO X: FAIL
GYRO Y: FAIL
GYRO Z: FAIL
ACCL X: FAIL
ACCL Y: FAIL
ACCL Z: FAIL
OVERALL FAIL: COULD NOT COMMUNICATE WITH IMU
=================================================================
=================================================================
RESULT FOR IMU1 on SPI BUS 1
GYRO X: PASS
GYRO Y: PASS
GYRO Z: PASS
ACCL X: PASS
ACCL Y: PASS
ACCL Z: PASS
OVERALL PASS
=================================================================
This self-test required the voxl-imu-server service to stop
You can restart it if desired with:  systemctl restart voxl-imu-server
Exiting Cleanly
```

```
voxl:~$ voxl-version
cat: /etc/modalai/voxl-software-bundle-version.txt: No such file or directory
--------------------------------------------------------------------------------
system-image:    ModalAI 3.6.0 BUILDER: ekatzfey BUILD_TIME: 2022-02-28_23:47
kernel:          #1 SMP PREEMPT Mon Feb 28 23:55:47 UTC 2022 3.18.71-perf
factory-bundle:  1.0.1 (Yocto installation)
--------------------------------------------------------------------------------
architecture:    aarch64
processor:       apq8096
os:              GNU/Linux
--------------------------------------------------------------------------------
voxl-suite:
Package: voxl-suite
Version: 0.5.0
Depends: libjpeg_turbo (>= 9.0.4), libmodal_exposure (>= 0.0.2), libmodal_json (>= 0.3.6), libmodal_pipe (>= 2.1.1), librc_math (>= 1.1.5), libvoxl_cutils (>= 0.0.2), libvoxl_io (>= 0.5.4), mavlink-camera-manager (>= 0.0.2), mongoose (>= 7.3.0), opencv (>= 4.5.2-2), openmp (>= 10.0.2), voxl-camera-calibration (>= 0.1.1), voxl-camera-server (>= 0.8.1), voxl-cpu-monitor (>= 0.2.0), voxl-dfs-server (>= 0.2.2), voxl-docker-support (>= 1.1.3), voxl-gphoto2 (>= 0.0.5), voxl-imu-server (>= 0.9.1), voxl-mavlink (>= 0.0.2), voxl-modem (>= 0.12.0), voxl-mpa-tools (>= 0.3.6), voxl-nodes (>= 0.2.0), voxl-portal (>= 0.1.2), voxl-qvio-server (>= 0.3.4), voxl-streamer (>= 0.2.6), voxl-tag-detector (>= 0.0.2), voxl-tflite (>= 2.2.3), voxl-tflite-server (>= 0.1.5), voxl-utils (>= 0.8.4), voxl-vision-px4 (>= 0.9.5), voxl-vpn (>= 0.0.3)
Status: install user installed
Section: base
Architecture: all
Maintainer: james@modalai.com
MD5Sum: f55ec020942e92ff12bc137c2aa8d2a5
Size: 1956
Filename: voxl-suite_0.5.0.ipk
Description: meta-package for voxl-suite software collection
Installed-Time: 1656138820

Package: voxl-suite
Version: 0.2.0
Depends: docker, imu_app (= 0.0.6), libvoxl_io (= 0.5.2), voxl-cam-manager (= 0.2.2), voxl-docker-support (= 1.1.1), voxl-hal3-tof-cam-ros (= 0.0.2), voxl-modem (= 0.10.0), voxl-nodes (= 0.0.8), voxl-rtsp (= 1.0.2), voxl-utils (= 0.5.2), voxl-vision-px4 (= 0.6.8), voxl_imu (= 0.0.4), voxl-time-sync (= 0.0.1), voxl-vpn (= 0.0.2), librc_math (= 1.1.2), libmodal_pipe (= 1.2.2), modalai-vl (= 0.1.3)
Status: unknown ok not-installed
Section: base
Architecture: armv7a
Maintainer: james@modalai.com
MD5Sum: af706cd3c1ea59f274f2ed9b93141f1d
Size: 870
Filename: voxl-suite_0.2.0.ipk
Description: meta-package to install all of the voxl-suite

--------------------------------------------------------------------------------
```

Yes, VIO works if I select IMU1 (default is IMU0).
I flashed system image to 3.6.0 (preserve the /data/ parition).
I didn't confirm whether IMU0 was working at 3.3.0.
If necessary, I can re-install 3.3.0 and check again.

## Reply by JP Drone · 2022-07-09 01:05:27 UTC

@James-Strawson Could you please check the outputs?
I want to know whether this is hardware issue or configuration issue.

## Reply by JP Drone · 2022-07-19 06:25:33 UTC

I flashed system image v3.3.0.
But imu0 still doesn't work.

```
/ # voxl-imu-server --test
exising instance of voxl-imu-server found, attempting to stop it
ERROR: imu_detect failed to find a valid part
detected ICM20948 on spi bus[id] 1
Starting self-test on ICM20948 on SPI bus 1
gyro axis: 0 ratio: 1.009 response: 15851 factory: 15709 offset_dps: -0.92
gyro axis: 1 ratio: 1.010 response: 18051 factory: 17878 offset_dps: -0.08
gyro axis: 2 ratio: 1.003 response: 20198 factory: 20145 offset_dps: -0.17
accl axis: 0 ratio: 0.997 response:  6724 factory:  6742
accl axis: 1 ratio: 1.009 response:  7151 factory:  7086
accl axis: 2 ratio: 1.001 response:  8572 factory:  8561
=================================================================
RESULT FOR IMU0 on SPI BUS 10
GYRO X: FAIL
GYRO Y: FAIL
GYRO Z: FAIL
ACCL X: FAIL
ACCL Y: FAIL
ACCL Z: FAIL
OVERALL FAIL: COULD NOT COMMUNICATE WITH IMU
=================================================================
=================================================================
RESULT FOR IMU1 on SPI BUS 1
GYRO X: PASS
GYRO Y: PASS
GYRO Z: PASS
ACCL X: PASS
ACCL Y: PASS
ACCL Z: PASS
OVERALL PASS
=================================================================
This self-test required the voxl-imu-server service to stop
You can restart it if desired with:  systemctl restart voxl-imu-server
Exiting Cleanly

/ # voxl-version
cat: /etc/modalai/voxl-software-bundle-version.txt: No such file or directory
--------------------------------------------------------------------------------
system-image:    ModalAI 3.3.0 BUILDER: ekatzfey BUILD_TIME: 2021-06-06_19:28
kernel:          #1 SMP PREEMPT Sun Jun 6 19:41:01 UTC 2021 3.18.71-perf
factory-bundle:  1.0.1 (Yocto installation)
--------------------------------------------------------------------------------
architecture:    aarch64
processor:       apq8096
os:              GNU/Linux
--------------------------------------------------------------------------------
voxl-suite:
Package: voxl-suite
Version: 0.5.0
Depends: libjpeg_turbo (>= 9.0.4), libmodal_exposure (>= 0.0.2), libmodal_json (>= 0.3.6), libmodal_pipe (>= 2.1.1), librc_math (>= 1.1.5), libvoxl_cutils (>= 0.0.2), libvoxl_io (>= 0.5.4), mavlink-camera-manager (>= 0.0.2), mongoose (>= 7.3.0), opencv (>= 4.5.2-2), openmp (>= 10.0.2), voxl-camera-calibration (>= 0.1.1), voxl-camera-server (>= 0.8.1), voxl-cpu-monitor (>= 0.2.0), voxl-dfs-server (>= 0.2.2), voxl-docker-support (>= 1.1.3), voxl-gphoto2 (>= 0.0.5), voxl-imu-server (>= 0.9.1), voxl-mavlink (>= 0.0.2), voxl-modem (>= 0.12.0), voxl-mpa-tools (>= 0.3.6), voxl-nodes (>= 0.2.0), voxl-portal (>= 0.1.2), voxl-qvio-server (>= 0.3.4), voxl-streamer (>= 0.2.6), voxl-tag-detector (>= 0.0.2), voxl-tflite (>= 2.2.3), voxl-tflite-server (>= 0.1.5), voxl-utils (>= 0.8.4), voxl-vision-px4 (>= 0.9.5), voxl-vpn (>= 0.0.3)
Status: install user installed
Architecture: all
Installed-Time: 218

--------------------------------------------------------------------------------
```

## Reply by JP Drone · 2022-08-22 06:15:00 UTC

@James-Strawson 
Hello,
When I upgrade to v3.8, voxl-imu-server no longer starts.
I think imu0 is not available, it is an initial defect.

```
root@apq8096:~# voxl-version
--------------------------------------------------------------------------------
system-image: 3.8.0
kernel:       #1 SMP PREEMPT Tue Apr 26 18:08:39 UTC 2022 3.18.71-perf
--------------------------------------------------------------------------------
hw version:   VOXL
--------------------------------------------------------------------------------
voxl-suite:   0.7.0
--------------------------------------------------------------------------------
root@apq8096:~# voxl-imu-server --test
ERROR: imu_detect failed to find a valid part
detected ICM20948 on spi bus[id] 1
Starting self-test on ICM20948 on SPI bus 1

received SIGINT Ctrl-C
gyro axis: 0 ratio: 1.012 response: 15893 factory: 15709 offset_dps: -0.99
gyro axis: 1 ratio: 1.013 response: 18108 factory: 17878 offset_dps: -0.10
gyro axis: 2 ratio: 1.005 response: 20253 factory: 20145 offset_dps: -0.18
accl axis: 0 ratio: 0.999 response:  6735 factory:  6742
accl axis: 1 ratio: 1.008 response:  7146 factory:  7086
accl axis: 2 ratio: 1.000 response:  8562 factory:  8561
=================================================================
RESULT FOR IMU0 on SPI BUS 10
GYRO X: FAIL
GYRO Y: FAIL
GYRO Z: FAIL
ACCL X: FAIL
ACCL Y: FAIL
ACCL Z: FAIL
OVERALL FAIL: COULD NOT COMMUNICATE WITH IMU
=================================================================
=================================================================
RESULT FOR IMU1 on SPI BUS 1
GYRO X: PASS
GYRO Y: PASS
GYRO Z: PASS
ACCL X: PASS
ACCL Y: PASS
ACCL Z: PASS
OVERALL PASS
=================================================================
This self-test required the voxl-imu-server service to stop
You can restart it if desired with:  systemctl restart voxl-imu-server
Exiting Cleanly
root@apq8096:~# voxl-inspect-services
 Service Name         |  Enabled  |   Running   |  CPU Usage
---------------------------------------------------------------
 docker-autorun       | Disabled  | Not Running |
 docker-daemon        | Disabled  | Not Running |
 modallink-relink     | Disabled  | Not Running |
 voxl-camera-server   |  Enabled  |   Running   |     4.9
 voxl-cpu-monitor     |  Enabled  |   Running   |     0.0
 voxl-dfs-server      | Disabled  | Not Running |
 voxl-imu-server      |  Enabled  | Not Running |
 voxl-mavlink-server  |  Enabled  |   Running   |     0.0
 voxl-modem           | Disabled  | Not Running |
 voxl-portal          |  Enabled  |   Running   |     0.0
 voxl-qvio-server     |  Enabled  |   Running   |     0.0
 voxl-streamer        | Disabled  | Not Running |
 voxl-tag-detector    | Disabled  | Not Running |
 voxl-tflite-server   | Disabled  | Not Running |
 voxl-time-sync       | Disabled  | Not Running |
 voxl-vision-px4      |  Enabled  |   Running   |     0.0
 voxl-wait-for-fs     |  Enabled  |  Completed  |
```

The log showed that the service was stuck in a restart loop due to "Service hold-off time over, scheduling restart".
```
root@apq8096:~# journalctl -u voxl-imu-server
-- Logs begin at Thu 1970-01-01 00:34:23 UTC, end at Mon 2022-08-22 06:05:16 UTC. --
Jan 01 00:34:27 apq8096 systemd[1]: Starting voxl-imu-server...
Jan 01 00:34:29 apq8096 systemd[1]: Started voxl-imu-server.
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: ERROR: imu_detect failed to find a valid part
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: ERROR in imu_detect_board detecting imu0
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: loading calibration file
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: =================================================================
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: calibration for IMU0:
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: Gyro Offsets (rad/s): X:   0.000 Y:   0.000 Z:   0.000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: Accl Offsets (m/s^2): X:   0.000 Y:   0.000 Z:   0.000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: Accl Scale          : X:   1.000 Y:   1.000 Z:   1.000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: has_baseline_temp:      0
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: gyro_baseline_temp (C):  30.000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: accl_baseline_temp (C):  30.000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: has_temp_cal:          0
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: gyro_drift_coeff: X:   0.000000   0.000000   0.000000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: gyro_drift_coeff: Y:   0.000000   0.000000   0.000000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: gyro_drift_coeff: Z:   0.000000   0.000000   0.000000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: accl_drift_coeff: X:   0.000000   0.000000   0.000000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: accl_drift_coeff: Y:   0.000000   0.000000   0.000000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: accl_drift_coeff: Z:   0.000000   0.000000   0.000000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: calibration for IMU1:
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: Gyro Offsets (rad/s): X:   0.000 Y:   0.000 Z:   0.000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: Accl Offsets (m/s^2): X:   0.000 Y:   0.000 Z:   0.000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: Accl Scale          : X:   1.000 Y:   1.000 Z:   1.000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: has_baseline_temp:      0
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: gyro_baseline_temp (C):  30.000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: accl_baseline_temp (C):  30.000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: has_temp_cal:          0
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: gyro_drift_coeff: X:   0.000000   0.000000   0.000000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: gyro_drift_coeff: Y:   0.000000   0.000000   0.000000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: gyro_drift_coeff: Z:   0.000000   0.000000   0.000000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: accl_drift_coeff: X:   0.000000   0.000000   0.000000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: accl_drift_coeff: Y:   0.000000   0.000000   0.000000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: accl_drift_coeff: Z:   0.000000   0.000000   0.000000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: calibration for IMU2:
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: Gyro Offsets (rad/s): X:   0.000 Y:   0.000 Z:   0.000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: Accl Offsets (m/s^2): X:   0.000 Y:   0.000 Z:   0.000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: Accl Scale          : X:   1.000 Y:   1.000 Z:   1.000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: has_baseline_temp:      0
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: gyro_baseline_temp (C):  30.000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: accl_baseline_temp (C):  30.000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: has_temp_cal:          0
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: gyro_drift_coeff: X:   0.000000   0.000000   0.000000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: gyro_drift_coeff: Y:   0.000000   0.000000   0.000000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: gyro_drift_coeff: Z:   0.000000   0.000000   0.000000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: accl_drift_coeff: X:   0.000000   0.000000   0.000000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: accl_drift_coeff: Y:   0.000000   0.000000   0.000000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: accl_drift_coeff: Z:   0.000000   0.000000   0.000000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: calibration for IMU3:
Jan 01 00:34:29 apq8096 systemd[1]: [[1;39mvoxl-imu-server.service: Main process exited, code=exited, status=255/n/a[[0
m
Jan 01 00:34:29 apq8096 systemd[1]: [[1;39mvoxl-imu-server.service: Unit entered failed state.[[0m
Jan 01 00:34:29 apq8096 systemd[1]: [[1;39mvoxl-imu-server.service: Failed with result 'exit-code'.[[0m
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: Gyro Offsets (rad/s): X:   0.000 Y:   0.000 Z:   0.000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: Accl Offsets (m/s^2): X:   0.000 Y:   0.000 Z:   0.000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: Accl Scale          : X:   1.000 Y:   1.000 Z:   1.000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: has_baseline_temp:      0
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: gyro_baseline_temp (C):  30.000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: accl_baseline_temp (C):  30.000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: has_temp_cal:          0
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: gyro_drift_coeff: X:   0.000000   0.000000   0.000000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: gyro_drift_coeff: Y:   0.000000   0.000000   0.000000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: gyro_drift_coeff: Z:   0.000000   0.000000   0.000000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: accl_drift_coeff: X:   0.000000   0.000000   0.000000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: accl_drift_coeff: Y:   0.000000   0.000000   0.000000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: accl_drift_coeff: Z:   0.000000   0.000000   0.000000
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: =================================================================
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: loading config file
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: =================================================================
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: imu0_enable:                     1
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: imu0_bus:                        10
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: imu0_sample_rate_hz:             1000.0
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: imu0_lp_cutoff_freq_hz:          92.0
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: imu0_rotate_common_frame         1
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: imu0_read_every_n_samples:       10
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: imu1_enable:                     1
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: imu1_bus:                        1
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: imu1_sample_rate_hz:             1000.0
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: imu1_lp_cutoff_freq_hz:          92.0
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: imu1_rotate_common_frame         1
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: imu1_read_every_n_samples:       10
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: aux_imu2_enable:                 0
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: aux_imu2_spi_bus:                9
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: aux_imu2_sample_rate_hz:         1000.0
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: aux_imu2_lp_cutoff_freq_hz:      92.0
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: aux_imu2_read_every_n_samples:   10
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: aux_imu2_enable:                 0
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: aux_imu2_spi_bus:                11
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: aux_imu2_sample_rate_hz:         1000.0
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: aux_imu2_lp_cutoff_freq_hz:      92.0
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: aux_imu2_read_every_n_samples:   10
Jan 01 00:34:29 apq8096 voxl-imu-server[2894]: =================================================================
Jan 01 00:34:29 apq8096 systemd[1]: voxl-imu-server.service: Service hold-off time over, scheduling restart.
Jan 01 00:34:29 apq8096 systemd[1]: Stopped voxl-imu-server.
Jan 01 00:34:29 apq8096 systemd[1]: Starting voxl-imu-server...
```

## Reply by stevedan · 2022-11-08 08:57:56 UTC (in reply to JP Drone)

@JP-Drone were you able to fix it?

## Reply by JP Drone · 2022-11-09 16:38:17 UTC

@stevedan Couldn't find the way to solve so we sent back to ModalAI with RMA.
I wonder what was the issue of this.

## Reply by stevedan · 2022-11-09 16:48:45 UTC (in reply to JP Drone)

@JP-Drone In my case, I was using the rb5 so the correct service was voxl-px4-imu-server, which was already running. The qvio, vison-px4 takes imu from imu_px4 not imu0. This is specific for the rb5.