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    VOXL2 SDK 1.0.0-beta6 voxl-px4 couldn't arm UAV (GPS LED always RED blinking)

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    • Eric KatzfeyE
      Eric Katzfey ModalAI Team @Aaky
      last edited by

      @Aaky said in VOXL2 SDK 1.0.0-beta6 voxl-px4 couldn't arm UAV (GPS LED always RED blinking):

      GPS Horizontal Pos Error too high

      This is the error that is preventing arming.

      A 1 Reply Last reply Reply Quote 0
      • A
        Aaky @Eric Katzfey
        last edited by Aaky

        @Eric-Katzfey Thank you for the quick response. I am aware of those default parameters. Will again give it a try.

        What is the reason behind GPS LED continuously blinking RED? That wasn't happening even if I was in indoor with GPS on older version PX4 1.12.31.

        Also in manual mode GPS Horizontal pos error preflight check shouldn't matter right? I am trying to arm in manual mode only and not in position mode.

        A Eric KatzfeyE 3 Replies Last reply Reply Quote 0
        • A
          Aaky @Aaky
          last edited by Aaky

          @Eric-Katzfey I tried to set parameters from above-mentioned link with ekf2_helpers for GPS outdoor with baro but with no luck, still GPS led continues to blink red.

          I also tried deleting default parameter file at /data/px4/parm/parameter and again restarting PX4 service still with no luck.

          I also tried flashing sentinel V1/V2 parameters but again with no luck.

          I can see 12 satellites with good enough HDOP and VDOP but still GPS led blinks red and never let's me arm the drone.

          I can sense some initialisation is not correct which is causing this. I have freshly installed system image with no changes on PX4 firmware side.

          Please help me further on this issue.

          Eric KatzfeyE 3 Replies Last reply Reply Quote 0
          • Eric KatzfeyE
            Eric Katzfey ModalAI Team @Aaky
            last edited by

            @Aaky Do you still see it fail with GPS Horizontal Pos Error too high?

            1 Reply Last reply Reply Quote 0
            • Eric KatzfeyE
              Eric Katzfey ModalAI Team @Aaky
              last edited by

              @Aaky Yes, you should be able to arm in manual mode without good GPS.

              1 Reply Last reply Reply Quote 0
              • Eric KatzfeyE
                Eric Katzfey ModalAI Team @Aaky
                last edited by

                @Aaky Can you show us the current output messages of px4 like in your first post?

                1 Reply Last reply Reply Quote 0
                • Eric KatzfeyE
                  Eric Katzfey ModalAI Team @Aaky
                  last edited by

                  @Aaky What happens if you set the parameter SYS_HAS_GPS to 0?

                  1 Reply Last reply Reply Quote 0
                  • Eric KatzfeyE
                    Eric Katzfey ModalAI Team @Aaky
                    last edited by

                    @Aaky What if you set COM_ARM_WO_GPS to 1?

                    A 1 Reply Last reply Reply Quote 0
                    • A
                      Aaky @Eric Katzfey
                      last edited by

                      @Eric-Katzfey Yes I still see it fail.

                      SYS_HAS_GPS setting to 0 has no effect.

                      COM_ARM_WO_GPS has no effect.

                      I will share the logs in this situation soon.

                      My main concern is why GPS LED is not going into blue blink even if it dosent have GPS lock in indoor just like it used to go in 1.12.31 PX4 version?

                      Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                      • Eric KatzfeyE
                        Eric Katzfey ModalAI Team @Aaky
                        last edited by

                        @Aaky It flashes red when a preflight check is failing. It doesn't necessarily have anything to do with GPS.

                        A 1 Reply Last reply Reply Quote 0
                        • A
                          Aaky @Eric Katzfey
                          last edited by

                          @Eric-Katzfey Okay but On QGC No such preflight check failure notification is coming up which can help solve this problem. I am using QGC v4.2.4 but I have also tried with v3.5.6.

                          Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                          • Eric KatzfeyE
                            Eric Katzfey ModalAI Team @Aaky
                            last edited by

                            @Aaky That is why you need to share the output from voxl-px4. It should print out an indication of which preflight check failed.

                            A 1 Reply Last reply Reply Quote 0
                            • A
                              Aaky @Eric Katzfey
                              last edited by

                              @Eric-Katzfey Please find attached logs of voxl-px4 service.

                              Below log is without daemon mode and with Holybro GPS

                              voxl2:/etc/systemd/system$ voxl-px4 -b
                              [INFO] /etc/modalai/voxl-px4.conf not found, using defaults
                              Found DSP signature file
                              [INFO] Holybro GPS selected
                              
                              *************************
                              GPS=HOLYBRO
                              RC=SPEKTRUM
                              OSD=DISABLE
                              DAEMON_MODE=DISABLE
                              SENSOR_CAL=ACTUAL
                              EXTRA STEPS:
                              *************************
                              
                              INFO  [px4] mlockall() enabled. PX4's virtual address space is locked into RAM.
                              INFO  [px4] assuming working directory is rootfs, no symlinks needed.
                              INFO  [muorb] Got muorb init command
                              Sending initialization request
                              Got topic data before configuration complete
                              Got topic data before configuration complete
                              Got topic data before configuration complete
                              Got topic data before configuration complete
                              Got topic data before configuration complete
                              Got topic data before configuration complete
                              Got topic data before configuration complete
                              Got topic data before configuration complete
                              Got topic data before configuration complete
                              Got topic data before configuration complete
                              Got topic data before configuration complete
                              Got topic data before configuration complete
                              Got topic data before configuration complete
                              INFO  [muorb] SLPI: muorb aggregator thread running
                              INFO  [muorb] muorb protobuf initalize method succeeded
                              INFO  [muorb] succesfully did ADVERTISE_TEST_TYPE
                              INFO  [muorb] SLPI: Creating pthread test_MUORB
                              
                              INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097656
                              INFO  [muorb] succesfully did SUBSCRIBE_TEST_TYPE
                              INFO  [muorb] SLPI: Creating pthread test_MUORB
                              
                              INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097655
                              INFO  [muorb] succesfully did TOPIC_TEST_TYPE
                              INFO  [muorb] SLPI: Creating pthread test_MUORB
                              
                              INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097654
                              INFO  [muorb] SLPI: Creating pthread test_MUORB
                              
                              INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097653
                              INFO  [muorb] succesfully did UNSUBSCRIBE_TEST_TYPE
                              INFO  [muorb] muorb test passed
                              
                              ______  __   __    ___ 
                              | ___ \ \ \ / /   /   |
                              | |_/ /  \ V /   / /| |
                              |  __/   /   \  / /_| |
                              | |     / /^\ \ \___  |
                              \_|     \/   \/     |_/
                              
                              px4 starting.
                              
                              INFO  [px4] startup script: /bin/sh /usr/bin/voxl-px4-start 0
                              INFO  [muorb] SLPI: Advertising remote topic log_message
                              INFO  [parameters] Starting param sync THREAD
                              
                              *************************
                              GPS: HOLYBRO
                              RC: SPEKTRUM
                              OSD: DISABLE
                              EXTRA STEPS:
                              	
                              *************************
                              
                              INFO  [muorb] SLPI: Starting param sync THREAD
                              Running on M0054
                              INFO  [muorb] SLPI: before starting the qshell_entry task
                              INFO  [muorb] SLPI: Creating pthread qshell
                              
                              INFO  [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 2097652
                              INFO  [muorb] SLPI: qshell entry.....
                              INFO  [muorb] SLPI: after starting the qshell_entry task
                              INFO  [muorb] SLPI: Init app map initialized
                              INFO  [param] selected parameter default file /data/px4/param/parameters
                              INFO  [muorb] SLPI: Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic
                              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  [parameters] BSON document size 2081 bytes, decoded 2081 bytes (INT32:30, FLOAT:64)
                              INFO  [logger] logger started (mode=all)
                              Starting IMU driver with no rotation
                              INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                              INFO  [qshell] Send cmd: 'icm42688p start -s'
                              INFO  [muorb] SLPI: qshell gotten: icm42688p start -s
                              INFO  [muorb] SLPI:   arg0 = 'icm42688p'
                              
                              INFO  [muorb] SLPI:   arg1 = 'start'
                              
                              INFO  [muorb] SLPI:   arg2 = '-s'
                              
                              INFO  [muorb] SLPI: *** SPI Device ID 0x26000a 2490378
                              INFO  [uORB] Advertising remote topic sensor_accel
                              INFO  [uORB] Advertising remote topic sensor_gyro
                              INFO  [muorb] SLPI: ICM42688P::probe successful!
                              INFO  [muorb] SLPI: on SPI bus 1
                              INFO  [muorb] SLPI: icm42688p #0 on SPI bus 1
                              INFO  [muorb] SLPI: 
                              
                              INFO  [muorb] SLPI: >>> ICM42688P this: 3176c0c0
                              INFO  [muorb] SLPI: Ok executing command: icm42688p start -s
                              INFO  [uORB] Advertising remote topic qshell_retval
                              INFO  [muorb] SLPI: >>> ICM42688P this: 3176c0c0
                              INFO  [qshell] qshell return value timestamp: 1444994972, local time: 1444999175
                              INFO  [muorb] SLPI: >>> ICM42688P this: 3176c0c0
                              INFO  [muorb] SLPI: Register interrupt b21d3164 e620e69c 3176c0c0
                              INFO  [uORB] Advertising remote topic sensor_gyro_fifo
                              INFO  [uORB] Advertising remote topic sensor_accel_fifo
                              INFO  [uORB] Advertising remote topic imu_server
                              INFO  [muorb] SLPI: >>> ICM42688P this: 3176c0c0
                              INFO  [qshell] Send cmd: 'icp101xx start -I -b 5'
                              INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                              INFO  [muorb] SLPI: qshell gotten: icp101xx start -I -b 5
                              INFO  [muorb] SLPI:   arg0 = 'icp101xx'
                              
                              INFO  [muorb] SLPI:   arg1 = 'start'
                              
                              INFO  [muorb] SLPI:   arg2 = '-I'
                              
                              INFO  [muorb] SLPI:   arg3 = '-b'
                              
                              INFO  [muorb] SLPI:   arg4 = '5'
                              
                              INFO  [muorb] SLPI: *** I2C Device ID 0xb76329 12018473
                              INFO  [muorb] SLPI: icp101xx #0 on I2C bus 5
                              INFO  [muorb] SLPI:  address 0x63
                              INFO  [muorb] SLPI: 
                              
                              INFO  [muorb] SLPI: Ok executing command: icp101xx start -I -b 5
                              INFO  [qshell] qshell return value timestamp: 1446063254, local time: 1446065261
                              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:   arg0 = 'ist8310'
                              
                              INFO  [muorb] SLPI:   arg1 = 'start'
                              
                              INFO  [muorb] SLPI:   arg2 = '-R'
                              
                              INFO  [muorb] SLPI:   arg3 = '10'
                              
                              INFO  [muorb] SLPI:   arg4 = '-X'
                              
                              INFO  [muorb] SLPI:   arg5 = '-b'
                              
                              INFO  [muorb] SLPI:   arg6 = '1'
                              
                              INFO  [muorb] SLPI: *** I2C Device ID 0x60e09 396809
                              INFO  [muorb] SLPI: ist8310 #0 on I2C bus 1
                              INFO  [muorb] SLPI:  (external)
                              INFO  [muorb] SLPI:  address 0xE
                              INFO  [muorb] SLPI:  rotation 10
                              INFO  [muorb] SLPI: 
                              
                              INFO  [muorb] SLPI: Ok executing command: ist8310 start -R 10 -X -b 1
                              INFO  [qshell] qshell return value timestamp: 1446122603, local time: 1446124645
                              INFO  [qshell] Send cmd: 'gps start'
                              INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                              INFO  [muorb] SLPI: qshell gotten: gps start
                              INFO  [muorb] SLPI:   arg0 = 'gps'
                              
                              INFO  [muorb] SLPI:   arg1 = 'start'
                              
                              INFO  [muorb] SLPI: Creating pthread gps
                              
                              INFO  [muorb] SLPI: Successfully created px4 task PX4_gps with tid 2097648
                              INFO  [muorb] SLPI: Ok executing command: gps start
                              INFO  [qshell] qshell return value timestamp: 1446176501, local time: 1446178234
                              Starting Holybro LED driver
                              INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                              INFO  [qshell] Send cmd: 'rgbled_ncp5623c start -X -b 1 -f 400 -a 56'
                              INFO  [muorb] SLPI: qshell gotten: rgbled_ncp5623c start -X -b 1 -f 400 -a 56
                              INFO  [muorb] SLPI:   arg0 = 'rgbled_ncp5623c'
                              
                              INFO  [muorb] SLPI:   arg1 = 'start'
                              
                              INFO  [muorb] SLPI:   arg2 = '-X'
                              
                              INFO  [muorb] SLPI:   arg3 = '-b'
                              
                              INFO  [muorb] SLPI:   arg4 = '1'
                              
                              INFO  [muorb] SLPI:   arg5 = '-f'
                              
                              INFO  [muorb] SLPI:   arg6 = '400'
                              
                              INFO  [muorb] SLPI:   arg7 = '-a'
                              
                              INFO  [muorb] SLPI:   arg8 = '56'
                              
                              INFO  [muorb] SLPI: *** I2C Device ID 0x7b3809 8075273
                              INFO  [muorb] SLPI: rgbled_ncp5623c #0 on I2C bus 1
                              INFO  [muorb] SLPI:  (external)
                              INFO  [muorb] SLPI:  address 0x38
                              INFO  [muorb] SLPI: 
                              
                              INFO  [muorb] SLPI: Ok executing command: rgbled_ncp5623c start -X -b 1 -f 400 -a 56
                              INFO  [qshell] qshell return value timestamp: 1446211242, local time: 1446214237
                              INFO  [uORB] Advertising remote topic sensor_mag
                              INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                              INFO  [qshell] Send cmd: 'modal_io start'
                              INFO  [uORB] Advertising remote topic sensor_baro
                              INFO  [muorb] SLPI: qshell gotten: modal_io start
                              INFO  [muorb] SLPI:   arg0 = 'modal_io'
                              
                              INFO  [muorb] SLPI:   arg1 = 'start'
                              
                              INFO  [uORB] Advertising remote topic actuator_outputs
                              INFO  [muorb] SLPI: Ok executing command: modal_io start
                              INFO  [muorb] SLPI: Opened UART ESC device
                              INFO  [qshell] qshell return value timestamp: 1446338696, local time: 1446341515
                              INFO  [uORB] Advertising remote topic esc_status
                              Starting Spektrum RC
                              INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                              INFO  [muorb] SLPI: qshell gotten: spektrum_rc start
                              INFO  [qshell] Send cmd: 'spektrum_rc start'
                              INFO  [muorb] SLPI:   arg0 = 'spektrum_rc'
                              
                              INFO  [muorb] SLPI:   arg1 = 'start'
                              
                              INFO  [muorb] SLPI: Creating pthread spektrum_rc_main
                              
                              INFO  [muorb] SLPI: Successfully created px4 task PX4_spektrum_rc_main with tid 2097645
                              INFO  [muorb] SLPI: Ok executing command: spektrum_rc start
                              INFO  [qshell] qshell return value timestamp: 1447405538, local time: 1447407699
                              INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                              INFO  [qshell] Send cmd: 'voxlpm start -X -b 2'
                              INFO  [muorb] SLPI: qshell gotten: voxlpm start -X -b 2
                              INFO  [muorb] SLPI:   arg0 = 'voxlpm'
                              
                              INFO  [muorb] SLPI:   arg1 = 'start'
                              
                              INFO  [muorb] SLPI:   arg2 = '-X'
                              
                              INFO  [muorb] SLPI:   arg3 = '-b'
                              
                              INFO  [muorb] SLPI:   arg4 = '2'
                              
                              INFO  [muorb] SLPI: *** I2C Device ID 0xd24411 13779985
                              INFO  [muorb] SLPI: Set i2c address 0x6a, fd 3
                              INFO  [muorb] SLPI: Set i2c address 0x44, fd 3
                              INFO  [uORB] Advertising remote topic battery_status
                              INFO  [muorb] SLPI: voxlpm #0 on I2C bus 2
                              INFO  [muorb] SLPI:  (external)
                              INFO  [muorb] SLPI:  address 0x44
                              INFO  [muorb] SLPI: 
                              
                              INFO  [muorb] SLPI: Ok executing command: voxlpm start -X -b 2
                              INFO  [uORB] Advertising remote topic power_monitor
                              INFO  [qshell] qshell return value timestamp: 1448475700, local time: 1448478307
                              INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                              INFO  [muorb] SLPI: qshell gotten: sensors start
                              INFO  [muorb] SLPI:   arg0 = 'sensors'
                              
                              INFO  [muorb] SLPI:   arg1 = 'start'
                              
                              INFO  [qshell] Send cmd: 'sensors start'
                              INFO  [uORB] Advertising remote topic sensor_selection
                              INFO  [uORB] Advertising remote topic sensors_status_imu
                              INFO  [uORB] Advertising remote topic vehicle_acceleration
                              INFO  [uORB] Advertising remote topic vehicle_angular_velocity
                              INFO  [uORB] Advertising remote topic sensor_combined
                              INFO  [uORB] Advertising remote topic vehicle_air_data
                              INFO  [uORB] Advertising remote topic vehicle_gps_position
                              ERROR [muorb] SLPI: Timeout waiting for parameter_server_set_used_response for SENS_MAG_MODE
                              INFO  [uORB] Advertising remote topic sensors_status_baro
                              INFO  [uORB] Advertising remote topic vehicle_magnetometer
                              INFO  [uORB] Advertising remote topic sensor_preflight_mag
                              INFO  [uORB] Advertising remote topic vehicle_imu
                              INFO  [uORB] Advertising remote topic vehicle_imu_status
                              INFO  [muorb] SLPI: Ok executing command: sensors start
                              INFO  [qshell] qshell return value timestamp: 1448704886, local time: 1448712168
                              INFO  [uORB] Advertising remote topic sensors_status_mag
                              INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                              INFO  [muorb] SLPI: qshell gotten: ekf2 start
                              INFO  [muorb] SLPI:   arg0 = 'ekf2'
                              
                              INFO  [muorb] SLPI:   arg1 = 'start'
                              
                              INFO  [qshell] Send cmd: 'ekf2 start'
                              INFO  [uORB] Advertising remote topic vehicle_attitude
                              INFO  [uORB] Advertising remote topic vehicle_local_position
                              INFO  [uORB] Advertising remote topic estimator_event_flags
                              INFO  [uORB] Advertising remote topic estimator_innovation_test_ratios
                              INFO  [uORB] Advertising remote topic estimator_innovation_variances
                              INFO  [uORB] Advertising remote topic estimator_innovations
                              INFO  [uORB] Advertising remote topic estimator_sensor_bias
                              INFO  [uORB] Advertising remote topic estimator_states
                              INFO  [uORB] Advertising remote topic estimator_status_flags
                              INFO  [uORB] Advertising remote topic estimator_status
                              INFO  [muorb] SLPI: Ok executing command: ekf2 start
                              INFO  [qshell] qshell return value timestamp: 1449031475, local time: 1449039018
                              INFO  [uORB] Advertising remote topic ekf2_timestamps
                              INFO  [uORB] Advertising remote topic vehicle_odometry
                              INFO  [uORB] Advertising remote topic estimator_aid_src_fake_pos
                              INFO  [uORB] Advertising remote topic estimator_aid_src_fake_hgt
                              INFO  [uORB] Advertising remote topic estimator_aid_src_mag_heading
                              INFO  [uORB] Advertising remote topic estimator_aid_src_mag
                              INFO  [uORB] Advertising remote topic estimator_aid_src_gravity
                              INFO  [qshell] Send cmd: 'mc_pos_control start'
                              INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                              INFO  [muorb] SLPI: qshell gotten: mc_pos_control start
                              INFO  [muorb] SLPI:   arg0 = 'mc_pos_control'
                              
                              INFO  [muorb] SLPI:   arg1 = 'start'
                              
                              INFO  [uORB] Advertising remote topic estimator_aid_src_baro_hgt
                              INFO  [uORB] Advertising remote topic takeoff_status
                              INFO  [muorb] SLPI: Ok executing command: mc_pos_control start
                              INFO  [qshell] qshell return value timestamp: 1449174525, local time: 1449176355
                              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:   arg0 = 'mc_att_control'
                              
                              INFO  [muorb] SLPI:   arg1 = 'start'
                              
                              INFO  [muorb] SLPI: Ok executing command: mc_att_control start
                              INFO  [qshell] qshell return value timestamp: 1449244387, local time: 1449246464
                              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:   arg0 = 'mc_rate_control'
                              
                              INFO  [muorb] SLPI:   arg1 = 'start'
                              
                              INFO  [uORB] Advertising remote topic rate_ctrl_status
                              INFO  [muorb] SLPI: Ok executing command: mc_rate_control start
                              INFO  [qshell] qshell return value timestamp: 1449391261, local time: 1449394034
                              INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                              INFO  [qshell] Send cmd: 'mc_hover_thrust_estimator start'
                              INFO  [muorb] SLPI: qshell gotten: mc_hover_thrust_estimator start
                              INFO  [muorb] SLPI:   arg0 = 'mc_hover_thrust_estimator'
                              
                              INFO  [muorb] SLPI:   arg1 = 'start'
                              
                              INFO  [muorb] SLPI: Ok executing command: mc_hover_thrust_estimator start
                              INFO  [qshell] qshell return value timestamp: 1449469671, local time: 1449473908
                              INFO  [qshell] Send cmd: 'mc_autotune_attitude_control start'
                              INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                              INFO  [muorb] SLPI: qshell gotten: mc_autotune_attitude_control start
                              INFO  [muorb] SLPI:   arg0 = 'mc_autotune_attitude_control'
                              
                              INFO  [muorb] SLPI:   arg1 = 'start'
                              
                              INFO  [uORB] Advertising remote topic autotune_attitude_control_status
                              INFO  [muorb] SLPI: Ok executing command: mc_autotune_attitude_control start
                              INFO  [qshell] qshell return value timestamp: 1449531494, local time: 1449532797
                              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:   arg0 = 'land_detector'
                              
                              INFO  [muorb] SLPI:   arg1 = 'start'
                              
                              INFO  [muorb] SLPI:   arg2 = 'multicopter'
                              
                              INFO  [muorb] SLPI: Ok executing command: land_detector start multicopter
                              INFO  [uORB] Advertising remote topic vehicle_land_detected
                              INFO  [qshell] qshell return value timestamp: 1449602580, local time: 1449606580
                              INFO  [qshell] Send cmd: 'manual_control start'
                              INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                              INFO  [muorb] SLPI: qshell gotten: manual_control start
                              INFO  [muorb] SLPI:   arg0 = 'manual_control'
                              
                              INFO  [muorb] SLPI:   arg1 = 'start'
                              
                              INFO  [muorb] SLPI: Ok executing command: manual_control start
                              INFO  [qshell] qshell return value timestamp: 1449685436, local time: 1449688087
                              INFO  [uORB] Advertising remote topic manual_control_setpoint
                              INFO  [qshell] Send cmd: 'control_allocator start'
                              INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                              INFO  [muorb] SLPI: qshell gotten: control_allocator start
                              INFO  [muorb] SLPI:   arg0 = 'control_allocator'
                              
                              INFO  [muorb] SLPI:   arg1 = 'start'
                              
                              INFO  [uORB] Advertising remote topic control_allocator_status
                              INFO  [uORB] Marking DeviceNode(control_allocator_status) as advertised in process_remote_topic
                              INFO  [uORB] Advertising remote topic actuator_motors
                              INFO  [uORB] Advertising remote topic actuator_servos
                              INFO  [uORB] Advertising remote topic actuator_servos_trim
                              INFO  [muorb] SLPI: Ok executing command: control_allocator start
                              INFO  [qshell] qshell return value timestamp: 1450104510, local time: 1450108431
                              INFO  [qshell] Send cmd: 'rc_update start'
                              INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                              INFO  [muorb] SLPI: qshell gotten: rc_update start
                              INFO  [muorb] SLPI:   arg0 = 'rc_update'
                              
                              INFO  [muorb] SLPI:   arg1 = 'start'
                              
                              INFO  [muorb] SLPI: Ok executing command: rc_update start
                              INFO  [qshell] qshell return value timestamp: 1450511359, local time: 1450513507
                              INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                              INFO  [muorb] SLPI: qshell gotten: commander start
                              INFO  [qshell] Send cmd: 'commander start'
                              INFO  [muorb] SLPI:   arg0 = 'commander'
                              
                              INFO  [muorb] SLPI:   arg1 = 'start'
                              
                              INFO  [muorb] SLPI: Creating pthread commander
                              
                              INFO  [muorb] SLPI: Successfully created px4 task PX4_commander with tid 2097641
                              INFO  [uORB] Advertising remote topic led_control
                              INFO  [muorb] SLPI: LED: open /dev/led0 failed (22)
                              INFO  [uORB] Advertising remote topic tune_control
                              INFO  [muorb] SLPI: Ok executing command: commander start
                              INFO  [qshell] qshell return value timestamp: 1450817059, local time: 1450818888
                              INFO  [uORB] Advertising remote topic event
                              INFO  [uORB] Advertising remote topic health_report
                              INFO  [uORB] Advertising remote topic failsafe_flags
                              INFO  [uORB] Advertising remote topic actuator_armed
                              INFO  [uORB] Advertising remote topic vehicle_control_mode
                              INFO  [uORB] Advertising remote topic vehicle_status
                              INFO  [uORB] Advertising remote topic failure_detector_status
                              INFO  [uORB] Advertising remote topic vehicle_thrust_setpoint
                              INFO  [uORB] Advertising remote topic vehicle_torque_setpoint
                              INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                              INFO  [muorb] SLPI: qshell gotten: commander mode manual
                              INFO  [muorb] SLPI:   arg0 = 'commander'
                              
                              INFO  [muorb] SLPI:   arg1 = 'mode'
                              
                              INFO  [qshell] Send cmd: 'commander mode manual'
                              INFO  [muorb] SLPI:   arg2 = 'manual'
                              
                              INFO  [uORB] Advertising remote topic vehicle_command
                              INFO  [muorb] SLPI: Ok executing command: commander mode manual
                              INFO  [uORB] Advertising remote topic vehicle_command_ack
                              INFO  [qshell] qshell return value timestamp: 1450866530, local time: 1450874528
                              INFO  [uORB] Advertising remote topic vehicle_rates_setpoint
                              INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                              INFO  [qshell] Send cmd: 'param_set_selector start'
                              INFO  [muorb] SLPI: qshell gotten: param_set_selector start
                              INFO  [muorb] SLPI:   arg0 = 'param_set_selector'
                              
                              INFO  [muorb] SLPI:   arg1 = 'start'
                              
                              INFO  [muorb] SLPI: Ok executing command: param_set_selector start
                              INFO  [qshell] qshell return value timestamp: 1450932625, local time: 1450933962
                              INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
                              INFO  [qshell] Send cmd: 'flight_mode_manager start'
                              INFO  [muorb] SLPI: qshell gotten: flight_mode_manager start
                              INFO  [muorb] SLPI:   arg0 = 'flight_mode_manager'
                              
                              INFO  [muorb] SLPI:   arg1 = 'start'
                              
                              INFO  [uORB] Marking DeviceNode(vehicle_command) as advertised in process_remote_topic
                              INFO  [muorb] SLPI: Ok executing command: flight_mode_manager start
                              INFO  [qshell] qshell return value timestamp: 1451123263, local time: 1451126349
                              INFO  [dataman] data manager file '/data/px4/dataman' size is 7866640 bytes
                              INFO  [muorb] SLPI: Advertising remote topic transponder_report
                              INFO  [muorb] SLPI: Advertising remote topic rtl_time_estimate
                              INFO  [muorb] SLPI: Advertising remote topic position_setpoint_triplet
                              INFO  [mavlink] mode: Onboard, data rate: 100000 B/s on udp port 14556 remote port 14557
                              INFO  [muorb] SLPI: Advertising remote topic telemetry_status
                              INFO  [mavlink] partner IP: 127.0.0.1
                              INFO  [muorb] SLPI: Advertising remote topic offboard_control_mode
                              INFO  [muorb] SLPI: Advertising remote topic obstacle_distance
                              INFO  [muorb] SLPI: Advertising remote topic timesync_status
                              INFO  [mavlink] mode: Normal, data rate: 100000 B/s on udp port 14558 remote port 14559
                              INFO  [muorb] SLPI: Marking DeviceNode(telemetry_status) as advertised in process_remote_topic
                              INFO  [mavlink] partner IP: 127.0.0.1
                              INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
                              INFO  [px4] Startup script returned successfully
                              pxh> INFO  [muorb] SLPI: Advertising remote topic ping
                              WARN  [uORB] orb_advertise_multi: failed to set queue size
                              INFO  [uORB] Advertising remote topic actuator_test
                              INFO  [uORB] Advertising remote topic trajectory_setpoint
                              INFO  [uORB] Advertising remote topic vehicle_constraints
                              INFO  [uORB] Advertising remote topic landing_gear
                              INFO  [uORB] Advertising remote topic actuator_controls_status_0
                              INFO  [uORB] Advertising remote topic mavlink_log
                              INFO  [muorb] SLPI: Connection to ground station lost	
                              INFO  [muorb] SLPI: GCS connection regained	
                              

                              One quick question, Is daemon mode enabling necessary on 1.14? What does daemon mode mean? Even with daemon enabled I face same problem.

                              I can see warning "WARN [uORB] orb_advertise_multi: failed to set queue size" coming up when first time I try to arm the UAV. Can this be problem?

                              Please help further what preflight check is failing as per above log. I am still unable to arm the UAV in manual mode and GPS LED is also always blinking red.

                              Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                              • Eric KatzfeyE
                                Eric Katzfey ModalAI Team @Aaky
                                last edited by

                                @Aaky Daemon mode means it is running as a background system process. And that orb_advertise_multi warning can be safely ignored. Did you try to arm and get a failure in that log?

                                A 1 Reply Last reply Reply Quote 0
                                • A
                                  Aaky @Eric Katzfey
                                  last edited by

                                  @Eric-Katzfey Yes I tried to arm and got failure. What can be the reason as per the logs?

                                  Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                                  • Eric KatzfeyE
                                    Eric Katzfey ModalAI Team @Aaky
                                    last edited by

                                    @Aaky There isn't really anything in the log declaring a preflight failure. If you keep trying to arm do you get anything in the log? What does QGC tell you if you try to arm?

                                    A 1 Reply Last reply Reply Quote 0
                                    • A
                                      Aaky @Eric Katzfey
                                      last edited by Aaky

                                      @Eric-Katzfey QGC says, " MAV_CMD_COMPONENT_ARM_DISARM temperorily rejected".
                                      This happens in manual mode and GPS LED blinks red, even after I have completed calibration of Mag, Accel and gyro.
                                      Also whenever I ARM, I do not get anything on voxl-px4 logs.
                                      Should I send over my parameter file? Can that help?

                                      Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                                      • Eric KatzfeyE
                                        Eric Katzfey ModalAI Team @Aaky
                                        last edited by

                                        @Aaky What is the contents of /data/modalai/sku.txt?

                                        Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                                        • Eric KatzfeyE
                                          Eric Katzfey ModalAI Team @Eric Katzfey
                                          last edited by

                                          @Eric-Katzfey Perhaps run voxl-configure-mpa -f sentinel to reconfigure the system and then reboot and try again

                                          A 1 Reply Last reply Reply Quote 0
                                          • A
                                            Aaky @Eric Katzfey
                                            last edited by

                                            @Eric-Katzfey I didn't had any file on /data/modalai/sku.txt. I ran "voxl-configure-sku -f sentinel" and this file was generated. Now contents in this file are "MRB-D0006-4-V1-C11".

                                            I tried running voxl-configure-mpa -f sentinel after configuring sku but it fails with following error "Invalid arg: -f, exiting". So I just ran voxl-configure-mpa and below are logs of ths same.

                                            voxl2:/$ voxl-configure-mpa -d
                                            enabling debug mode
                                            ------------------------------------------------------------------
                                                           Welcome to voxl-configure-mpa!
                                            
                                            VOXL is currently thinks it is in the following hardware:
                                            
                                            family code:   MRB-D0006 (sentinel)
                                            compute board: 4 (voxl2)
                                            hw version:    1
                                            cam config:    11
                                            SKU:           MRB-D0006-4-V1-C11
                                            
                                            If this doesn't look right, quit and run voxl-configure-sku to
                                            set it correctly. Then run voxl-configure-mpa again.
                                            
                                            
                                            Continue? y/n: y
                                            Continuing
                                            
                                            About to Execute:
                                            voxl-configure-extrinsics sentinel_v1
                                            voxl-configure-cameras 11 
                                            voxl-configure-cpu-monitor factory_enable
                                            voxl-configure-qvio factory_enable_imu_apps
                                            voxl-configure-dfs factory_disable
                                            voxl-configure-tag-detector factory_disable
                                            voxl-configure-tflite factory_disable
                                            voxl-configure-vision-hub factory_enable
                                            voxl-configure-mavlink-server factory_enable
                                            voxl-configure-portal enable
                                            voxl-configure-lepton disable
                                            voxl-configure-uvc disable
                                            voxl-configure-streamer factory_enable
                                            voxl-configure-modem disable
                                            voxl-configure-mavcam factory_enable
                                            voxl-configure-px4-imu-server factory_disable
                                            voxl-configure-imu factory_enable
                                            voxl-configure-flow-server disable
                                            voxl-configure-feature-tracker disable
                                            voxl-esc setup_sentinel_v1
                                            voxl-configure-px4 sentinel_v1
                                            voxl-configure-px4-params -np MRB-D0006
                                            
                                            
                                            Continue? y/n: y
                                            Continuing
                                            
                                            enabling voxl-wait-for-fs service
                                            
                                            executing: voxl-configure-extrinsics sentinel_v1 
                                            wiping old extrinsics config file
                                            copying /usr/share/modalai/extrinsic_configs/sentinel_v1.conf to /etc/modalai/extrinsics.conf
                                            loading and updating file with voxl-inspect-extrinsics -q
                                            done configuring extrinsics
                                            Success!
                                            
                                            executing: voxl-configure-cameras 11  
                                            Camera Configuration: 11
                                            calling camera-server-config-helper tracking:ov7251:2 hires:imx214:3 stereo_front:ov7251:0:1 stereo_rear:ov7251:5:4
                                            successfully wrote this camera config to disk:
                                            =================================================================
                                            configuration for 4 cameras:
                                            
                                            cam #0
                                                name:                tracking
                                                sensor type:         ov7251
                                                isEnabled:           1
                                                camId:               2
                                                camId2:              -1
                                                fps:                 30
                                            
                                                en_preview:          1
                                                pre_width:           640
                                                pre_height:          480
                                                pre_format:          raw8
                                            
                                                en_small_video:      0
                                                small_video_width:   -1
                                                small_video_height:  -1
                                            
                                                en_large_video:      0
                                                large_video_width:   -1
                                                large_video_height:  -1
                                            
                                                en_snapshot:         0
                                                snap_width:          -1
                                                snap_height:         -1
                                            
                                                ae_mode:             lme_msv
                                                standby_enabled:     0
                                                decimator:           1
                                                independent_exposure:0
                                            
                                            cam #1
                                                name:                hires
                                                sensor type:         imx214
                                                isEnabled:           1
                                                camId:               3
                                                camId2:              -1
                                                fps:                 30
                                            
                                                en_preview:          0
                                                pre_width:           640
                                                pre_height:          480
                                                pre_format:          nv21
                                            
                                                en_small_video:      1
                                                small_video_width:   1024
                                                small_video_height:  768
                                            
                                                en_large_video:      1
                                                large_video_width:   4096
                                                large_video_height:  2160
                                            
                                                en_snapshot:         1
                                                snap_width:          4160
                                                snap_height:         3120
                                            
                                                ae_mode:             isp
                                                standby_enabled:     0
                                                decimator:           1
                                                independent_exposure:0
                                            
                                            cam #2
                                                name:                stereo_front
                                                sensor type:         ov7251
                                                isEnabled:           1
                                                camId:               0
                                                camId2:              1
                                                fps:                 30
                                            
                                                en_preview:          1
                                                pre_width:           640
                                                pre_height:          480
                                                pre_format:          raw8
                                            
                                                en_small_video:      0
                                                small_video_width:   -1
                                                small_video_height:  -1
                                            
                                                en_large_video:      0
                                                large_video_width:   -1
                                                large_video_height:  -1
                                            
                                                en_snapshot:         0
                                                snap_width:          -1
                                                snap_height:         -1
                                            
                                                ae_mode:             lme_msv
                                                standby_enabled:     0
                                                decimator:           1
                                                independent_exposure:0
                                            
                                            cam #3
                                                name:                stereo_rear
                                                sensor type:         ov7251
                                                isEnabled:           1
                                                camId:               5
                                                camId2:              4
                                                fps:                 30
                                            
                                                en_preview:          1
                                                pre_width:           640
                                                pre_height:          480
                                                pre_format:          raw8
                                            
                                                en_small_video:      0
                                                small_video_width:   -1
                                                small_video_height:  -1
                                            
                                                en_large_video:      0
                                                large_video_width:   -1
                                                large_video_height:  -1
                                            
                                                en_snapshot:         0
                                                snap_width:          -1
                                                snap_height:         -1
                                            
                                                ae_mode:             lme_msv
                                                standby_enabled:     0
                                                decimator:           1
                                                independent_exposure:0
                                            
                                            =================================================================
                                            camera_server_config_helper is done
                                            copying required camera drivers in place
                                            /usr/share/modalai/chi-cdk/ov7251/com.qti.sensormodule.ov7251_2.bin
                                            /usr/share/modalai/chi-cdk/ov7251-combo/com.qti.sensormodule.ov7251_combo_0.bin
                                            /usr/share/modalai/chi-cdk/ov7251-combo/com.qti.sensormodule.ov7251_combo_1.bin
                                            /usr/share/modalai/chi-cdk/imx214/com.qti.sensormodule.imx214_3.bin
                                            /usr/share/modalai/chi-cdk/ov7251-combo/com.qti.sensormodule.ov7251_combo_4.bin
                                            /usr/share/modalai/chi-cdk/ov7251-combo/com.qti.sensormodule.ov7251_combo_5.bin
                                            enabling voxl-camera-server
                                            
                                            ------------------------------------------------------------------
                                            Done Configuring Cameras
                                            Please power cycle VOXL to load new drivers
                                            camera server will start on next reboot
                                            ------------------------------------------------------------------
                                            Success!
                                            
                                            executing: voxl-configure-cpu-monitor factory_enable 
                                            wiping old config file
                                            Creating new config file: /etc/modalai/voxl-cpu-monitor.conf
                                            enabling  voxl-cpu-monitor systemd service
                                            Done configuring voxl-cpu-monitor
                                            Success!
                                            
                                            executing: voxl-configure-qvio factory_enable_imu_apps 
                                            wiping old config file
                                            loading config file
                                            Creating new config file: /etc/modalai/voxl-qvio-server.conf
                                            enabling  voxl-qvio-server systemd service
                                            Done configuring voxl-qvio-server
                                            Success!
                                            
                                            executing: voxl-configure-dfs factory_disable 
                                            wiping old config file
                                            Creating new config file: /etc/modalai/voxl-dfs-server.conf
                                            disabling voxl-dfs-server systemd service
                                            stopping voxl-dfs-server systemd service
                                            Done configuring voxl-dfs-server
                                            Success!
                                            
                                            executing: voxl-configure-tag-detector factory_disable 
                                            wiping old config file
                                            Creating new config file: /etc/modalai/voxl-tag-detector.conf
                                            disabling voxl-tag-detector systemd service
                                            stopping voxl-tag-detector systemd service
                                            Done configuring voxl-tag-detector
                                            Success!
                                            
                                            executing: voxl-configure-tflite factory_disable 
                                            wiping old config file
                                            Creating new config file: /etc/modalai/voxl-tflite-server.conf
                                            The config file was modified during parsing, saving the changes to disk
                                            disabling voxl-tflite-server systemd service
                                            stopping voxl-tflite-server systemd service
                                            Done configuring voxl-tflite-server
                                            Success!
                                            
                                            executing: voxl-configure-vision-hub factory_enable 
                                            wiping old config file
                                            Created new json file: /etc/modalai/voxl-vision-hub.conf
                                            The JSON config file data was modified during parsing, saving the changes to disk
                                            enabling  voxl-vision-hub systemd service
                                            Done configuring voxl-vision-hub
                                            service will start on next reboot
                                            Success!
                                            
                                            executing: voxl-configure-mavlink-server factory_enable 
                                            wiping old config file
                                            Created new json file: /etc/modalai/voxl-mavlink-server.conf
                                            enabling  voxl-mavlink-server systemd service
                                            Done configuring voxl-mavlink-server
                                            Success!
                                            
                                            executing: voxl-configure-portal enable 
                                            enabling  voxl-portal systemd service
                                            Done configuring voxl-portal
                                            Success!
                                            
                                            executing: voxl-configure-lepton disable 
                                            disabling voxl-lepton-server systemd service
                                            stopping voxl-lepton-server systemd service
                                            Done configuring voxl-lepton-server
                                            Success!
                                            
                                            executing: voxl-configure-uvc disable 
                                            disabling voxl-uvc-server systemd service
                                            stopping voxl-uvc-server systemd service
                                            Done configuring voxl-uvc-server
                                            Success!
                                            
                                            executing: voxl-configure-streamer factory_enable 
                                            wiping old config file
                                            Creating new config file: /etc/modalai/voxl-streamer.conf
                                            writing /etc/modalai/voxl-streamer.conf to disk
                                            parsed config file
                                            enabling  voxl-streamer systemd service
                                            Done configuring voxl-streamer, it will start on next reboot
                                            Success!
                                            
                                            executing: voxl-configure-modem disable 
                                            disabling voxl-modem systemd service
                                            stopping voxl-modem systemd service
                                            Done configuring voxl-modem
                                            Success!
                                            
                                            executing: voxl-configure-mavcam factory_enable 
                                            Creating new config file: /etc/modalai/voxl-mavcam-manager.conf
                                            writing /etc/modalai/voxl-mavcam-manager.conf to disk
                                            enabling  voxl-mavcam-manager systemd service
                                            Done configuring voxl-mavcam-manager
                                            It will start automatically on the next reboot
                                            Success!
                                            
                                            executing: voxl-configure-px4-imu-server factory_disable 
                                            disabling voxl-px4-imu-server systemd service
                                            stopping voxl-px4-imu-server systemd service
                                            Done configuring voxl-px4-imu-server
                                            Success!
                                            
                                            executing: voxl-configure-imu factory_enable 
                                            wiping old config file
                                            Creating new config file: /etc/modalai/voxl-imu-server.conf
                                            voxl-imu-server currently has no calibration file
                                            enabling  voxl-imu-server systemd service
                                            Done configuring voxl-imu-server
                                            Success!
                                            
                                            executing: voxl-configure-flow-server disable 
                                            disabling voxl-flow-server systemd service
                                            stopping voxl-flow-server systemd service
                                            Done configuring voxl-flow-server
                                            Success!
                                            
                                            executing: voxl-configure-feature-tracker disable 
                                            disabling voxl-feature-tracker systemd service
                                            stopping voxl-feature-tracker systemd service
                                            Done configuring voxl-feature-tracker
                                            Success!
                                            
                                            executing: voxl-esc setup_sentinel_v1 
                                            enabling bridge
                                            detected voxl-px4 is enabled
                                            Removed /etc/systemd/system/multi-user.target.wants/voxl-px4.service.
                                            detected voxl-px4 is running, stopping it now
                                            bridge enabled
                                            [INFO] Scanning for ESC...
                                            Received standard error event 2
                                            [INFO] M0117-1 detected
                                            [INFO] has for most recent firmware: 83faccfa
                                            [INFO] Expected ESC firmware info:
                                            	Firmware: modalai_esc_firmware_m0117_1_v0_38_83faccfa.bin
                                            	Firmware hash: 83faccfa
                                            
                                            [INFO] Number of ESCs with correct FW: 4
                                            [INFO] All of the ESCs have the correct firmware loaded
                                            uploading params file ../voxl-esc-params/Sentinel_V1/Sentinel_V1.xml
                                            Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) 
                                            [GCC 8.4.0]
                                            Found voxl-esc tools bin version: 1.2
                                            VOXL Platform: M0054
                                            Detected VOXL2 M0054 or M0104!
                                            Found previous connection information in .voxl_esc_cache ..
                                            Prioritizing /dev/slpi-uart-2 @ 2000000
                                            INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000
                                            Sending library name request: libslpi_uart_bridge_slpi.so
                                            Received standard error event 2
                                            Sending initialization request
                                            INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000
                                            INFO: Detected protocol: firmware
                                            INFO: Additional Information:
                                            INFO: ---------------------
                                            	ID         : 0
                                            	Board      : version 34: ModalAi 4-in-1 ESC (M0117-1)
                                            	UID        : 0x203034305743570C00270034
                                            	Firmware   : version   38, hash 83faccfa
                                            	Bootloader : version  183, hash 25317f42
                                            
                                            	ID         : 1
                                            	Board      : version 34: ModalAi 4-in-1 ESC (M0117-1)
                                            	UID        : 0x203034305743570C003A0054
                                            	Firmware   : version   38, hash 83faccfa
                                            	Bootloader : version  183, hash 25317f42
                                            
                                            	ID         : 2
                                            	Board      : version 34: ModalAi 4-in-1 ESC (M0117-1)
                                            	UID        : 0x203034305743570C00210050
                                            	Firmware   : version   38, hash 83faccfa
                                            	Bootloader : version  183, hash 25317f42
                                            
                                            	ID         : 3
                                            	Board      : version 34: ModalAi 4-in-1 ESC (M0117-1)
                                            	UID        : 0x203034305743570C00280028
                                            	Firmware   : version   38, hash 83faccfa
                                            	Bootloader : version  183, hash 25317f42
                                            
                                            ---------------------
                                            successfully pinged ESCs
                                            Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) 
                                            [GCC 8.4.0]
                                            Found voxl-esc tools bin version: 1.2
                                            
                                            INFO: Params file name : ../voxl-esc-params/Sentinel_V1/Sentinel_V1.xml 
                                            INFO: Params file size : 7591 bytes
                                            
                                            
                                            VOXL Platform: M0054
                                            Detected VOXL2 M0054 or M0104!
                                            Found previous connection information in .voxl_esc_cache ..
                                            Prioritizing /dev/slpi-uart-2 @ 2000000
                                            INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000
                                            Sending library name request: libslpi_uart_bridge_slpi.so
                                            Received standard error event 2
                                            Sending initialization request
                                            INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000
                                            INFO: ESCs detected:
                                            INFO: ---------------------
                                            ID: 0, SW: 38, HW: 34: ModalAi 4-in-1 ESC (M0117-1)
                                            ID: 1, SW: 38, HW: 34: ModalAi 4-in-1 ESC (M0117-1)
                                            ID: 2, SW: 38, HW: 34: ModalAi 4-in-1 ESC (M0117-1)
                                            ID: 3, SW: 38, HW: 34: ModalAi 4-in-1 ESC (M0117-1)
                                            ---------------------
                                            INFO: Loading XML config file...
                                            INFO: Uploading params...
                                            -- board config
                                            -- id config
                                            -- uart config
                                            -- tune config
                                                DONE
                                            INFO: Resetting ESCs...
                                                DONE
                                            disabling bridge
                                            re-enabling voxl-px4
                                            Created symlink /etc/systemd/system/multi-user.target.wants/voxl-px4.service → /etc/systemd/system/voxl-px4.service.
                                            restarting voxl-px4
                                            bridge disabled
                                            Success!
                                            
                                            executing: voxl-configure-px4 sentinel_v1 
                                            wiping old config file
                                            enabling  voxl-px4 systemd service
                                            Done configuring voxl-px4
                                            Success!
                                            
                                            executing: voxl-configure-px4-params -np MRB-D0006 
                                            [INFO] Voxl-px4 service found and active.
                                            [INFO] about to load the following param files:
                                            ('platforms/Sentinel_V1.params', 'EKF2_helpers/outdoor_gps_baro.params')
                                            
                                            [INFO] Loading file: /usr/share/modalai/px4_params/v1.14/platforms/Sentinel_V1.params
                                            [INFO] Scanning currently loaded parameters...
                                            
                                            The following parameters about to be loaded differ from those currently loaded:
                                            	NAME    		CURRENT    	NEW
                                            [1]	CBRK_IO_SAFETY    	N/A		22027
                                            [2]	CBRK_SUPPLY_CHK    	N/A		894281
                                            [3]	COM_CPU_MAX    		N/A		-1
                                            [4]	COM_OF_LOSS_T    	N/A		3.0
                                            [5]	NAV_ACC_RAD    		N/A		2.0
                                            [6]	GPS_UBX_DYNMODEL    	N/A		6
                                            [7]	RTL_RETURN_ALT    	N/A		30
                                            [8]	RTL_DESCEND_ALT    	N/A		10
                                            [9]	IMU_GYRO_RATEMAX    	N/A		800
                                            [10]	SYS_AUTOSTART    	N/A		4001
                                            [11]	MAV_TYPE    		N/A		2
                                            [12]	SENS_BOARD_ROT    	N/A		0
                                            [13]	BAT1_N_CELLS    	N/A		3
                                            [14]	BAT1_R_INTERNAL    	N/A		0.003
                                            [15]	BAT1_CAPACITY    	N/A		4700
                                            [16]	BAT1_V_CHARGED    	N/A		4.15
                                            [17]	BAT1_V_EMPTY    	N/A		3.50
                                            [18]	BAT_LOW_THR    		N/A		0.15
                                            [19]	BAT_CRIT_THR    	N/A		0.10
                                            [20]	BAT_EMERGEN_THR    	N/A		0.05
                                            [21]	MPC_THR_HOVER    	N/A		0.41
                                            [22]	THR_MDL_FAC    		N/A		0.80
                                            [23]	MODAL_IO_RPM_MAX    	N/A		7000
                                            [24]	MODAL_IO_RPM_MIN    	N/A		1000
                                            [25]	MODAL_IO_FUNC1    	N/A		103
                                            [26]	MODAL_IO_FUNC2    	N/A		102
                                            [27]	MODAL_IO_FUNC3    	N/A		104
                                            [28]	MODAL_IO_FUNC4    	N/A		101
                                            [29]	MODAL_IO_SDIR1    	N/A		0
                                            [30]	MODAL_IO_SDIR2    	N/A		0
                                            [31]	MODAL_IO_SDIR3    	N/A		0
                                            [32]	MODAL_IO_SDIR4    	N/A		0
                                            [33]	MODAL_IO_BAUD    	N/A		2000000
                                            [34]	MODAL_IO_CONFIG    	N/A		1
                                            [35]	MODAL_IO_MODE    	N/A		0
                                            [36]	MODAL_IO_REV    	N/A		0
                                            [37]	MODAL_IO_T_COSP    	N/A		0.990000009536743164
                                            [38]	MODAL_IO_T_DEAD    	N/A		20
                                            [39]	MODAL_IO_T_EXPO    	N/A		35
                                            [40]	MODAL_IO_T_MINF    	N/A		0.150000005960464478
                                            [41]	MODAL_IO_T_PERC    	N/A		90
                                            [42]	MODAL_IO_VLOG    	N/A		1
                                            [43]	MC_BAT_SCALE_EN    	N/A		0
                                            [44]	EKF2_IMU_POS_X    	N/A		0.033
                                            [45]	EKF2_IMU_POS_Y    	N/A		0.008
                                            [46]	EKF2_IMU_POS_Z    	N/A		-0.036
                                            [47]	EKF2_EV_POS_X    	N/A		0.0
                                            [48]	EKF2_EV_POS_Y    	N/A		0.0
                                            [49]	EKF2_EV_POS_Z    	N/A		0.0
                                            [50]	CA_AIRFRAME    		N/A		0
                                            [51]	CA_ROTOR_COUNT    	N/A		4
                                            [52]	CA_ROTOR0_PX    	N/A		0.17
                                            [53]	CA_ROTOR0_PY    	N/A		0.17
                                            [54]	CA_ROTOR1_PX    	N/A		-0.17
                                            [55]	CA_ROTOR1_PY    	N/A		-0.17
                                            [56]	CA_ROTOR2_PX    	N/A		0.17
                                            [57]	CA_ROTOR2_PY    	N/A		-0.17
                                            [58]	CA_ROTOR3_PX    	N/A		-0.17
                                            [59]	CA_ROTOR3_PY    	N/A		0.17
                                            [60]	CA_ROTOR0_AX    	N/A		0.0
                                            [61]	CA_ROTOR0_AY    	N/A		0.0
                                            [62]	CA_ROTOR1_AX    	N/A		0.0
                                            [63]	CA_ROTOR1_AY    	N/A		0.0
                                            [64]	CA_ROTOR2_AX    	N/A		0.0
                                            [65]	CA_ROTOR2_AY    	N/A		0.0
                                            [66]	CA_ROTOR3_AX    	N/A		0.0
                                            [67]	CA_ROTOR3_AY    	N/A		0.0
                                            [68]	CA_ROTOR0_KM    	N/A		0.05
                                            [69]	CA_ROTOR1_KM    	N/A		0.05
                                            [70]	CA_ROTOR2_KM    	N/A		-0.05
                                            [71]	CA_ROTOR3_KM    	N/A		-0.05
                                            [72]	MOT_SLEW_MAX    	N/A		0.0
                                            [73]	IMU_DGYRO_CUTOFF    	N/A		40.0
                                            [74]	IMU_ACCEL_CUTOFF    	N/A		40.0
                                            [75]	IMU_GYRO_CUTOFF    	N/A		40.0
                                            [76]	IMU_GYRO_DNF_EN    	N/A		1
                                            [77]	IMU_GYRO_DNF_HMC    	N/A		3
                                            [78]	IMU_GYRO_DNF_BW    	N/A		15
                                            [79]	MC_AIRMODE    		N/A		0
                                            [80]	MC_PITCH_P    		N/A		5.5
                                            [81]	MC_PITCHRATE_P    	N/A		0.080
                                            [82]	MC_PITCHRATE_I    	N/A		0.400
                                            [83]	MC_PITCHRATE_D    	N/A		0.00
                                            [84]	MC_PITCHRATE_K    	N/A		1.0
                                            [85]	MC_ROLL_P    		N/A		5.5
                                            [86]	MC_ROLLRATE_P    	N/A		0.080
                                            [87]	MC_ROLLRATE_I    	N/A		0.400
                                            [88]	MC_ROLLRATE_D    	N/A		0.00
                                            [89]	MC_ROLLRATE_K    	N/A		1.0
                                            [90]	MC_YAW_P    		N/A		2.0
                                            [91]	MC_YAWRATE_P    	N/A		0.13
                                            [92]	MC_YAWRATE_I    	N/A		0.30
                                            [93]	MC_YAWRATE_D    	N/A		0.0
                                            [94]	MC_YAWRATE_K    	N/A		1.0
                                            [95]	MC_ROLLRATE_MAX    	N/A		150.0
                                            [96]	MC_PITCHRATE_MAX    	N/A		150.0
                                            [97]	MC_YAWRATE_MAX    	N/A		150.0
                                            [98]	MPC_POS_MODE    	N/A		4
                                            [99]	MPC_YAW_EXPO    	N/A		0.30
                                            [100]	MPC_XY_MAN_EXPO    	N/A		0.45
                                            [101]	MPC_Z_MAN_EXPO    	N/A		0.10
                                            [102]	MPC_ACC_HOR    		N/A		3.0
                                            [103]	MPC_JERK_MAX    	N/A		40.0
                                            [104]	MPC_TILTMAX_AIR    	N/A		30.0
                                            [105]	MPC_ACC_HOR_MAX    	N/A		6.0
                                            [106]	MPC_ACC_UP_MAX    	N/A		3.0
                                            [107]	MPC_ACC_DOWN_MAX    	N/A		3.0
                                            [108]	MPC_VEL_MANUAL    	N/A		5.0
                                            [109]	MPC_XY_VEL_MAX    	N/A		5.0
                                            [110]	MPC_XY_CRUISE    	N/A		5.0
                                            [111]	MPC_Z_VEL_MAX_DN    	N/A		1.5
                                            [112]	MPC_Z_VEL_MAX_UP    	N/A		4.0
                                            [113]	MPC_LAND_SPEED    	N/A		1.0
                                            [114]	MPC_THR_MAX    		N/A		0.75
                                            [115]	MPC_THR_MIN    		N/A		0.12
                                            [116]	MPC_MANTHR_MIN    	N/A		0.12
                                            [117]	MPC_XY_P    		N/A		0.95
                                            [118]	MPC_XY_VEL_P_ACC    	N/A		3.00
                                            [119]	MPC_XY_VEL_I_ACC    	N/A		0.10
                                            [120]	MPC_XY_VEL_D_ACC    	N/A		0.00
                                            [121]	MPC_Z_P    		N/A		1.0
                                            [122]	MPC_Z_VEL_P_ACC    	N/A		8.0
                                            [123]	MPC_Z_VEL_I_ACC    	N/A		2.0
                                            [124]	MPC_Z_VEL_D_ACC    	N/A		0.0
                                            [125]	MPC_TKO_RAMP_T    	N/A		2.00
                                            [126]	MPC_TKO_SPEED    	N/A		1.50
                                            [127]	COM_SPOOLUP_TIME    	N/A		1.0
                                            [128]	LNDMC_ROT_MAX    	N/A		30.0
                                            [129]	COM_DISARM_LAND    	N/A		0.1
                                            [130]	COM_DISARM_PRFLT    	N/A		20
                                            
                                            [INFO] Setting params...
                                            
                                            [ERROR] Failed to set px4-parameters. Check voxl-px4 status for details.
                                            FAILED TO EXECUTE: voxl-configure-px4-params -np MRB-D0006
                                            This is likely because voxl-px4 on the SDSP failed to restart.
                                            Please try running voxl-configure-mpa again.
                                            If that doesn't work, power cycle and try again.
                                            
                                            checking /data/modalai/voxl-imu-server.cal
                                            checking /data/modalai/opencv_tracking_intrinsics.yml
                                            checking /data/modalai/opencv_stereo_front_intrinsics.yml
                                            checking /data/modalai/opencv_stereo_front_extrinsics.yml
                                            checking /data/modalai/opencv_stereo_rear_intrinsics.yml
                                            checking /data/modalai/opencv_stereo_rear_extrinsics.yml
                                            
                                            ------------------------------------------------------------------
                                                     FAILED TO EXECUTE the following steps:
                                            voxl-configure-px4-params -np MRB-D0006
                                            
                                                  Encountered Problems Configuring MPA Services :-/
                                                    Some Services may not start up on next reboot
                                            
                                            checking /data/modalai/voxl-imu-server.cal
                                            checking /data/modalai/opencv_tracking_intrinsics.yml
                                            checking /data/modalai/opencv_stereo_front_intrinsics.yml
                                            checking /data/modalai/opencv_stereo_front_extrinsics.yml
                                            checking /data/modalai/opencv_stereo_rear_intrinsics.yml
                                            checking /data/modalai/opencv_stereo_rear_extrinsics.yml
                                            Calibration File Status:
                                            Missing /data/modalai/voxl-imu-server.cal 
                                            Missing /data/modalai/opencv_tracking_intrinsics.yml 
                                            Missing /data/modalai/opencv_stereo_front_intrinsics.yml 
                                            Missing /data/modalai/opencv_stereo_front_extrinsics.yml 
                                            Missing /data/modalai/opencv_stereo_rear_intrinsics.yml 
                                            Missing /data/modalai/opencv_stereo_rear_extrinsics.yml 
                                            Present /data/px4/param/parameters_gyro.cal 
                                            Present /data/px4/param/parameters_acc.cal 
                                            Present /data/px4/param/parameters_mag.cal 
                                            Present /data/px4/param/parameters_level.cal 
                                            
                                            Detected Missing Calibration Files
                                            please run the required cals
                                            https://docs.modalai.com/calibration/
                                            
                                                            PLEASE POWER CYCLE YOUR VOXL
                                            ------------------------------------------------------------------
                                            
                                            

                                            I power cycled VOXL2 after this message but still no luck. I still see some preflight check failing and couldn't arm the uav in manual mode. Even in indoor my GPS data is ok with HDOP of 0.9.

                                            Screenshot from 2023-06-30 13-47-14.png

                                            Do you see any problem with execution of voxl-configure-mpa?

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