# HITL on VOXL 2 : Preflight fail EKF couldn't get status Source: https://forum.modalai.com/topic/1254/hitl-on-voxl-2-preflight-fail-ekf-couldn-t-get-status Category: General Questions (https://forum.modalai.com/category/2/general-questions) Posted: 2022-08-29 05:37:43 UTC by Tamas Pal 0 Replies: 9 · Views: 2131 ## Tamas Pal 0 · 2022-08-29 05:37:43 UTC Re: [Unable to access px4 with qgc in voxl 2 using usb-jst cable](/topic/1214/unable-to-access-px4-with-qgc-in-voxl-2-using-usb-jst-cable) That problem with voxl-px4-hitl is solved. Thank you. When I am trying to run the voxl-px4-hitl, I am having this issue - ``` INFO [PreFlightCheck] Preflight Fail: Compass Sensor missing INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check INFO [PreFlightCheck] Preflight Fail: Compass Sensor missing INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check INFO [PreFlightCheck] Preflight Fail: Compass Sensor missing INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Preflight fail EKF couldn't get status INFO [PreFlightCheck] Failed EKF health preflight check ``` Why it is there and how to solve this issue? ## Reply by Zachary Lowell · 2022-08-29 15:14:45 UTC @Tamas-Pal-0 said in [HITL on VOXL 2 : Preflight fail EKF couldn't get status](/post/5823): > Why it is there and how to solve this issue? > > Hi Tamas - can you please post the entire log from PX4 shell when you run hitl - my biggest inclination is that you have a bad connection or that you are not using the proper flags when you execute px4 in HITL mode. ## Reply by Zachary Lowell · 2022-08-29 20:07:16 UTC @Tamas-Pal-0 the more I think about this, the more I believe you are running HITL in VIO while the drone is expecting GPS or vice versa, you are running HITL in GPS mode but the drone is in VIO mode. ## Reply by Tamas Pal 0 · 2022-08-31 05:21:31 UTC I am getting this after running *voxl-px4-hitl* ``` voxl2:/etc/modalai$ voxl-px4-hitl Found DSP signature file Setting GPS Parameters for HITL INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM. INFO [px4] assuming working directory is rootfs, no symlinks needed. ______ __ __ ___ | ___ \ \ \ / / / | | |_/ / \ V / / /| | | __/ / \ / /_| | | | / /^\ \ \___ | \_| \/ \/ |_/ px4 starting. INFO [px4] Calling startup script: /bin/sh /etc/modalai/voxl-px4-hitl-gps-parameters.config 0 CBRK_SUPPLY_CHK: curr: 0 -> new: 894281 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CBRK_SUPPLY_CHK COM_DISARM_PRFLT: curr: 10.0000 -> new: -1.0000 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for COM_DISARM_PRFLT COM_RC_IN_MODE: curr: 0 -> new: 1 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for COM_RC_IN_MODE NAV_RCL_ACT: curr: 2 -> new: 0 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for NAV_RCL_ACT EKF2_RNG_AID: curr: 0 -> new: 1 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_RNG_AID Exiting NOW. INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM. INFO [px4] assuming working directory is rootfs, no symlinks needed. ______ __ __ ___ | ___ \ \ \ / / / | | |_/ / \ V / / /| | | __/ / \ / /_| | | | / /^\ \ \___ | \_| \/ \/ |_/ px4 starting. INFO [px4] Calling startup script: /bin/sh /etc/modalai/voxl-px4-hitl.config 0 INFO [muorb] SLPI: Creating qurt thread hpwork INFO [muorb] SLPI: Successfully created px4 task PX4_hpwork with tid 83 INFO [muorb] SLPI: Creating qurt thread lpwork INFO [muorb] SLPI: Successfully created px4 task PX4_lpwork with tid 82 INFO [muorb] SLPI: Creating qurt thread wkr_hrt INFO [muorb] SLPI: Successfully created px4 task PX4_wkr_hrt with tid 81 INFO [muorb] SLPI: Creating qurt thread client_sync_thread INFO [muorb] SLPI: Successfully created px4 task PX4_client_sync_thread with tid 80 INFO [muorb] SLPI: Creating qurt thread wq_manager INFO [muorb] SLPI: Successfully created px4 task PX4_wq_manager with tid 79 INFO [muorb] SLPI: Creating qurt thread qshell INFO [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 78 INFO [logger] logger started (mode=all) INFO [logger] Start file log (type: full) INFO [logger] [logger] /data/px4/log/sess014/log001.ulg INFO [logger] Opened full log file: /data/px4/log/sess014/log001.ulg INFO [muorb] SLPI: Advertising remote topic mavlink_log ERROR [logger] No subscriptions added INFO [muorb] SLPI: Advertising remote topic logger_status INFO [qshell] Send cmd: 'icm42688p start -s -h' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: icm42688p start -s -h INFO [muorb] SLPI: Creating qurt thread wq_SPI1 INFO [muorb] SLPI: Successfully created px4 task PX4_wq_SPI1 with tid 77 INFO [muorb] SLPI: *** SPI Device ID 0x26000a 2490378 INFO [muorb] SLPI: on SPI bus 1 INFO [muorb] SLPI: icm42688p #0 on SPI bus 1 (devid=0x0) INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: icm42688p start -s -h INFO [muorb] SLPI: Sending qshell retval with timestamp 624404183, current timestamp 624404183 INFO [uorb] Advertising remote topic qshell_retval INFO [qshell] qshell return value timestamp: 624404183, local time: 624407992 INFO [muorb] SLPI: Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic ERROR [muorb] SLPI: Cannot reset all parameters on client side 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 [dataman] Unknown restart, data manager file '/data/px4/dataman' size is 11798680 bytes INFO [qshell] Send cmd: 'sensors start -h' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: sensors start -h INFO [muorb] SLPI: Creating qurt thread wq_nav_and_controllers INFO [muorb] SLPI: Successfully created px4 task PX4_wq_nav_and_controllers with tid 76 INFO [muorb] SLPI: Creating qurt thread wq_rate_ctrl INFO [muorb] SLPI: Successfully created px4 task PX4_wq_rate_ctrl with tid 75 INFO [muorb] SLPI: Ok executing command: sensors start -h INFO [muorb] SLPI: Sending qshell retval with timestamp 626707779, current timestamp 626707782 INFO [uorb] Advertising remote topic sensors_status_imu INFO [qshell] qshell return value timestamp: 626707779, local time: 626711169 INFO [commander] Mission #2 loaded, 13 WPs, curr: 0 INFO [commander] LED: open /dev/led0 failed (22) INFO [muorb] SLPI: Advertising remote topic mission INFO [muorb] SLPI: Advertising remote topic led_control INFO [muorb] SLPI: Advertising remote topic tune_control INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed EKF health preflight check while waiting for filter to settle INFO [muorb] SLPI: Advertising remote topic vehicle_control_mode INFO [muorb] SLPI: Advertising remote topic vehicle_status INFO [muorb] SLPI: Advertising remote topic actuator_armed INFO [PreFlightCheck] Failed barometer preflight check INFO [muorb] SLPI: Advertising remote topic commander_state INFO [muorb] SLPI: Advertising remote topic vehicle_status_flags INFO [muorb] SLPI: Advertising remote topic vehicle_command INFO [commander] Handling Commander command 176 INFO [muorb] SLPI: Advertising remote topic vehicle_command_ack INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [muorb] SLPI: Advertising remote topic position_setpoint_triplet INFO [PreFlightCheck] Failed barometer preflight check INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [qshell] Send cmd: 'mc_pos_control start' INFO [muorb] SLPI: qshell gotten: mc_pos_control start INFO [muorb] SLPI: Ok executing command: mc_pos_control start INFO [muorb] SLPI: Sending qshell retval with timestamp 627951004, current timestamp 627951006 INFO [qshell] qshell return value timestamp: 627951004, local time: 627952949 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: Ok executing command: mc_att_control start INFO [muorb] SLPI: Sending qshell retval with timestamp 628024288, current timestamp 628024290 INFO [qshell] qshell return value timestamp: 628024288, local time: 628027033 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: Ok executing command: mc_rate_control start INFO [muorb] SLPI: Sending qshell retval with timestamp 628121854, current timestamp 628121856 INFO [qshell] qshell return value timestamp: 628121854, local time: 628122930 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: Ok executing command: mc_hover_thrust_estimator start INFO [muorb] SLPI: Sending qshell retval with timestamp 628181880, current timestamp 628181882 INFO [qshell] qshell return value timestamp: 628181880, local time: 628183203 INFO [PreFlightCheck] Failed barometer preflight check 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: Ok executing command: land_detector start multicopter INFO [muorb] SLPI: Sending qshell retval with timestamp 628293334, current timestamp 628293336 INFO [qshell] qshell return value timestamp: 628293334, local time: 628294343 INFO [uorb] Advertising remote topic vehicle_land_detected INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [qshell] Send cmd: 'pwm_out_sim start -m hil' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: pwm_out_sim start -m hil INFO [muorb] SLPI: Creating qurt thread wq_hp_default INFO [muorb] SLPI: Successfully created px4 task PX4_wq_hp_default with tid 74 INFO [uorb] Advertising remote topic test_motor INFO [muorb] SLPI: Ok executing command: pwm_out_sim start -m hil INFO [muorb] SLPI: Sending qshell retval with timestamp 629365786, current timestamp 629365788 INFO [qshell] qshell return value timestamp: 629365786, local time: 629367822 INFO [qshell] Send cmd: 'mixer load /dev/pwm_output0 quad_x.main.mix' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mixer load /dev/pwm_output0 quad_x.main.mix INFO [muorb] SLPI: Ok executing command: mixer load /dev/pwm_output0 quad_x.main.mix INFO [muorb] SLPI: Sending qshell retval with timestamp 629434024, current timestamp 629434026 INFO [qshell] qshell return value timestamp: 629434024, local time: 629436110 INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check 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: Creating qurt thread wq_INS0 INFO [muorb] SLPI: Successfully created px4 task PX4_wq_INS0 with tid 4170 INFO [muorb] SLPI: Ok executing command: ekf2 start INFO [muorb] SLPI: Sending qshell retval with timestamp 630732518, current timestamp 630732521 INFO [qshell] qshell return value timestamp: 630732518, local time: 630734090 INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [qshell] Send cmd: 'modalai_dsp start -p 2 -b 921600' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: modalai_dsp start -p 2 -b 921600 INFO [muorb] SLPI: Creating qurt thread modalai_dsp__main INFO [muorb] SLPI: Successfully created px4 task PX4_modalai_dsp__main with tid 73 INFO [muorb] SLPI: Ok executing command: modalai_dsp start -p 2 -b 921600 INFO [muorb] SLPI: Sending qshell retval with timestamp 631789844, current timestamp 631789846 ERROR [muorb] SLPI: Port is open: 0 INFO [uorb] Advertising remote topic sensor_accel INFO [uorb] Advertising remote topic sensor_gyro INFO [qshell] qshell return value timestamp: 631789844, local time: 631792366 INFO [muorb] SLPI: Got 5 from orb_subscribe INFO [muorb] SLPI: Got 6 from orb_subscribe INFO [muorb] SLPI: Got 7 from orb_subscribe INFO [muorb] SLPI: Got 8 from orb_subscribe INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [mavlink] mode: Onboard, data rate: 100000 B/s on udp port 14556 remote port 14557 INFO [muorb] SLPI: Marking DeviceNode(vehicle_command) as advertised in process_remote_topic INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [px4] Startup script returned successfully pxh> INFO [muorb] SLPI: Advertising remote topic telemetry_status INFO [mavlink] partner IP: 127.0.0.1 INFO [muorb] SLPI: Advertising remote topic obstacle_distance INFO [muorb] SLPI: Advertising remote topic offboard_control_mode INFO [PreFlightCheck] Failed barometer preflight check INFO [muorb] SLPI: Advertising remote topic timesync_status INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check pxh> INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check pxh> coINFO [PreFlightCheck] Failed barometer preflight check pxh> commINFO [PreFlightCheck] Failed barometer preflight check pxh> commanINFO [PreFlightCheck] Failed barometer preflight check pxh> commandeINFO [PreFlightCheck] Failed barometer preflight check pxh> commanderINFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check pxh> commander INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check pxh> commander tINFO [PreFlightCheck] Failed barometer preflight check pxh> commander takINFO [PreFlightCheck] Failed barometer preflight check pxh> commander takeoINFO [PreFlightCheck] Failed barometer preflight check pxh> commander takeoffINFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [muorb] SLPI: Marking DeviceNode(vehicle_command) as advertised in process_remote_topic pxh> INFO [muorb] SLPI: Marking DeviceNode(vehicle_command) as advertised in process_remote_topic INFO [commander] Handling Commander command 22 ERROR [commander] Takeoff denied! Please disarm and retry INFO [commander] Handling Commander command 400 INFO [commander] Arming reason 3 INFO [commander] Armed by internal command INFO [commander] Armed state changed. Was 0, now 1 INFO [muorb] SLPI: Marking DeviceNode(mavlink_log) as advertised in process_remote_topic INFO [commander] Takeoff detected ``` This is the gazebo terminal output ``` tamas@tamas:~/Develop/PX4-Autopilot$ gazebo Tools/sitl_gazebo/worlds/hitl_iris.world Opened serial device /dev/ttyUSB0 ../src/intel/isl/isl.c:2220: FINISHME: ../src/intel/isl/isl.c:isl_surf_supports_ccs: CCS for 3D textures is disabled, but a workaround is available. ``` It says takeoff detected in the voxl 2 terminal but no response in gazebo simulaor. How to fix this ? ## Reply by Zachary Lowell · 2022-08-31 16:59:25 UTC Based off the terminal output, looks like you have a good connection between your computer and the voxl2 - Did you ever run the following before running gazebo: `echo 1 | sudo tee /sys/bus/usb-serial/devices/ttyUSB0/latency_timer` ## Reply by Tamas Pal 0 · 2022-09-01 02:57:14 UTC (in reply to Zachary Lowell) @Zachary-Lowell Yes. I run this before running gazebo : ``` echo 1 | sudo tee /sys/bus/usb-serial/devices/ttyUSB0/latency_timer ``` The issue is that although the terminal in voxl 2 is showing takeoff detected there is no chnage in gazebo. How to fix this ? ## Reply by Tamas Pal 0 · 2022-09-01 05:46:54 UTC After ruuning all the command like my previous post I opened QGC. It shows flying status but no response in gazebo simulator. I have tried HITL with Jmavsim; here also the simulator not responding. And everytime when I open QGC after running voxl-px4-hitl it some popup comes like like some parameters are missing (SYS_AUTOSTART, SYS_AUTOCONFIG, BAT_V_LOAD_DROP, BAT_SOURCE, SDLOG_MODE). How to get the simulator running ? ## Reply by Zachary Lowell · 2022-09-02 16:14:30 UTC Those parameters are expected to be missing. Inside the hitl_iris.world file what sdf model are you leveraging? Also I always use PX4 v1.12.3 when running simulation with gazebo and almost never got this issue you are saying above and usually the echo 1 sudo tee line tends to fix that as it relays data as fast as possible. Are you trying to run the voxl2 in VIO or GPS mode for hitl? Also is there a specific baudrate max on your FTDI cable? ## Reply by Tamas Pal 0 · 2022-09-04 15:29:07 UTC (in reply to Zachary Lowell) @Zachary-Lowell I am using PX4 v1.13.0 because in PX4 v1.12.3 the Tools/setup_gazebo.bash file is missing. This is the hitl_iris.world file ``` 0.7 0.7 0.7 1 0.7 0.7 0.7 1 false -12.0 -3.0 10.0 0 0.5 0.2 orbit perspective model://sun 0 0 -9.8066 quick 10 1.3 0 0 0.2 100 0.001 0.004 1 250 6.0e-6 2.3e-5 -4.2e-5 model://ground_plane model://asphalt_plane model://iris_hitl 1.01 0.98 0.83 0 0 1.14 ``` I have tried to run this with both gps and vio mode, both having similar issues. The ftdi cable I am using is TTL-232R-3V3. is it fine ? ## Reply by Tamas Pal 0 · 2022-09-06 14:24:00 UTC The problem is solved. The problem was in FTDI cable. I changed the cable and it worked