Sentinel PX4 ( NO GPs Lock and firmware problem )

[Samer Jaradat]

I've got some Sentinels that have been sitting on a shelf since last fall that I'm trying to get up and running for indoor flight tests. I've been running into some errors when trying to arm them via qgroundcontrol. For reference these are running with the microhard carrier add-on and two pMDDL2450 radios to communicate back and forth.

I'm unable to enable GPS even after updating the EKF2_AID_MASK parameter, I get frequent MAG#0 Timeout warnings and I have a pretty high loss rate over MAVLink. Also when the vehicles are ready to arm and I can get the motors to spin for a second and then some failsafe is enable that shuts everything down and forces the vehicle to reboot. When that happens I get the following logs in the QGC console:

""_handleCommandAck command(MAV_CMD_COMPONENT_ARM_DISARM)result(MAV_RESULT_ACCEPTED)""
"_handleCommandAck Ack not in list "MAV_CMD_COMPONENT_ARM_DISARM"

I also get the following error when navigating around the vehicle settings in QGC:

"Parameters are missing from firmware. You may be running a version of firmware which is not fully supported or your firmware has a bug in it. Missing paramsL 1:SDLOG_MODE"

I'm wondering if any of this has to do with the voxl-px4 firmware and whether updating it would help. These are running voxl-px4 version1.12.31beta

Who I flashed release of the sentinels with the SDK 0.9.5 and to solve at least a few of the issues Are there specific steps ?
Please tell me the details that help to solve these problems and how we can get rid of them as soon as possible

[Eric Katzfey]

@Samer-Jaradat The missing params warning can be safely ignored

[Eric Katzfey]

@Samer-Jaradat Can you log into your drone with adb or ssh and enter the command px4-qshell gps status?

[Samer Jaradat]

voxl2:/$ px4-qshell gps status
INFO [qshell] Send cmd: 'gps status'
INFO [qshell] qshell return value timestamp: 2376085469, local time: 2376088441

this is the result

[Eric Katzfey]

@Samer-Jaradat Okay, that's not very exciting. How about px4-listener sensor_gps?

[Samer Jaradat]

voxl2:/$ px4-listener sensor_gps
never published

[Eric Katzfey]

@Samer-Jaradat Okay, so that confirms that GPS driver has not been able to communicate with the GPS unit. Can you try journalctl --no-pager -b -u voxl-px4 > /tmp/test.txt and then attach the test.txt file so I can see all of the PX4 status and debug messages?

[Samer Jaradat]

voxl2:/$ journalctl --no-pager -b -u voxl-px4 > /tmp/test.txt
voxl2:/$ journalctl --no-pager -b -u voxl-px4
-- Logs begin at Thu 2023-03-02 12:58:02 UTC, end at Fri 2023-06-23 18:06:16 UTC. --
Jun 23 16:24:45 m0054 systemd[1]: Starting px4...
Jun 23 16:24:50 m0054 systemd[1]: Started px4.
Jun 23 16:24:50 m0054 bash[1691]: Found DSP signature file
Jun 23 16:24:50 m0054 bash[1691]: Running on M0054
Jun 23 16:24:52 m0054 bash[1691]: INFO [qshell] Send cmd: 'icm42688p start -s'
Jun 23 16:24:52 m0054 bash[1691]: INFO [qshell] qshell return value timestamp: 11522033, local time: 11523559
Jun 23 16:24:54 m0054 bash[1691]: Starting Holybro magnetometer
Jun 23 16:24:54 m0054 bash[1691]: INFO [qshell] Send cmd: 'ist8310 start -R 10 -X -b 1'
Jun 23 16:24:54 m0054 bash[1691]: INFO [qshell] qshell return value timestamp: 14344064, local time: 14345444
Jun 23 16:24:54 m0054 bash[1691]: Starting Holybro LED driver
Jun 23 16:24:54 m0054 bash[1691]: INFO [qshell] Send cmd: 'rgbled_ncp5623c start -X -b 1 -f 400 -a 56'
Jun 23 16:24:54 m0054 bash[1691]: INFO [qshell] qshell return value timestamp: 14401400, local time: 14402064
Jun 23 16:24:54 m0054 bash[1691]: INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM.
Jun 23 16:24:54 m0054 bash[1691]: INFO [px4] assuming working directory is rootfs, no symlinks needed.
Jun 23 16:24:54 m0054 bash[1691]: ______ __ __ ___
Jun 23 16:24:54 m0054 bash[1691]: | ___ \ \ \ / / / |
Jun 23 16:24:54 m0054 bash[1691]: | |/ / \ V / / /| |
Jun 23 16:24:54 m0054 bash[1691]: | __/ / \ / /| |
Jun 23 16:24:54 m0054 bash[1691]: | | / /^\ \ ___ |
Jun 23 16:24:54 m0054 bash[1691]: _| / / |_/
Jun 23 16:24:54 m0054 bash[1691]: px4 starting.
Jun 23 16:24:54 m0054 bash[1691]: INFO [px4] Calling startup script: /bin/sh /etc/modalai/voxl-px4.config 0
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: Creating qurt thread hpwork
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: Successfully created px4 task PX4_hpwork with tid 83
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: Creating qurt thread lpwork
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: Successfully created px4 task PX4_lpwork with tid 82
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: Creating qurt thread wkr_hrt
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: Successfully created px4 task PX4_wkr_hrt with tid 81
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: Creating qurt thread client_sync_thread
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: Successfully created px4 task PX4_client_sync_thread with tid 80
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: Creating qurt thread wq_manager
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: Successfully created px4 task PX4_wq_manager with tid 79
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: Creating qurt thread qshell
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 78
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: qshell gotten: icm42688p start -s
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: Creating qurt thread wq_SPI1
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: Successfully created px4 task PX4_wq_SPI1 with tid 76
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: *** SPI Device ID 0x26000a 2490378
Jun 23 16:24:54 m0054 bash[1691]: INFO [uorb] Advertising remote topic sensor_accel
Jun 23 16:24:54 m0054 bash[1691]: INFO [uorb] Marking DeviceNode(parameter_server_set_used_request) as advertised in process_remote_topic
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: Marking DeviceNode(parameter_server_set_used_response) as advertised in process_remote_topic
Jun 23 16:24:54 m0054 bash[1691]: INFO [uorb] Advertising remote topic sensor_gyro
Jun 23 16:24:54 m0054 bash[1691]: INFO [uorb] Advertising remote topic imu_server
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: on SPI bus 1
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: icm42688p #0 on SPI bus 1 (devid=0x0)
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI:
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: Ok executing command: icm42688p start -s
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: Sending qshell retval with timestamp 11522033, current timestamp 11522034
Jun 23 16:24:54 m0054 bash[1691]: INFO [uorb] Advertising remote topic qshell_retval
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic
Jun 23 16:24:54 m0054 bash[1691]: ERROR [muorb] SLPI: Cannot reset all parameters on client side
Jun 23 16:24:54 m0054 bash[1691]: INFO [uorb] Marking DeviceNode(parameter_client_reset_response) as advertised in process_remote_topic
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: Advertising remote topic parameter_update
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: Marking DeviceNode(parameter_client_set_value_request) as advertised in process_remote_topic
Jun 23 16:24:54 m0054 bash[1691]: INFO [uorb] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic
Jun 23 16:24:54 m0054 bash[1691]: INFO [logger] logger started (mode=all)
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: qshell gotten: ist8310 start -R 10 -X -b 1
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: Creating qurt thread wq_I2C1
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: Successfully created px4 task PX4_wq_I2C1 with tid 75
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: *** I2C Device ID 0x60e09 396809
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: ist8310 #0 on I2C bus 1 (external)
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: Ok executing command: ist8310 start -R 10 -X -b 1
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: Sending qshell retval with timestamp 14344064, current timestamp 14344065
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: qshell gotten: rgbled_ncp5623c start -X -b 1 -f 400 -a 56
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: *** I2C Device ID 0x7b3809 8075273
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: rgbled_ncp5623c #0 on I2C bus 1 (external)
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: Ok executing command: rgbled_ncp5623c start -X -b 1 -f 400 -a 56
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: Sending qshell retval with timestamp 14401400, current timestamp 14401401
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: qshell gotten: icp10100 start -I -b 5
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: Creating qurt thread wq_I2C5
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: Successfully created px4 task PX4_wq_I2C5 with tid 74
Jun 23 16:24:54 m0054 bash[1691]: INFO [muorb] SLPI: *** I2C Device ID 0x9c6329 1024INFO [qshell] Send cmd: 'icp10100 start -I -b 5'
Jun 23 16:24:54 m0054 bash[1691]: INFO [qshell] qshell return value timestamp: 14434955, local time: 14435823
Jun 23 16:24:55 m0054 bash[1691]: INFO [qshell] Send cmd: 'modalai_esc start'
Jun 23 16:24:55 m0054 bash[1691]: INFO [qshell] qshell return value timestamp: 14487155, local time: 14487822
Jun 23 16:24:55 m0054 bash[1691]: INFO [qshell] Send cmd: 'mixer load /dev/uart_esc quad_x.main.mix'
Jun 23 16:24:55 m0054 bash[1691]: INFO [qshell] qshell return value timestamp: 14542181, local time: 14543199
Jun 23 16:24:55 m0054 bash[1691]: INFO [qshell] Send cmd: 'voxlpm start -X -b 2'
Jun 23 16:24:55 m0054 bash[1691]: INFO [qshell] qshell return value timestamp: 14585276, local time: 14586089
Jun 23 16:24:55 m0054 bash[1691]: Starting Holybro GPS
Jun 23 16:24:55 m0054 bash[1691]: INFO [qshell] Send cmd: 'gps start -d 7 -b 115200'
Jun 23 16:24:55 m0054 bash[1691]: INFO [qshell] qshell return value timestamp: 14617107, local time: 14618038
Jun 23 16:24:55 m0054 bash[1691]: INFO [qshell] Send cmd: 'px4io detect'
Jun 23 16:24:55 m0054 bash[1691]: INFO [qshell] cmd returned with: -17
Jun 23 16:24:55 m0054 bash[1691]: INFO [qshell] qshell return value timestamp: 14668509, local time: 14669837
Jun 23 16:24:55 m0054 bash[1691]: ERROR [qshell] Command failed
Jun 23 16:24:55 m0054 bash[1691]: M0065 not detected, starting Spektrum RC driver
Jun 23 16:24:55 m0054 bash[1691]: INFO [qshell] Send cmd: 'spektrum_rc start -d 8'
Jun 23 16:24:55 m0054 bash[1691]: INFO [qshell] qshell return value timestamp: 14706420, local time: 14708458
Jun 23 16:24:56 m0054 bash[1691]: 9001
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: probe probe succeeded. data = 0x1 0x48
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: icp10100 #0 on I2C bus 5
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Ok executing command: icp10100 start -I -b 5
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Sending qshell retval with timestamp 14434955, current timestamp 14434956
Jun 23 16:24:56 m0054 bash[1691]: INFO [uorb] Advertising remote topic sensor_mag
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: qshell gotten: modalai_esc start
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Creating qurt thread wq_hp_default
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Successfully created px4 task PX4_wq_hp_default with tid 73
Jun 23 16:24:56 m0054 bash[1691]: INFO [uorb] Advertising remote topic test_motor
Jun 23 16:24:56 m0054 bash[1691]: INFO [uorb] Advertising remote topic sensor_baro
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Ok executing command: modalai_esc start
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Sending qshell retval with timestamp 14487155, current timestamp 14487156
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Opened UART ESC device
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: qshell gotten: mixer load /dev/uart_esc quad_x.main.mix
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Creating qurt thread wq_rate_ctrl
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Successfully created px4 task PX4_wq_rate_ctrl with tid 71
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Ok executing command: mixer load /dev/uart_esc quad_x.main.mix
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Sending qshell retval with timestamp 14542181, current timestamp 14542182
Jun 23 16:24:56 m0054 bash[1691]: INFO [uorb] Advertising remote topic actuator_outputs
Jun 23 16:24:56 m0054 bash[1691]: INFO [uorb] Advertising remote topic multirotor_motor_limits
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: qshell gotten: voxlpm start -X -b 2
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Creating qurt thread wq_I2C2
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Successfully created px4 task PX4_wq_I2C2 with tid 4169
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: *** I2C Device ID 0x784411 7881745
Jun 23 16:24:56 m0054 bash[1691]: INFO [uorb] Advertising remote topic battery_status
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: voxlpm #0 on I2C bus 2 (external)
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Ok executing command: voxlpm start -X -b 2
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Sending qshell retval with timestamp 14585276, current timestamp 14585277
Jun 23 16:24:56 m0054 bash[1691]: INFO [uorb] Advertising remote topic power_monitor
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: qshell gotten: gps start -d 7 -b 115200
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Creating qurt thread gps
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Successfully created px4 task PX4_gps with tid 70
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Ok executing command: gps start -d 7 -b 115200
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Sending qshell retval with timestamp 14617107, current timestamp 14617107
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: qshell gotten: px4io detect
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: serial port fd 2
Jun 23 16:24:56 m0054 bash[1691]: ERROR [muorb] SLPI: px4io read failed
Jun 23 16:24:56 m0054 bash[1691]: ERROR [muorb] SLPI: px4io io_reg_get(0,0,1): data error -5
Jun 23 16:24:56 m0054 bash[1691]: ERROR [muorb] SLPI: IO not installed
Jun 23 16:24:56 m0054 bash[1691]: ERROR [muorb] SLPI: Detection attempt 2 failed
Jun 23 16:24:56 m0054 bash[1691]: ERROR [muorb] SLPI: Detection attempt 1 failed
Jun 23 16:24:56 m0054 bash[1691]: ERROR [muorb] SLPI: Detection attempt 0 failed
Jun 23 16:24:56 m0054 bash[1691]: ERROR [muorb] SLPI: Failed to execute command: px4io detect
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Sending qshell retval with timestamp 14668509, current timestamp 14668510
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: qshell gotten: spektrum_rc start -d 8
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Creating qurt thread spektrum_rc_main
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Successfully created px4 task PX4_spektrum_rc_main with tid 67
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Ok executing command: spektrum_rc start -d 8
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Sending qshell retval with timestamp 14706420, current timestamp 14706421
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: qshell gotten: sensors start
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Creating qurt thread wq_nav_and_controllers
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Successfully created px4 task PX4_wq_nav_and_controllers with tid 66
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Ok executing command: sensors start
Jun 23 16:24:56 m0054 bash[1691]: INFO [muorb] SLPI: Sending qshell retval with timestamp 15763186, current timestamp 15763187
Jun 23 16:24:56 m0054 bash[1691]: INFO [uorb] Advertising remote topic vehicle_angINFO [qshell] Send cmd: 'sensors start'
Jun 23 16:24:56 m0054 bash[1691]: INFO [qshell] qshell return value timestamp: 15763186, local time: 15766524
Jun 23 16:24:56 m0054 bash[1691]: INFO [qshell] Send cmd: 'ekf2 start'
Jun 23 16:24:56 m0054 bash[1691]: INFO [qshell] qshell return value timestamp: 15924808, local time: 15926148
Jun 23 16:24:56 m0054 bash[1691]: INFO [qshell] Send cmd: 'mc_pos_control start'
Jun 23 16:24:56 m0054 bash[1691]: INFO [qshell] qshell return value timestamp: 15977526, local time: 15978641
Jun 23 16:24:56 m0054 bash[1691]: INFO [qshell] Send cmd: 'mc_att_control start'
Jun 23 16:24:56 m0054 bash[1691]: INFO [qshell] qshell return value timestamp: 16020779, local time: 16021799
Jun 23 16:24:56 m0054 bash[1691]: INFO [qshell] Send cmd: 'mc_rate_control start'
Jun 23 16:24:56 m0054 bash[1691]: INFO [qshell] qshell return value timestamp: 16076014, local time: 16077458
Jun 23 16:24:56 m0054 bash[1691]: INFO [qshell] Send cmd: 'mc_hover_thrust_estimator start'
Jun 23 16:24:56 m0054 bash[1691]: INFO [qshell] qshell return value timestamp: 16115582, local time: 16117055
Jun 23 16:24:56 m0054 bash[1691]: INFO [qshell] Send cmd: 'land_detector start multicopter'
Jun 23 16:24:56 m0054 bash[1691]: INFO [qshell] qshell return value timestamp: 16150880, local time: 16151957
Jun 23 16:24:57 m0054 bash[1691]: ular_acceleration
Jun 23 16:24:57 m0054 bash[1691]: INFO [uorb] Advertising remote topic vehicle_angular_velocity
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: Creating qurt thread wq_INS0
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: Successfully created px4 task PX4_wq_INS0 with tid 65
Jun 23 16:24:57 m0054 bash[1691]: INFO [uorb] Advertising remote topic vehicle_imu
Jun 23 16:24:57 m0054 bash[1691]: INFO [uorb] Advertising remote topic vehicle_imu_status
Jun 23 16:24:57 m0054 bash[1691]: INFO [uorb] Advertising remote topic sensors_status_imu
Jun 23 16:24:57 m0054 bash[1691]: INFO [uorb] Advertising remote topic vehicle_acceleration
Jun 23 16:24:57 m0054 bash[1691]: INFO [uorb] Advertising remote topic vehicle_air_data
Jun 23 16:24:57 m0054 bash[1691]: INFO [uorb] Advertising remote topic sensor_selection
Jun 23 16:24:57 m0054 bash[1691]: INFO [uorb] Advertising remote topic sensor_combined
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: qshell gotten: ekf2 start
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: Ok executing command: ekf2 start
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: Sending qshell retval with timestamp 15924808, current timestamp 15924809
Jun 23 16:24:57 m0054 bash[1691]: INFO [uorb] Advertising remote topic ekf2_timestamps
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: qshell gotten: mc_pos_control start
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: Ok executing command: mc_pos_control start
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: Sending qshell retval with timestamp 15977526, current timestamp 15977527
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: qshell gotten: mc_att_control start
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: Ok executing command: mc_att_control start
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: Sending qshell retval with timestamp 16020779, current timestamp 16020780
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: qshell gotten: mc_rate_control start
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: Ok executing command: mc_rate_control start
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: Sending qshell retval with timestamp 16076014, current timestamp 16076015
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: qshell gotten: mc_hover_thrust_estimator start
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: Ok executing command: mc_hover_thrust_estimator start
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: Sending qshell retval with timestamp 16115582, current timestamp 16115583
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: qshell gotten: land_detector start multicopter
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: Ok executing command: land_detector start multicopter
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: Sending qshell retval with timestamp 16150880, current timestamp 16150881
Jun 23 16:24:57 m0054 bash[1691]: INFO [uorb] Advertising remote topic vehicle_land_detected
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: 16481861: reset position to last known position
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: 16481861: reset velocity to zero
Jun 23 16:24:57 m0054 bash[1691]: INFO [uorb] Advertising remote topic vehicle_local_position
Jun 23 16:24:57 m0054 bash[1691]: INFO [uorb] Advertising remote topic vehicle_odometry
Jun 23 16:24:57 m0054 bash[1691]: INFO [uorb] Advertising remote topic estimator_states
Jun 23 16:24:57 m0054 bash[1691]: INFO [uorb] Advertising remote topic estimator_status
Jun 23 16:24:57 m0054 bash[1691]: INFO [uorb] Advertising remote topic estimator_status_flags
Jun 23 16:24:57 m0054 bash[1691]: INFO [uorb] Advertising remote topic estimator_innovations
Jun 23 16:24:57 m0054 bash[1691]: INFO [uorb] Advertising remote topic estimator_innovation_test_ratios
Jun 23 16:24:57 m0054 bash[1691]: INFO [uorb] Advertising remote topic estimator_innovation_variances
Jun 23 16:24:57 m0054 bash[1691]: INFO [dataman] Unknown restart, data manager file '/data/px4/dataman' size is 11798680 bytes
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: Advertising remote topic position_setpoint_triplet
Jun 23 16:24:57 m0054 bash[1691]: INFO [commander] LED: open /dev/led0 failed (22)
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: Advertising remote topic led_control
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: Advertising remote topic tune_control
Jun 23 16:24:57 m0054 bash[1691]: INFO [PreFlightCheck] Failed EKF health preflight check while waiting for filter to settle
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: Advertising remote topic vehicle_control_mode
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: Advertising remote topic vehicle_status
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: Advertising remote topic actuator_armed
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: Advertising remote topic commander_state
Jun 23 16:24:57 m0054 bash[1691]: INFO [uorb] Advertising remote topic rate_ctrl_status
Jun 23 16:24:57 m0054 bash[1691]: INFO [uorb] Advertising remote topic actuator_controls_0
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: Advertising remote topic vehicle_status_flags
Jun 23 16:24:57 m0054 bash[1691]: INFO [muorb] SLPI: Advertising remote topic vehicle_command
voxl2:/$ /tmp/test.txt
bash: /tmp/test.txt: Permission denied

[Samer Jaradat]

@Eric-Katzfey

no text file created

[tom]

@Samer-Jaradat do cat /tmp/test.txt, it probably was created

[tom]

@tom Or outside of the adb shell do adb pull /tmp/test.txt . to pull it off and upload that file here

[Eric Katzfey]

@Samer-Jaradat said in Sentinel PX4 ( NO GPs Lock and firmware problem ):

gps start -d 7 -b 115200

Please change the line qshell gps start -d 7 -b 115200 in /etc/modalai/voxl-px4.config to qshell gps start and see if that solves the GPS issue,

[Samer Jaradat]

@tom

no txt file created after do this command on my computer / tmp

[Eric Katzfey]

@Samer-Jaradat Don't worry about the text file. You pasted the output directly into the forum so that's just as good.

[Samer Jaradat]

@Eric-Katzfey
adb shell creat this result after do this command.

voxl2:/$ /etc/modalai/voxl-px4.config
bash: /etc/modalai/voxl-px4.config: Permission denied

[Eric Katzfey]

@Samer-Jaradat Don't try to execute that file directly. It is used by px4. Just edit it, save it, and then reboot your drone.

[Samer Jaradat]

@Eric-Katzfey

OK, but i don't know how we can edit it,
please tell me how i can edit it and save it.

[Eric Katzfey]

@Samer-Jaradat Please find a tutorial online about using the program vi to edit files in Linux.

[Samer Jaradat]

@Eric-Katzfey

when i open vi program this is the result as shown on my pc i cant show the command that need to editing

GNU nano 2.9.3 /etc/modalai/voxl-px4.config

#!/bin/sh

PX4 commands need the 'px4-' prefix in bash.

(px4-alias.sh is expected to be in the PATH)

. px4-alias.sh

Figure out what platform we are running on.

Eventually there will be a utility called voxl-platform that will

return the platform tag or an error code. This utility is not yet

ubiquitous so it may be that it isn't available. Trying to call a

non existent program will generate an error code by the OS. If the

program exists and doesn't return an error code then use the results.

PLATFORM=/usr/bin/voxl-platform 2> /dev/null
RETURNCODE=$?
if [ $RETURNCODE -ne 0 ]; then
# If we couldn't get the platform from the voxl-platform utility then check
# /etc/version to see if there is an M0052 substring in the version string.$
# then we assume that we are on M0052. Otherwise assume M0054.
VERSIONSTRING=$(</etc/version)
[ Read 271 lines ]
^G Get Help ^O Write Out ^W Where Is ^K Cut Text ^J Justify ^C Cur Pos
^X Exit ^R Read File ^\ Replace ^U Uncut Text^T To Linter ^_ Go To Line

[Samer Jaradat]

@Eric-Katzfey
this is file open when i use vi program ( no command qshell gps start -d 7 -b 115200 in script file )
this is all file command :

#!/bin/sh

PX4 commands need the 'px4-' prefix in bash.

(px4-alias.sh is expected to be in the PATH)

. px4-alias.sh

Figure out what platform we are running on.

Eventually there will be a utility called voxl-platform that will

return the platform tag or an error code. This utility is not yet

ubiquitous so it may be that it isn't available. Trying to call a

non existent program will generate an error code by the OS. If the

program exists and doesn't return an error code then use the results.

PLATFORM=/usr/bin/voxl-platform 2> /dev/null
RETURNCODE=$?
if [ $RETURNCODE -ne 0 ]; then
# If we couldn't get the platform from the voxl-platform utility then check
# then we assume that we are on M0052. Otherwise assume M0054.
VERSIONSTRING=$(</etc/version)
M0052SUBSTRING="M0052"
if [[ "$VERSIONSTRING" == "$M0052SUBSTRING" ]]; then
PLATFORM="M0052"
else
PLATFORM="M0054"
fi
fi

We can only run on M0052 or M0054 so exit with error if that is not the case

if [ $PLATFORM = "M0052" ]; then
/bin/echo "Running on M0052"
if [ "$RC" == "CRSF" ]; then
/bin/echo "Error, crossfire not supported on M0052!"
exit 0
fi
elif [ $PLATFORM = "M0054" ]; then
/bin/echo "Running on M0054"
else
/bin/echo "Error, cannot determine platform!"
exit 0
fi

uorb start
muorb start

In order to just exit after starting the uorb / muorb modules define

the environment variable MINIMAL_PX4. (e.g. export MINIMAL_PX4=1)

This is useful for testing / debug where you may want to start drivers

and modules manually from the px4 command shell

if [ ! -z $MINIMAL_PX4 ]; then
/bin/echo "Running minimal script"
exit 0
fi

#!/bin/sh

PX4 commands need the 'px4-' prefix in bash.

(px4-alias.sh is expected to be in the PATH)

. px4-alias.sh

Figure out what platform we are running on.

Eventually there will be a utility called voxl-platform that will

return the platform tag or an error code. This utility is not yet

ubiquitous so it may be that it isn't available. Trying to call a

non existent program will generate an error code by the OS. If the

program exists and doesn't return an error code then use the results.

PLATFORM=/usr/bin/voxl-platform 2> /dev/null
RETURNCODE=$?
if [ $RETURNCODE -ne 0 ]; then
# If we couldn't get the platform from the voxl-platform utility then check
# then we assume that we are on M0052. Otherwise assume M0054.
VERSIONSTRING=$(</etc/version)
M0052SUBSTRING="M0052"
if [[ "$VERSIONSTRING" == "$M0052SUBSTRING" ]]; then
PLATFORM="M0052"
else
PLATFORM="M0054"
fi
fi

We can only run on M0052 or M0054 so exit with error if that is not the case

if [ $PLATFORM = "M0052" ]; then
/bin/echo "Running on M0052"
if [ "$RC" == "CRSF" ]; then
/bin/echo "Error, crossfire not supported on M0052!"
exit 0
fi
elif [ $PLATFORM = "M0054" ]; then
/bin/echo "Running on M0054"
else
/bin/echo "Error, cannot determine platform!"
exit 0
fi

uorb start
muorb start

In order to just exit after starting the uorb / muorb modules define

the environment variable MINIMAL_PX4. (e.g. export MINIMAL_PX4=1)

This is useful for testing / debug where you may want to start drivers

and modules manually from the px4 command shell

if [ ! -z $MINIMAL_PX4 ]; then
/bin/echo "Running minimal script"
exit 0
fi

Sleep a little here. A lot happens when the uorb and muorb start

and we need to make sure that it all completes successfully to avoid

any possible race conditions.

/bin/sleep 1

IMU (accelerometer / gyroscope)

Start this first because it gets the high rate interrupts coming in to the

DSP. Without this the DSP will oversleep and miss critical timeouts.

TODO: Why is that the case?

if [ "$IMU" == "ROTATE_IMU_YAW_180" ]; then
/bin/echo "Starting IMU driver with yaw 180 rotation"
qshell icm42688p start -s -R 4
else
qshell icm42688p start -s
fi

/bin/sleep 1

Load in all of the parameters that have been saved in the file

param load

Start logging and use timestamps for log files when possible.

Add the "-e" option to start logging immediately. Default is

to log only when armed

logger start -t

We do not change the value of SYS_AUTOCONFIG but if it does not

show up as used then it is not reported to QGC and we get a

#!/bin/sh

PX4 commands need the 'px4-' prefix in bash.

(px4-alias.sh is expected to be in the PATH)

. px4-alias.sh

Figure out what platform we are running on.

Eventually there will be a utility called voxl-platform that will

return the platform tag or an error code. This utility is not yet

ubiquitous so it may be that it isn't available. Trying to call a

non existent program will generate an error code by the OS. If the

program exists and doesn't return an error code then use the results.

PLATFORM=/usr/bin/voxl-platform 2> /dev/null
RETURNCODE=$?
if [ $RETURNCODE -ne 0 ]; then
# If we couldn't get the platform from the voxl-platform utility then check
# then we assume that we are on M0052. Otherwise assume M0054.
VERSIONSTRING=$(</etc/version)
M0052SUBSTRING="M0052"
if [[ "$VERSIONSTRING" == "$M0052SUBSTRING" ]]; then
PLATFORM="M0052"
else
PLATFORM="M0054"
fi
fi

We can only run on M0052 or M0054 so exit with error if that is not the case

if [ $PLATFORM = "M0052" ]; then
/bin/echo "Running on M0052"
if [ "$RC" == "CRSF" ]; then
/bin/echo "Error, crossfire not supported on M0052!"
exit 0
fi
elif [ $PLATFORM = "M0054" ]; then
/bin/echo "Running on M0054"
else
/bin/echo "Error, cannot determine platform!"
exit 0
fi

uorb start
muorb start

In order to just exit after starting the uorb / muorb modules define

the environment variable MINIMAL_PX4. (e.g. export MINIMAL_PX4=1)

This is useful for testing / debug where you may want to start drivers

and modules manually from the px4 command shell

if [ ! -z $MINIMAL_PX4 ]; then
/bin/echo "Running minimal script"
exit 0
fi

Sleep a little here. A lot happens when the uorb and muorb start

and we need to make sure that it all completes successfully to avoid

any possible race conditions.

/bin/sleep 1

IMU (accelerometer / gyroscope)

Start this first because it gets the high rate interrupts coming in to the

DSP. Without this the DSP will oversleep and miss critical timeouts.

TODO: Why is that the case?

if [ "$IMU" == "ROTATE_IMU_YAW_180" ]; then
/bin/echo "Starting IMU driver with yaw 180 rotation"
qshell icm42688p start -s -R 4
else
qshell icm42688p start -s
fi

/bin/sleep 1

Load in all of the parameters that have been saved in the file

param load

Start logging and use timestamps for log files when possible.

Add the "-e" option to start logging immediately. Default is

to log only when armed

logger start -t

We do not change the value of SYS_AUTOCONFIG but if it does not

show up as used then it is not reported to QGC and we get a

missing parameter error.

param touch SYS_AUTOCONFIG

Start all of the device drivers on DSP

Magnetometer

if [ "$GPS" == "MATEK" ]; then
# Use this line for the magnetometer in the Matek Systems M8Q-5883 module
/bin/echo "Starting Mateksys M8Q-5883 magnetometer"
qshell qmc5883l start -R 10 -X -b 1
elif [ "$GPS" == "HERE3" ]; then
# Use this line for the magnetometer in the Here3 GPS module
/bin/echo "Starting Here3 ak09916 magnetometer"
qshell ak09916 start -R 2 -X
else
# Use this line for the magnetometer in the Holybro GPS module
/bin/echo "Starting Holybro magnetometer"
qshell ist8311 start -R 10 -X -b 1
fi

LED driver for the Pixhawk 4 GPS module

Older units have i2c address 0x39 (57) and newer ones 0x38 (56)

M0054 only supports the newer one. M0052 can support either.

if [ $PLATFORM = "M0052" ]; then
qshell rgbled_ncp5623c start -X -b 1 -f 400 -a 57
fi
102,18 33%
# Use this line for the magnetometer in the Here3 GPS module
/bin/echo "Starting Here3 ak09916 magnetometer"
qshell ak09916 start -R 2 -X
else
# Use this line for the magnetometer in the Holybro GPS module
/bin/echo "Starting Holybro magnetometer"
qshell ist8310 start -R 10 -X -b 1
fi

LED driver for the Pixhawk 4 GPS module

Older units have i2c address 0x39 (57) and newer ones 0x38 (56)

M0054 only supports the newer one. M0052 can support either.

if [ $PLATFORM = "M0052" ]; then
qshell rgbled_ncp5623c start -X -b 1 -f 400 -a 57
fi
if [ "$GPS" == "HOLYBRO" ]; then
/bin/echo "Starting Holybro LED driver"
qshell rgbled_ncp5623c start -X -b 1 -f 400 -a 56
elif [ "$GPS" == "HERE3" ]; then
# Use this line for the Here3 GPS module LED controller
/bin/echo "Starting Here3 LED"
qshell rgbled start -X -f 400
fi

Barometer

qshell icp10100 start -I -b 5

ESC driver

We start this even if there is a PX4IO module. If there is

a PX4IO (M0065) module it will be plugged into the RC port

                                                          117,1         39%