PX4 disconnected from UART & QGC cannot connected to modalAI



  • Hi,
    As you can see from the first figure, when I run:voxl_vision_px4 status, it shows that WARNING PX4 DISCONNECTED FROM UART, do you know how to address this issue? The firmware version is 1.11.3.
    7c8bbe5d-58bb-4dd7-9107-d2d18a2807c5.png

    I have noticed that this post have the same issue with mine. However, my ModalAI's MAV_1_MODE is already set to Onboard. https://forum.modalai.com/topic/70/warning-px4-disconnected-error-message-from-voxl-vision-px4?_=1657322074175

    Meanwhile, right now the QGC cannot connect to ModalAI.
    5f33bd94-aca5-4343-8ec5-f03c39e91654.png

    Any suggestion? Thanks in advance!



  • @DarkKnightCH
    Hi, Please try restarting the voxl-vision-px4 by running systemctl restart voxl-vision-px4.
    Try enabling voxl-mavlink-server
    Also ensure you have right qgc ip address in /etc/modalai/voxl-vision-px4.



  • HI,

    I also found this post which has the same issue with me. I tried to follow the suggestion in this post:I open a MAVLink connection over USB to the flight core, and run mavlink status from the nutshell

    
    NuttShell (NSH)
    nsh> mavlink status
    
    instance #0:
        GCS heartbeat:    267144 us ago
        mavlink chan: #0
        type:        USB CDC
        flow control: OFF
        rates:
          tx: 15.682 kB/s
          txerr: 0.000 kB/s
          tx rate mult: 1.000
          tx rate max: 800000 B/s
          rx: 0.046 kB/s
        FTP enabled: YES, TX enabled: YES
        mode: Config
        MAVLink version: 2
        transport protocol: serial (/dev/ttyACM0 @2000000)
        ping statistics:
          last: 1.72 ms
          mean: 2.18 ms
          max: 6541.72 ms
          min: 0.19 ms
          dropped packets: 5
    
    instance #1:
        mavlink chan: #1
        type:        GENERIC LINK OR RADIO
        flow control: ON
        rates:
          tx: 1.564 kB/s
          txerr: 0.000 kB/s
          tx rate mult: 1.000
          tx rate max: 2880 B/s
          rx: 0.000 kB/s
        FTP enabled: YES, TX enabled: YES
        mode: Normal
        MAVLink version: 1
        transport protocol: serial (/dev/ttyS6 @57600)
    
    instance #2:
        mavlink chan: #2
        type:        GENERIC LINK OR RADIO
        flow control: OFF
        rates:
          tx: 14.672 kB/s
          txerr: 0.000 kB/s
          tx rate mult: 1.000
          tx rate max: 46080 B/s
          rx: 0.000 kB/s
        FTP enabled: YES, TX enabled: YES
        mode: Onboard
        MAVLink version: 2
        transport protocol: serial (/dev/ttyS4 @921600)
    
    instance #3:
        mavlink chan: #3
        type:        GENERIC LINK OR RADIO
        flow control: ON
        rates:
          tx: 1.564 kB/s
          txerr: 0.000 kB/s
          tx rate mult: 1.000
          tx rate max: 2880 B/s
          rx: 0.000 kB/s
        FTP enabled: YES, TX enabled: YES
        mode: Normal
        MAVLink version: 1
        transport protocol: serial (/dev/ttyS1 @57600)
    

    From above information, I cannot track where the issue is, any suggestion?



  • @keil
    Hi, keil, Thanks for help.
    I tried to run the systemctl restart voxl-vision-px4, but it doesn't help.

    What do you mean enabling voxl-mavlink-server?

    QGC ip address is correct.



  • This post is deleted!


  • More tests have done:
    (1) First, I can ssh into voxl through my laptop. And this means the wifi in VOXL is working.
    (2) I can adb into voxl board, which means that my voxl board is not bricked?
    (3)I can connect my flight core with my QGC via USB.
    (4)I tried to run voxl-inspect-services, and it shows
    Screenshot_2022-07-10_16-27-48.png
    (5)I also tried to run voxl-inspect-qvio, and it shows that
    Screenshot_2022-07-10_16-04-32.png

    (6)I also tried to reset the voxl-vision-px4 by running voxl-configure-vision-px4 as follows
    Screenshot_2022-07-10_16-33-19.png

    But there still is a WARNING show PX4 disconnected from UART.

    Any suggestion😧 ?


  • Dev Team

    That warning implies there is an issue in the comms between the Snapdragon and the STM32F7. Maybe try to reload the STM32F7 (Flight Core) firmware and see if that helps?



  • @Chad-Sweet Yeah. I already reload a flight core firmware and it doesn't help. Is it possible that voxl-vision-px4 server is broken? The UART wire physical connection looks pretty valid. it is hard for me to find out where the issue is from.



  • @Chad-Sweet I would like to update my voxl-suite-ipk meta package since I doubt maybe something is wrong about the voxl-vision-px4? is there a simple way to do it except flashing a new system image of voxl? should I use the following command to do it?

    opkg update && opkg upgrade
    

  • Dev Team

    That warning implies a hardware issue more than a software issue. What if you try the nuttx shell to test connectivity between the Snapdragon and Flight Core?



  • @Chad-Sweet I tried to follow your advice and it shows

    voxl:~$ voxl-px4-shell
    ERROR opening /run/mpa/vvpx4_shell/
    most likely the voxl-vision-px4 service is not running
    

    I also tried to run

    systemctl restart voxl-vision-px4
    

    and

    voxl-vision-px4 status
    

    and it shows

    voxl:~$ voxl-vision-px4 status
    loading our own config file
    =================================================================
    Parameters as loaded from config file:
    qgc_ip:                     192.168.0.121
    en_localhost_mavlink_udp    1
    en_secondary_qgc:           0
    secondary_qgc_ip:           192.168.1.214
    qgc_udp_port_number:        14550
    localhost_udp_port_number:  14551
    udp_mtu:                    512
    en_vio:                     1
    en_voa:                     1
    en_send_vio_to_qgc:         0
    en_send_voa_to_qgc:         0
    en_set_clock_from_gps:      1
    en_force_onboard_mav1_mode: 1
    en_reset_px4_on_error:      1
    qvio_auto_reset_quality:    0.000500
    horizon_cal_tolerance:      0.300000
    voa_upper_bound_m:          1.250000
    voa_lower_bound_m:          1.250000
    en_adsb:                    0
    adsb_uart_bus:              7
    adsb_uart_baudrate:         57600
    px4_uart_bus:               5
    px4_uart_baudrate:          921600
    offboard_mode:              off
    follow_tag_id:              0
    en_tag_fixed_frame:         0
    fixed_frame_filter_len:     5
    en_transform_mavlink_pos_setpoints_from_fixed_frame:0
    =================================================================
    loading extrinsics config file
    starting geometry module
    starting px4 monitor
    starting uart mavlink
    Successfully opened mavparser
    starting udp mavlink
    Adding manual QGC IP address to udp connection list: 192.168.0.121
    Added new UDP connection to 192.168.0.121
    starting px4 shell
    starting fixed pose input
    starting vio manager
    starting tag manager
    starting voa manager
    starting control input pipe
    Init complete, entering main loop
    Connected to voxl-qvio-server
    updating to use imu: imu0
    done updating transforms to use imu: imu0
    Connected to voxl-tag-detector
    Connected to voxl-dfs-server
    WARNING PX4 DISCONNECTED FROM UART
    

    any suggestion?


  • Dev Team

    You could try a fresh install by following the instructions here: https://docs.modalai.com/voxl-suite/ . There does seem to be a chance your hardware is damaged though.



  • @Chad-Sweet Yeah. I tried the following command

    voxl-configure-opkg
    

    and

    opkg update
    

    and then try to restart the voxl-vision-px4 and it seems nothing helps.

    Since I can connect to voxl through wifi and adb, I have no idea why voxl will broken since I treat it very carefully. Indeed sometimes this QGC disconnection issue happens randomly. Could I mail back the Flight Core and VOXL to you and would you mind helping me check what is the issue?



  • @DarkKnightCH
    Hi,
    Are you able to connect to QGC now. if yes, what was the issue and how you rectified it?
    Thanks!


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