# voxl-mavlink-server[3036]: ERROR message magic number wrong #284

Source: https://forum.modalai.com/topic/1956/voxl-mavlink-server-3036-error-message-magic-number-wrong-284
Category: Flight Core and Legacy VOXL (https://forum.modalai.com/category/9/flight-core-and-legacy-voxl)
Tags: ardupilot
Posted: 2023-03-16 23:15:07 UTC by Moderator (ModalAI staff)
Replies: 8 · Views: 5638

## Moderator (ModalAI staff) · 2023-03-16 23:15:07 UTC

@patrickpoirier Moving to a new topic from [here](https://forum.modalai.com/topic/1849/voxl-cam-camera-server-crash?_=1678911531248) for better visibility

I have an other issue regarding connecting to ArduPilot

It seems it is having issue with MavLink Message :

voxl-mavlink-server[3036]: ERROR message magic number wrong #284
And it seems to reconnect under a different ID

![5a63e3a5-517c-4bc5-ae4e-eb5028d695be-image.png](https://forum.modalai.com/assets/uploads/files/1679008502550-5a63e3a5-517c-4bc5-ae4e-eb5028d695be-image.png) 

Do you have a clue?
Do you want me to open a new issue so we can follow more efficiently ?

## Reply by Chad Sweet (ModalAI staff) · 2023-03-16 23:17:47 UTC

An issue was recently identified where Mavlink 1 messages were causing issues. The fix is [here](https://gitlab.com/voxl-public/voxl-sdk/services/voxl-mavlink-server/-/commit/31045b4a3f58b5ccf3c7f82f8ae321c8372d93b1) on the stable branch. This might be related to what you are seeing

## Reply by patrickpoirier · 2023-03-17 11:34:33 UTC

@Chad-Sweet  thanks for the link, I will apply and report back

## Reply by patrickpoirier · 2023-03-21 13:23:01 UTC

@Chad-Sweet  still trying to figure out the best way to update the module.

I would appreciate some guidance on the process, I mean do I have to build using voxl-emulator docker and upload the particular module ?

## Reply by patrickpoirier · 2023-04-20 14:45:47 UTC

OK I have upodated to latest suite
voxl-suite:   0.9.5

Enabled services and configure 
voxl-configure-cameras 7 rotate_stereo 
voxl-configure-extrinsics  seeker_v1_voxlcam 

Magig number error is gone, but still experience the mavlink crasg and reboot that makes multiple instances on  Mavlink inspector as showned above

## Reply by patrickpoirier · 2023-04-20 14:51:45 UTC

I decided to test on PX4
Flashed the CUAV NORA with PX4 using QGgroundControl 
Connected and  tested by looking at ODOMETRY signal 
Working Good 
![63baa341-a0ee-4b59-a710-1f2452475a34-image.png](https://forum.modalai.com/assets/uploads/files/1682002026074-63baa341-a0ee-4b59-a710-1f2452475a34-image.png)

## Reply by patrickpoirier · 2023-04-20 14:55:44 UTC

What would be the next step ?
My use case requires ArduPilot and at the present stage it seems to be impractical unless you complete the complete integration.

Meanwhile, I will try the ROS optin, but this is quite a big detour for something that I was expeting as "Plug and Play".

## Reply by patrickpoirier · 2023-04-21 12:26:39 UTC

@Chad-Sweet
Could you implement a simple selection mode on the voxl-configure-vision-px4 allowing to specify px4 or ardupilot ?
And in the case of Ardupilot, just pass the qvio signal straight to mavlink  (I guess it was like this before ?)

## Reply by patrickpoirier · 2023-04-27 09:50:06 UTC

ok I found the problem... 
the Cube Serial inteface are driven by TXS0108E Level Shifter powered both side with 3.3 volt making it marginal for the Voxl Primary Serial interface. Switching to secondary interface on the Voxl made it work correctly.

I sent a request for a change in  the WIKI to reflect that configuration

![40f28124-b098-4482-a038-25c450b9df6c-image.png](https://forum.modalai.com/assets/uploads/files/1682588997181-40f28124-b098-4482-a038-25c450b9df6c-image.png)