# HITL with VOXL 2 Serial Port Closed Source: https://forum.modalai.com/topic/1671/hitl-with-voxl-2-serial-port-closed Category: General Questions (https://forum.modalai.com/category/2/general-questions) Posted: 2023-01-08 19:46:46 UTC by Taylor Presley Replies: 6 · Views: 2044 ## Taylor Presley · 2023-01-08 19:46:46 UTC Hey good afternoon, I'm following [this user guide](https://docs.modalai.com/voxl2-PX4-hitl/) and [Zach's YT tutorial](https://www.youtube.com/watch?v=ysvpJdXFWaM) to setup HITL. I modified iris_hitl.sdf serialDevice to /dev/ttyUSB0, but continue to receive "Serial port closed!" message instead of expected "Opened serial device /dev/ttyUSB0" after running 'gazebo Tools/sitl_gazebo/worlds/hitl_iris.world' I've included PX4 output on target and QGC output below. I think I have cabling correct because QGC reads mavlink messages (and doesn't when I switch TX/RX). I'm using VOXL 2 Flight Deck, Ubuntu 20.04, ROS Noetic, Gazebo 11, QGC daily build. How can I fix this? ``` mdr@mdr:~$ adb shell voxl2:/$ voxl-px4-hitl -v Found DSP signature file Setting VIO 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-vio-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_AID_MASK: curr: 1 -> new: 280 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_AID_MASK SYS_HAS_MAG: curr: 1 -> new: 0 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for SYS_HAS_MAG EKF2_MAG_TYPE: curr: 0 -> new: 5 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_MAG_TYPE EKF2_HGT_MODE: curr: 0 -> new: 3 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_HGT_MODE 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 82 INFO [muorb] SLPI: Creating qurt thread lpwork INFO [muorb] SLPI: Successfully created px4 task PX4_lpwork with tid 81 INFO [muorb] SLPI: Creating qurt thread wkr_hrt INFO [muorb] SLPI: Successfully created px4 task PX4_wkr_hrt with tid 80 INFO [muorb] SLPI: Creating qurt thread client_sync_thread INFO [muorb] SLPI: Successfully created px4 task PX4_client_sync_thread with tid 79 INFO [muorb] SLPI: Creating qurt thread wq_manager INFO [muorb] SLPI: Successfully created px4 task PX4_wq_manager with tid 78 INFO [muorb] SLPI: Creating qurt thread qshell INFO [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 77 INFO [muorb] SLPI: muorb aggregator thread running INFO [logger] logger started (mode=all) INFO [logger] Start file log (type: full) INFO [logger] [logger] /data/px4/log/sess011/log001.ulg INFO [logger] Opened full log file: /data/px4/log/sess011/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 76 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 388011943, current timestamp 388011944 INFO [uorb] Advertising remote topic qshell_retval INFO [qshell] qshell return value timestamp: 388011943, local time: 388014777 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 75 INFO [muorb] SLPI: Creating qurt thread wq_rate_ctrl INFO [muorb] SLPI: Successfully created px4 task PX4_wq_rate_ctrl with tid 74 INFO [muorb] SLPI: Ok executing command: sensors start -h INFO [muorb] SLPI: Sending qshell retval with timestamp 390387672, current timestamp 390387673 INFO [uorb] Advertising remote topic sensors_status_imu INFO [qshell] qshell return value timestamp: 390387672, local time: 390391251 INFO [muorb] SLPI: Advertising remote topic mission INFO [commander] LED: open /dev/led0 failed (22) 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 [muorb] SLPI: qshell gotten: mc_pos_control start INFO [qshell] Send cmd: 'mc_pos_control start' INFO [muorb] SLPI: Ok executing command: mc_pos_control start INFO [muorb] SLPI: Sending qshell retval with timestamp 391611165, current timestamp 391611166 INFO [qshell] qshell return value timestamp: 391611165, local time: 391614168 INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [qshell] Send cmd: 'mc_att_control start' 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 391695176, current timestamp 391695177 INFO [qshell] qshell return value timestamp: 391695176, local time: 391696851 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 391819694, current timestamp 391819695 INFO [qshell] qshell return value timestamp: 391819694, local time: 391821826 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 391884503, current timestamp 391884503 INFO [qshell] qshell return value timestamp: 391884503, local time: 391887045 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 391986368, current timestamp 391986369 INFO [qshell] qshell return value timestamp: 391986368, local time: 391987655 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 73 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 393044419, current timestamp 393044420 INFO [qshell] qshell return value timestamp: 393044419, local time: 393045458 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 393105036, current timestamp 393105037 INFO [qshell] qshell return value timestamp: 393105036, local time: 393107031 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 4169 INFO [muorb] SLPI: Ok executing command: ekf2 start INFO [muorb] SLPI: Sending qshell retval with timestamp 394406195, current timestamp 394406196 INFO [qshell] qshell return value timestamp: 394406195, local time: 394407062 INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [qshell] Send cmd: 'modalai_dsp start -v -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 -v -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 72 INFO [muorb] SLPI: Ok executing command: modalai_dsp start -v -p 2 -b 921600 INFO [muorb] SLPI: Sending qshell retval with timestamp 395459398, current timestamp 395459399 ERROR [muorb] SLPI: Port is open: 0 INFO [uorb] Advertising remote topic sensor_accel INFO [uorb] Advertising remote topic sensor_gyro 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 [qshell] qshell return value timestamp: 395459398, local time: 395467699 INFO [PreFlightCheck] Failed barometer preflight check 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 timesync_status INFO [muorb] SLPI: Advertising remote topic vehicle_visual_odometry INFO [muorb] SLPI: Advertising remote topic obstacle_distance 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 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> parmaINFO [PreFlightCheck] Failed barometer preflight check pxh> parINFO [PreFlightCheck] Failed barometer preflight check pxh> param INFO [PreFlightCheck] Failed barometer preflight check pxh> param setINFO [PreFlightCheck] Failed barometer preflight check pxh> param set INFO [PreFlightCheck] Failed barometer preflight check pxh> param set SYINFO [PreFlightCheck] Failed barometer preflight check pxh> param set SYS_INFO [PreFlightCheck] Failed barometer preflight check pxh> param set SYS_HAINFO [PreFlightCheck] Failed barometer preflight check pxh> param set SYS_HAS_INFO [PreFlightCheck] Failed barometer preflight check pxh> param set SYS_HAS_BAINFO [PreFlightCheck] Failed barometer preflight check pxh> param set SYS_HAS_BAROINFO [PreFlightCheck] Failed barometer preflight check pxh> param set SYS_HAS_BARO 0INFO [PreFlightCheck] Failed barometer preflight check SYS_HAS_BARO: curr: 1 -> new: 0 pxh> commander check ERROR [PreFlightCheck] Preflight Fail: no valid data from Accel 0 INFO [PreFlightCheck] Preflight Fail: no valid data from Accel 0 ERROR [PreFlightCheck] Preflight Fail: Accel Range, hold still on arming ERROR [PreFlightCheck] Preflight Fail: no valid data from Gyro 0 INFO [PreFlightCheck] Preflight Fail: no valid data from Gyro 0 INFO [commander] Preflight check: FAILED INFO [commander] Prearm check: OK INFO [HealthFlags] DEVICE STATUS INFO [HealthFlags] ---------------------------------- INFO [HealthFlags] GYRO: INFO [HealthFlags] ACC: INFO [HealthFlags] MAG: INFO [HealthFlags] PRESS: INFO [HealthFlags] AIRSP: INFO [HealthFlags] GPS: OK INFO [HealthFlags] OPT: INFO [HealthFlags] VIO: INFO [HealthFlags] LASER: INFO [HealthFlags] GTRUTH: INFO [HealthFlags] RATES: INFO [HealthFlags] ATT: INFO [HealthFlags] YAW: INFO [HealthFlags] ALTCTL: INFO [HealthFlags] POS: INFO [HealthFlags] MOT: INFO [HealthFlags] RC : EN OFF INFO [HealthFlags] GYRO2: INFO [HealthFlags] ACC2: INFO [HealthFlags] MAG2: INFO [HealthFlags] GEOFENCE: INFO [HealthFlags] AHRS: EN ERR INFO [HealthFlags] TERRAIN: INFO [HealthFlags] REVMOT: INFO [HealthFlags] LOGGIN: INFO [HealthFlags] BATT: INFO [HealthFlags] PROX: INFO [HealthFlags] SATCOM: INFO [HealthFlags] PREARM: EN ERR INFO [HealthFlags] OBSAVD: ``` ``` mdr@mdr:~/Downloads$ ./QGroundControl.AppImage Settings location "/home/mdr/.config/QGroundControl.org/QGroundControl Daily.ini" Is writable?: true Filter rules "*Log.debug=false\nGStreamerAPILog.debug=true\nqt.qml.connections=false" System reported locale: QLocale(English, Latin, United States) ; Name "en_US" ; Preffered (used in maps): "en-US" serialnmea: No known GPS device found. Specify the COM port via QT_NMEA_SERIAL_PORT. MAVLinkLogManagerLog: MAVLink logs directory: "/home/mdr/Documents/QGroundControl Daily/Logs" Map Cache in: "/home/mdr/.cache/QGCMapCache300" / "qgcMapCache.db" setCurrentPlanViewSeqNum setCurrentPlanViewSeqNum Adding target QHostAddress("192.168.0.2") 14550 setCurrentPlanViewSeqNum setCurrentPlanViewSeqNum ParameterManagerLog: Attemping load from cache ParameterManagerLog: Parameters cache match failed /home/mdr/.config/QGroundControl.org/ParamCache/1_1.v2 FactPanelControllerLog: Missing parameter: "1:SYS_AUTOSTART" FactPanelControllerLog: Missing parameter: "1:SYS_AUTOCONFIG" FactPanelControllerLog: Missing parameter: "1:SYS_AUTOSTART" FactPanelControllerLog: Missing parameter: "1:BAT1_N_CELLS" FactPanelControllerLog: Missing parameter: "1:BAT1_V_EMPTY" FactPanelControllerLog: Missing parameter: "1:BAT1_V_CHARGED" setCurrentPlanViewSeqNum setCurrentPlanViewSeqNum ``` ## Reply by Zachary Lowell · 2023-01-13 17:04:48 UTC Hi @Taylor-Presley Does /dev/ttyUSB0 show up in your dev environment when you plug in your FTDI cable? Zach ## Reply by Taylor Presley · 2023-01-17 21:55:56 UTC Zach, Thanks for taking the time to look at this! Yes, see snippets below: ``` mdr@mdr:~$ lsusb Bus 001 Device 002: ID 0403:6001 Future Technology Devices International, Ltd FT232 Serial (UART) IC ``` ``` mdr@mdr:~$ dmesg | grep ttyUSB [ 3.219261] usb 1-2: FTDI USB Serial Device converter now attached to ttyUSB0 ``` ## Reply by Taylor Presley · 2023-01-25 18:57:41 UTC (in reply to Taylor Presley) @Zachary-Lowell have you had a chance to investigate? Is there any additional information I could provide that would help? Thanks, Taylor ## Reply by Zachary Lowell · 2023-01-26 16:28:05 UTC Try giving your usb device root permissions. Do the following: `sudo chmod 777 /dev/ttyUSB0` and then try rerunning all the same code. I think this might be a permissions issue. @Taylor-Presley ## Reply by Taylor Presley · 2023-01-27 01:33:07 UTC @Zachary-Lowell I have two instances setup, one for SITL with ROS, gazebo, and PX4 firmware, and another following the VOXL 2 PX4 HITL User Guide. I'm not sure why, but when I deleted the bashrc sources to the SITL catkin_ws and ROS package paths, and then followed the instructions, I was able to connect to gazebo with HITL and takeoff/land. Gazebo now prints 'Opened serial device /dev/ttyUSB0.' Thanks! ## Reply by Zachary Lowell 0 · 2023-01-27 18:33:14 UTC Hm thats super strange but I am glad you got it working! Keep us posted on how the project turns out :)