# VOXL2 mavlink topic streaming modifications

Source: https://forum.modalai.com/topic/1872/voxl2-mavlink-topic-streaming-modifications
Category: VOXL 2 and VOXL 2 Mini (https://forum.modalai.com/category/26/voxl-2-and-voxl-2-mini)
Tags: voxl-2
Posted: 2023-02-25 02:29:30 UTC by JoeC
Replies: 13 · Views: 3094

## JoeC · 2023-02-25 02:29:30 UTC

Hello, what's the easiest method for modifications to the mavlink topic streaming for the VOXL2?  On the VOXL1 (and other PX4 HW) there's the SD card wherein you can add a /etc/extras.txt file for mavlink topic modifications (there is no SD card for the PX4). Also, you can typically change topics temporarily from the QGC mavlink console (this is not implemented on VOXL2 yet). I'd like to add some topics for streaming as well as reduce the rate for others.  Thanks!

## Reply by Eric Katzfey (ModalAI staff) · 2023-02-26 16:30:30 UTC

@JoeC The startup script for PX4 on VOXL2 is located at `/etc/modalai/voxl-px4.config`. You can modify that to change topic logging (There are already some modifications done in that file).

## Reply by JoeC · 2023-02-28 17:41:02 UTC (in reply to Eric Katzfey)

@Eric-Katzfey Thanks Eric!  It definitely sort of works.  Two things I note as I modified:  1.) The topic streaming rate appears to be double what you set using the '-r' argument in the 'mavlink stream' command.  Also, 2.) I was hoping to get RC_CHANNELS and interestingly, that particular topic isn't showing up at QGC.  HIGHRES_IMU, ATTITUDE, ATTITUDE_QUATERNION, ATTITUDE_TARGET, LOCAL_POSITION_NED, and ODOMETRY all stream back (at double rate).  RC_CHANNELS has nothing...

## Reply by Eric Katzfey (ModalAI staff) · 2023-02-28 18:29:07 UTC (in reply to JoeC)

@JoeC Okay, interesting, I'll have to look into that.

## Reply by Eric Katzfey (ModalAI staff) · 2023-03-04 01:03:06 UTC (in reply to JoeC)

@JoeC The RC_CHANNELS message relies on the input_rc topic. Are you sure that that is being generated? Can you see it being logged in log files? Can you see it with `px4-listener input_rc -n 1` when PX4 is running?

## Reply by Taylor Presley · 2023-03-09 06:15:07 UTC

@JoeC @Eric-Katzfey following. I'm using the VOXL 2 flight deck, Spektrum receiver, and Spektrum DXs transmitter. They are bound and I'm getting MAVLink messages in QGC, but no RC channels. PX4 is not publishing RC messages. Any feedback is appreciated!

```
voxl2:/$ px4-listener input_rc
never published
```

## Reply by Eric Katzfey (ModalAI staff) · 2023-03-09 15:35:25 UTC (in reply to Taylor Presley)

@Taylor-Presley How are you starting px4? Is it being started via systemd service or are you starting it from the command line? Are you using the `voxl-px4` script or calling `px4` directly? You need to make sure that the script is trying to start the spektrum_rc driver otherwise it will produce no output. Can you verify that the spektrum_rc driver is in fact starting and not some other RC driver?

## Reply by Taylor Presley · 2023-03-13 13:40:57 UTC

@Eric-Katzfey I've tried both, below is the output after I disable px4 and then start it using voxl-px4. It does appear to try and start spektrum_rc and then returns the errors "Open failed on 8" and "dsm init failed." I also get "px4io read failed," is it possible they are related? Thanks in advance for your help!

```
voxl2:/$ 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   | Disabled  | Not Running |
 voxl-cpu-monitor     |  Enabled  |   Running   |     0.0
 voxl-dfs-server      | Disabled  | Not Running |
 voxl-imu-server      | Disabled  | Not Running |
 voxl-mavlink-server  | Disabled  | Not Running |
 voxl-modem           | Disabled  | Not Running |
 voxl-portal          | Disabled  | Not Running |
 voxl-px4-imu-server  | Disabled  | Not Running |
 voxl-px4             | Disabled  | Not Running |
 voxl-qvio-server     | Disabled  | Not Running |
 voxl-static-ip       | Disabled  | Not Running |
 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     | Disabled  | Not Running |
voxl2:/$ voxl-px4
Found DSP signature file
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.config 0
Running on M0054
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  [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: 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  [uorb] Advertising remote topic sensor_accel
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] Advertising remote topic sensor_gyro
INFO  [uorb] Advertising remote topic imu_server
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
INFO  [muorb] SLPI: Sending qshell retval with timestamp 77614428, current timestamp 77614429
INFO  [uorb] Advertising remote topic qshell_retval
INFO  [qshell] qshell return value timestamp: 77614428, local time: 77754132
INFO  [uorb] Advertising remote topic sensor_gyro_fifo
INFO  [uorb] Advertising remote topic sensor_accel_fifo
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_client_set_value_response) as advertised in process_remote_topic
INFO  [logger] logger started (mode=all)
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: Creating qurt thread wq_I2C1

INFO  [muorb] SLPI: Successfully created px4 task PX4_wq_I2C1 with tid 75
INFO  [muorb] SLPI: *** I2C Device ID 0x60e09 396809
INFO  [muorb] SLPI: ist8310 #0 on I2C bus 1 (external)

INFO  [muorb] SLPI: Ok executing command: ist8310 start -R 10 -X -b 1
INFO  [muorb] SLPI: Sending qshell retval with timestamp 80719911, current timestamp 80719912
INFO  [qshell] qshell return value timestamp: 80719911, local time: 80721066
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: *** I2C Device ID 0x7b3809 8075273
INFO  [muorb] SLPI: rgbled_ncp5623c #0 on I2C bus 1 (external)

INFO  [muorb] SLPI: Ok executing command: rgbled_ncp5623c start -X -b 1 -f 400 -a 56
INFO  [muorb] SLPI: Sending qshell retval with timestamp 80751723, current timestamp 80751723
INFO  [qshell] qshell return value timestamp: 80751723, local time: 80753408
INFO  [qshell] Send cmd: 'icp10100 start -I -b 5'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: icp10100 start -I -b 5
INFO  [muorb] SLPI: Creating qurt thread wq_I2C5

INFO  [muorb] SLPI: Successfully created px4 task PX4_wq_I2C5 with tid 74
INFO  [muorb] SLPI: *** I2C Device ID 0x9c6329 10249001
INFO  [muorb] SLPI: probe probe succeeded. data = 0x1 0x48
INFO  [muorb] SLPI: icp10100 #0 on I2C bus 5

INFO  [muorb] SLPI: Ok executing command: icp10100 start -I -b 5
INFO  [muorb] SLPI: Sending qshell retval with timestamp 80788487, current timestamp 80788488
INFO  [qshell] qshell return value timestamp: 80788487, local time: 80789647
Starting modalai_esc driver
INFO  [uorb] Advertising remote topic sensor_mag
INFO  [uorb] Advertising remote topic sensor_baro
INFO  [qshell] Send cmd: 'modalai_esc start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: modalai_esc start
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: modalai_esc start
INFO  [muorb] SLPI: Opened UART ESC device
INFO  [muorb] SLPI: Sending qshell retval with timestamp 80881200, current timestamp 80881201
INFO  [qshell] qshell return value timestamp: 80881200, local time: 80883293
INFO  [qshell] Send cmd: 'mixer load /dev/uart_esc 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/uart_esc quad_x.main.mix
INFO  [muorb] SLPI: Creating qurt thread wq_rate_ctrl

INFO  [muorb] SLPI: Successfully created px4 task PX4_wq_rate_ctrl with tid 71
INFO  [muorb] SLPI: Ok executing command: mixer load /dev/uart_esc quad_x.main.mix
INFO  [muorb] SLPI: Sending qshell retval with timestamp 80962353, current timestamp 80962354
INFO  [qshell] qshell return value timestamp: 80962353, local time: 80964191
INFO  [uorb] Advertising remote topic actuator_outputs
INFO  [uorb] Advertising remote topic multirotor_motor_limits
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: Creating qurt thread wq_I2C2

INFO  [muorb] SLPI: Successfully created px4 task PX4_wq_I2C2 with tid 4169
INFO  [muorb] SLPI: *** I2C Device ID 0x784411 7881745
INFO  [uorb] Advertising remote topic battery_status
INFO  [muorb] SLPI: voxlpm #0 on I2C bus 2 (external)

INFO  [muorb] SLPI: Ok executing command: voxlpm start -X -b 2
INFO  [muorb] SLPI: Sending qshell retval with timestamp 81015254, current timestamp 81015255
INFO  [qshell] qshell return value timestamp: 81015254, local time: 81017021
INFO  [uorb] Advertising remote topic power_monitor
Starting Holybro GPS
INFO  [qshell] Send cmd: 'gps start -d 7 -b 115200'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: gps start -d 7 -b 115200
INFO  [muorb] SLPI: Creating qurt thread gps

INFO  [muorb] SLPI: Successfully created px4 task PX4_gps with tid 70
INFO  [muorb] SLPI: Ok executing command: gps start -d 7 -b 115200
INFO  [muorb] SLPI: Sending qshell retval with timestamp 81067431, current timestamp 81067432
INFO  [qshell] qshell return value timestamp: 81067431, local time: 81070463
INFO  [qshell] Send cmd: 'px4io detect'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: px4io detect
INFO  [muorb] SLPI: serial port fd 2
ERROR [muorb] SLPI: px4io read failed
ERROR [muorb] SLPI: px4io io_reg_get(0,0,1): data error -5
ERROR [muorb] SLPI: IO not installed
ERROR [muorb] SLPI: Detection attempt 2 failed
ERROR [muorb] SLPI: Detection attempt 1 failed
ERROR [muorb] SLPI: Detection attempt 0 failed
ERROR [muorb] SLPI: Failed to execute command: px4io detect
INFO  [muorb] SLPI: Sending qshell retval with timestamp 81127227, current timestamp 81127228
INFO  [qshell] cmd returned with: -17
INFO  [qshell] qshell return value timestamp: 81127227, local time: 81130928
ERROR [qshell] Command failed
M0065 not detected, starting Spektrum RC driver
INFO  [qshell] Send cmd: 'spektrum_rc start -d 8'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: spektrum_rc start -d 8
INFO  [muorb] SLPI: Creating qurt thread spektrum_rc_main

INFO  [muorb] SLPI: Successfully created px4 task PX4_spektrum_rc_main with tid 67
INFO  [muorb] SLPI: Ok executing command: spektrum_rc start -d 8
INFO  [muorb] SLPI: Sending qshell retval with timestamp 81177434, current timestamp 81177435
ERROR [muorb] SLPI: Open failed on 8
ERROR [muorb] SLPI: dsm init failed
INFO  [qshell] qshell return value timestamp: 81177434, local time: 81180285
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: Creating qurt thread wq_nav_and_controllers

INFO  [muorb] SLPI: Successfully created px4 task PX4_wq_nav_and_controllers with tid 4163
INFO  [muorb] SLPI: Ok executing command: sensors start
INFO  [muorb] SLPI: Sending qshell retval with timestamp 82265425, current timestamp 82265426
INFO  [uorb] Advertising remote topic vehicle_angular_acceleration
INFO  [uorb] Advertising remote topic vehicle_angular_velocity
INFO  [qshell] qshell return value timestamp: 82265425, local time: 82269473
INFO  [muorb] SLPI: Creating qurt thread wq_INS0

INFO  [muorb] SLPI: Successfully created px4 task PX4_wq_INS0 with tid 66
INFO  [uorb] Advertising remote topic vehicle_imu
INFO  [uorb] Advertising remote topic vehicle_imu_status
INFO  [uorb] Advertising remote topic sensors_status_imu
INFO  [uorb] Advertising remote topic vehicle_acceleration
INFO  [uorb] Advertising remote topic vehicle_magnetometer
INFO  [uorb] Advertising remote topic sensor_preflight_mag
INFO  [uorb] Advertising remote topic vehicle_air_data
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  [uorb] Advertising remote topic sensor_selection
INFO  [uorb] Advertising remote topic sensor_combined
INFO  [muorb] SLPI: Ok executing command: ekf2 start
INFO  [muorb] SLPI: Sending qshell retval with timestamp 82536895, current timestamp 82536896
INFO  [qshell] qshell return value timestamp: 82536895, local time: 82539136
ERROR [muorb] SLPI: 0 - vehicle_magnetometer lost, generation 0 -> 12
INFO  [uorb] Advertising remote topic ekf2_timestamps
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 82596219, current timestamp 82596219
INFO  [qshell] qshell return value timestamp: 82596219, local time: 82598209
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 82672105, current timestamp 82672106
INFO  [qshell] qshell return value timestamp: 82672105, local time: 82676085
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 82779424, current timestamp 82779425
INFO  [qshell] qshell return value timestamp: 82779424, local time: 82783625
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 82819473, current timestamp 82819474
INFO  [qshell] qshell return value timestamp: 82819473, local time: 82821069
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 82868826, current timestamp 82868827
INFO  [qshell] qshell return value timestamp: 82868826, local time: 82872765
INFO  [uorb] Advertising remote topic vehicle_land_detected
INFO  [muorb] SLPI: 83015116: reset position to last known position
INFO  [muorb] SLPI: 83015116: reset velocity to zero
INFO  [uorb] Advertising remote topic vehicle_local_position
INFO  [uorb] Advertising remote topic vehicle_odometry
INFO  [uorb] Advertising remote topic estimator_states
INFO  [uorb] Advertising remote topic estimator_status
INFO  [uorb] Advertising remote topic estimator_status_flags
INFO  [uorb] Advertising remote topic estimator_innovations
INFO  [uorb] Advertising remote topic estimator_innovation_test_ratios
INFO  [uorb] Advertising remote topic estimator_innovation_variances
INFO  [dataman] Unknown restart, data manager file '/data/px4/dataman' size is 11798680 bytes
INFO  [muorb] SLPI: Advertising remote topic position_setpoint_triplet
INFO  [commander] Mission #3 loaded, 1 WPs, curr: 0
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 system power 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 system power preflight check
INFO  [muorb] SLPI: Advertising remote topic commander_state
INFO  [uorb] Advertising remote topic rate_ctrl_status
INFO  [uorb] Advertising remote topic actuator_controls_0
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 system power preflight check
INFO  [PreFlightCheck] Failed system power 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  [uorb] Advertising remote topic estimator_sensor_bias
INFO  [PreFlightCheck] Failed system power preflight check
INFO  [PreFlightCheck] Failed system power preflight check
INFO  [PreFlightCheck] Failed system power preflight check
INFO  [PreFlightCheck] Failed system power preflight check
INFO  [muorb] SLPI: Advertising remote topic telemetry_status
INFO  [px4] Startup script returned successfully
pxh> INFO  [PreFlightCheck] Failed system power preflight check
INFO  [PreFlightCheck] Failed system power preflight check
INFO  [PreFlightCheck] Failed system power preflight check
INFO  [PreFlightCheck] Failed system power preflight check
INFO  [PreFlightCheck] Failed system power preflight check
INFO  [PreFlightCheck] Failed system power preflight check
INFO  [PreFlightCheck] Failed system power preflight check
INFO  [muorb] SLPI: 90040983: EKF aligned, (baro hgt, IMU buf: 11, OBS buf: 8)
INFO  [PreFlightCheck] Failed system power preflight check
INFO  [uorb] Advertising remote topic vehicle_attitude
INFO  [uorb] Advertising remote topic vehicle_attitude_setpoint
INFO  [uorb] Advertising remote topic vehicle_rates_setpoint
```

## Reply by JoeC · 2023-03-13 20:17:01 UTC (in reply to Eric Katzfey)

@Eric-Katzfey Hi Eric and @Taylor-Presley you might find this helpful as well, I just had a chance to setup the Spektrum bind cable and a Spektrum receiver/xmitter.  I AM now indeed getting RC_CHANNELS so I think my situation was because I didn't have the RC transmitter on the last time I was testing.  

@Taylor-Presley I note in your posted photo, most services are not running; on mine that is working at the moment, I've got camera-server, cpu-monitor, imu-server, mavlink-server, portal, px4-imu-server, and vision-px4 all running.  One thing you can try as well is to ensure you ran 'voxl-configure-mpa -p --family sentinel' and see if your setup starts working.

## Reply by Taylor Presley · 2023-03-13 23:56:54 UTC

@JoeC I did try that because I figured I may have screwed something up during HITL testing, but input_rc is still not publishing, sensor_gps is not published, and px4io is still failing to read. I'm open to trying anything that may work, all comments appreciated!

## Reply by Eric Katzfey (ModalAI staff) · 2023-03-14 21:20:53 UTC (in reply to Taylor Presley)

@Taylor-Presley px4io will fail to read if you do not have a px4io board attached to VOXL2.

## Reply by Eric Katzfey (ModalAI staff) · 2023-03-14 21:31:00 UTC (in reply to Eric Katzfey)

@Eric-Katzfey You can see in the script that if it fails to detect the px4io board (as you saw) then it will attempt to start the Spektum RC driver instead. However, your output shows that it fails to initialize uart 8. That doesn't look right.

## Reply by Eric Katzfey (ModalAI staff) · 2023-03-14 21:32:46 UTC (in reply to Eric Katzfey)

@Eric-Katzfey Sounds like you have 2 issues here that are not related to the original post. Can you create 2 new forum posts for the Spektrum issue and the GPS issue? Then we can try to solve those independently. Thanks!

## Reply by Taylor Presley · 2023-03-15 02:45:00 UTC (in reply to Eric Katzfey)

@Eric-Katzfey Thanks Eric, for future readers, I've created a new post at [Voxl 2 Spektrum RC Issue](https://forum.modalai.com/topic/1943/voxl-2-spektrum-rc-issue).