VOXL2 SDK 1.0.0-beta6 voxl-px4 couldn't arm UAV (GPS LED always RED blinking)
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@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 regainedOne 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.
@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?
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@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?
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@Eric-Katzfey Yes I tried to arm and got failure. What can be the reason as per the logs?
@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?
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@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?
@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-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?@Aaky What is the contents of /data/modalai/sku.txt?
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@Aaky What is the contents of /data/modalai/sku.txt?
@Eric-Katzfey Perhaps run
voxl-configure-mpa -f sentinelto reconfigure the system and then reboot and try again -
@Eric-Katzfey Perhaps run
voxl-configure-mpa -f sentinelto reconfigure the system and then reboot and try again@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.
Do you see any problem with execution of voxl-configure-mpa?
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@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.
Do you see any problem with execution of voxl-configure-mpa?
I ran mpa configuration while fresh installation of beta image and below are logs where PX4 parameters were set correctly. Please have a look.
------------------------------------------------------------------ Welcome to the voxl-configure-sku Wizard! [WARN] Detected both the old sku file /data/modalai/factory_mode.txt [WARN] and the new one: /data/modalai/sku.txt [WARN] Deleting the old one VOXL 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 is what you want, select 1 (accept and continue) to leave it as-is. Otherwise, select the desired product family: 1) accept and continue 9) flight-deck 2) starling 10) voxl-deck 3) sentinel 11) voxl2-flight-deck 4) fpv 12) voxl2-test-fixture 5) m500 13) voxl2-mini-test-fixture 6) voxlcam 14) voxl2-board-only 7) seeker 15) voxl2-mini-board-only 8) rb5-flight #? 3 3 selected sentinel ------------------------------------------------------------------ Please choose what camera config is on this drone The default camera config for RB5-Flight and Sentinel is 11 (hires+tracking+dual_stereo) q Quit The Wizard 0 None 1 tracking(ov7251) + Stereo(ov7251) 2 tracking(ov7251) Only 3 Hires(imx214) + Stereo(ov7251) + tracking(ov7251) 4 Hires(imx214) + tracking(ov7251) 5 TOF + tracking(ov7251) 6 Hires(imx214) + TOF + tracking(ov7251) 7 TOF + Stereo(ov7251) + tracking(ov7251) 8 Hires(imx214) Only 9 TOF Only 10 Stereo(ov7251) only 11 tracking(ov7251) + Hires(imx214) + Dual Stereo 12 Stereo(OV9782) only 13 Hires(imx214) + Stereo(ov7251) 14 Stereo(OV9782) + TOF + tracking(ov7251) 15 Dual OV9782 Cam Config Number: 6 6 ------------------------------------------------------------------ Your answers would construct the following SKU: family code: MRB-D0006 (sentinel) compute board: 4 (voxl2) hw version: 1 cam config: 6 SKU: MRB-D0006-4-V1-C6 Would you like to continue? This sku will be saved to persistent memory so VOXL will remember what it is installed in, even between system image flashes. 1) save and continue 2) quit 3) restart wizard #? 1 1 Continuing DONE, MRB-D0006-4-V1-C6 has been written to /data/modalai/sku.txt Next you will likely want to run voxl-configure-mpa ------------------------------------------------------------------ Wifi is currently set up as follows: Current mode: softap Current ssid: Aerotitan Station mode is for connecting to a normal wifi network. In softap mode, the VOXL will broadcast its own wifi network. Factory mode will set up softap with the following unique SSID: VOXL-00:30:1a:50:1c:a1 Please enter the intended Wi-Fi operation Options: 1) leave as-is 2) station 3) softap 4) factory Operation: 3 3 Please enter the SSID to broadcast SSID: Aerotitan Aerotitan Please enter a password, or leave blank to use the default password. Password [default: 1234567890]: 1234567890 1234567890 Configuring... editing /data/misc/wifi/hostapd.conf for softap mode, ssid is: Aerotitan creating new wpa_supplicant.conf for softap mode, ssid is: Aerotitan soft AP Setup Complete! Changes should be active in a few seconds SoftAP Configuration succeeded! enabling non-interactive 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: 6 SKU: MRB-D0006-4-V1-C6 If this doesn't look right, quit and run voxl-configure-sku to set it correctly. Then run voxl-configure-mpa again. About to Execute: voxl-configure-extrinsics sentinel_v1 voxl-configure-cameras 6 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 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 6 Camera Configuration: 6 calling camera-server-config-helper tof:pmd-tof:0 hires:imx214:1 tracking:ov7251:2 successfully wrote this camera config to disk: ================================================================= configuration for 3 cameras: cam #0 name: tof sensor type: pmd-tof isEnabled: 1 camId: 0 camId2: -1 fps: 5 en_preview: 1 pre_width: 224 pre_height: 1557 pre_format: tof 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: off standby_enabled: 0 decimator: 5 independent_exposure:0 cam #1 name: hires sensor type: imx214 isEnabled: 1 camId: 1 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: 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 ================================================================= camera_server_config_helper is done copying required camera drivers in place /usr/share/modalai/chi-cdk/ov7251/com.qti.sensormodule.ov7251_3.bin /usr/share/modalai/chi-cdk/irs1645/com.qti.sensormodule.irs1645_0.bin /usr/share/modalai/chi-cdk/imx214/com.qti.sensormodule.imx214_2.bin enabling voxl-camera-server Created symlink /etc/systemd/system/multi-user.target.wants/voxl-camera-server.service → /etc/systemd/system/voxl-camera-server.service. ------------------------------------------------------------------ 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 Created symlink /etc/systemd/system/multi-user.target.wants/voxl-cpu-monitor.service → /etc/systemd/system/voxl-cpu-monitor.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 Created symlink /etc/systemd/system/multi-user.target.wants/voxl-qvio-server.service → /etc/systemd/system/voxl-qvio-server.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 Automatically migrating old config file /etc/modalai/voxl-vision-px4.conf to new location: /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 Created symlink /etc/systemd/system/multi-user.target.wants/voxl-vision-hub.service → /etc/systemd/system/voxl-vision-hub.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 Created symlink /etc/systemd/system/multi-user.target.wants/voxl-mavlink-server.service → /etc/systemd/system/voxl-mavlink-server.service. Done configuring voxl-mavlink-server Success! executing: voxl-configure-portal enable enabling voxl-portal systemd service Created symlink /etc/systemd/system/multi-user.target.wants/voxl-portal.service → /etc/systemd/system/voxl-portal.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 Created symlink /etc/systemd/system/multi-user.target.wants/voxl-streamer.service → /etc/systemd/system/voxl-streamer.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 Created symlink /etc/systemd/system/multi-user.target.wants/voxl-mavcam-manager.service → /etc/systemd/system/voxl-mavcam-manager.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 missing gyro0_offset, removing old empty file enabling voxl-imu-server systemd service Created symlink /etc/systemd/system/multi-user.target.wants/voxl-imu-server.service → /etc/systemd/system/voxl-imu-server.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 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 bridge disabled Success! executing: voxl-configure-px4 sentinel_v1 wiping old config file enabling voxl-px4 systemd service Created symlink /etc/systemd/system/multi-user.target.wants/voxl-px4.service → /etc/systemd/system/voxl-px4.service. Done configuring voxl-px4 Success! executing: voxl-configure-px4-params -np MRB-D0006 [INFO] Voxl-px4 not currently running [INFO] Starting voxl-px4 service... [INFO] Voxl-px4 started successfully! [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... [INFO] Px4 parameter configuration successful! [INFO] Loading file: /usr/share/modalai/px4_params/v1.14/EKF2_helpers/outdoor_gps_baro.params [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] SYS_HAS_MAG N/A 1 [2] SYS_HAS_GPS N/A 1 [3] EKF2_MAG_TYPE N/A 0 [4] EKF2_GPS_CTRL N/A 7 [5] EKF2_EV_CTRL N/A 0 [6] EKF2_AID_MASK N/A 0 [7] EKF2_HGT_REF N/A 0 [8] COM_ARM_WO_GPS N/A 1 [INFO] Setting params... [INFO] Px4 parameter configuration successful! [INFO] Loading file: /data/px4/param/parameters_gyro.cal [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] CAL_GYRO0_ID N/A 2490378 [2] CAL_GYRO0_PRIO N/A 50 [3] CAL_GYRO0_XOFF N/A 0.0227608 [4] CAL_GYRO0_YOFF N/A 0.00552622 [5] CAL_GYRO0_ZOFF N/A -0.0139491 [6] CAL_GYRO0_ROT N/A -1 [INFO] Setting params... [INFO] Px4 parameter configuration successful! [INFO] Loading file: /data/px4/param/parameters_level.cal [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] SENS_BOARD_X_OFF N/A -4.80679 [2] SENS_BOARD_Y_OFF N/A -2.07214 [INFO] Setting params... [INFO] Px4 parameter configuration successful! [INFO] Loading file: /data/px4/param/parameters_mag.cal [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] CAL_MAG0_ID N/A 396809 [2] CAL_MAG0_PRIO N/A 75 [3] CAL_MAG0_XOFF N/A 0.0189662 [4] CAL_MAG0_YOFF N/A -0.0148698 [5] CAL_MAG0_ZOFF N/A 0.163498 [6] CAL_MAG0_XSCALE N/A 1.01365 [7] CAL_MAG0_YSCALE N/A 0.922817 [8] CAL_MAG0_ZSCALE N/A 1.10712 [9] CAL_MAG0_XODIAG N/A 0.0136699 [10] CAL_MAG0_YODIAG N/A 0.0716552 [11] CAL_MAG0_ZODIAG N/A 0.0244222 [12] CAL_MAG0_XCOMP N/A 0 [13] CAL_MAG0_YCOMP N/A 0 [14] CAL_MAG0_ZCOMP N/A 0 [15] CAL_MAG0_ROT N/A 0 [INFO] Setting params... [INFO] Px4 parameter configuration successful! [INFO] Done configuring for platform MRB-D0006 Success! 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 ------------------------------------------------------------------ SUCCESSFULLY CONFIGURED MPA SERVICES! Services will 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 ------------------------------------------------------------------ SDK Install CompletedBut even after this installation success as compared to previous installation I am facing same problem of not able to arm the UAV and GPS LED blinking red always. On the exact same indoor location where I am testing 1.14 firmware version I downgraded complete system image to platform 0.9.5 with PX4 version 1.12.31 and I am able to arm the UAV and holybro GPS LED blows Green and QGC goes in "Ready to fly condition."
Please guide ahead.
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I ran mpa configuration while fresh installation of beta image and below are logs where PX4 parameters were set correctly. Please have a look.
------------------------------------------------------------------ Welcome to the voxl-configure-sku Wizard! [WARN] Detected both the old sku file /data/modalai/factory_mode.txt [WARN] and the new one: /data/modalai/sku.txt [WARN] Deleting the old one VOXL 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 is what you want, select 1 (accept and continue) to leave it as-is. Otherwise, select the desired product family: 1) accept and continue 9) flight-deck 2) starling 10) voxl-deck 3) sentinel 11) voxl2-flight-deck 4) fpv 12) voxl2-test-fixture 5) m500 13) voxl2-mini-test-fixture 6) voxlcam 14) voxl2-board-only 7) seeker 15) voxl2-mini-board-only 8) rb5-flight #? 3 3 selected sentinel ------------------------------------------------------------------ Please choose what camera config is on this drone The default camera config for RB5-Flight and Sentinel is 11 (hires+tracking+dual_stereo) q Quit The Wizard 0 None 1 tracking(ov7251) + Stereo(ov7251) 2 tracking(ov7251) Only 3 Hires(imx214) + Stereo(ov7251) + tracking(ov7251) 4 Hires(imx214) + tracking(ov7251) 5 TOF + tracking(ov7251) 6 Hires(imx214) + TOF + tracking(ov7251) 7 TOF + Stereo(ov7251) + tracking(ov7251) 8 Hires(imx214) Only 9 TOF Only 10 Stereo(ov7251) only 11 tracking(ov7251) + Hires(imx214) + Dual Stereo 12 Stereo(OV9782) only 13 Hires(imx214) + Stereo(ov7251) 14 Stereo(OV9782) + TOF + tracking(ov7251) 15 Dual OV9782 Cam Config Number: 6 6 ------------------------------------------------------------------ Your answers would construct the following SKU: family code: MRB-D0006 (sentinel) compute board: 4 (voxl2) hw version: 1 cam config: 6 SKU: MRB-D0006-4-V1-C6 Would you like to continue? This sku will be saved to persistent memory so VOXL will remember what it is installed in, even between system image flashes. 1) save and continue 2) quit 3) restart wizard #? 1 1 Continuing DONE, MRB-D0006-4-V1-C6 has been written to /data/modalai/sku.txt Next you will likely want to run voxl-configure-mpa ------------------------------------------------------------------ Wifi is currently set up as follows: Current mode: softap Current ssid: Aerotitan Station mode is for connecting to a normal wifi network. In softap mode, the VOXL will broadcast its own wifi network. Factory mode will set up softap with the following unique SSID: VOXL-00:30:1a:50:1c:a1 Please enter the intended Wi-Fi operation Options: 1) leave as-is 2) station 3) softap 4) factory Operation: 3 3 Please enter the SSID to broadcast SSID: Aerotitan Aerotitan Please enter a password, or leave blank to use the default password. Password [default: 1234567890]: 1234567890 1234567890 Configuring... editing /data/misc/wifi/hostapd.conf for softap mode, ssid is: Aerotitan creating new wpa_supplicant.conf for softap mode, ssid is: Aerotitan soft AP Setup Complete! Changes should be active in a few seconds SoftAP Configuration succeeded! enabling non-interactive 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: 6 SKU: MRB-D0006-4-V1-C6 If this doesn't look right, quit and run voxl-configure-sku to set it correctly. Then run voxl-configure-mpa again. About to Execute: voxl-configure-extrinsics sentinel_v1 voxl-configure-cameras 6 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 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 6 Camera Configuration: 6 calling camera-server-config-helper tof:pmd-tof:0 hires:imx214:1 tracking:ov7251:2 successfully wrote this camera config to disk: ================================================================= configuration for 3 cameras: cam #0 name: tof sensor type: pmd-tof isEnabled: 1 camId: 0 camId2: -1 fps: 5 en_preview: 1 pre_width: 224 pre_height: 1557 pre_format: tof 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: off standby_enabled: 0 decimator: 5 independent_exposure:0 cam #1 name: hires sensor type: imx214 isEnabled: 1 camId: 1 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: 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 ================================================================= camera_server_config_helper is done copying required camera drivers in place /usr/share/modalai/chi-cdk/ov7251/com.qti.sensormodule.ov7251_3.bin /usr/share/modalai/chi-cdk/irs1645/com.qti.sensormodule.irs1645_0.bin /usr/share/modalai/chi-cdk/imx214/com.qti.sensormodule.imx214_2.bin enabling voxl-camera-server Created symlink /etc/systemd/system/multi-user.target.wants/voxl-camera-server.service → /etc/systemd/system/voxl-camera-server.service. ------------------------------------------------------------------ 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 Created symlink /etc/systemd/system/multi-user.target.wants/voxl-cpu-monitor.service → /etc/systemd/system/voxl-cpu-monitor.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 Created symlink /etc/systemd/system/multi-user.target.wants/voxl-qvio-server.service → /etc/systemd/system/voxl-qvio-server.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 Automatically migrating old config file /etc/modalai/voxl-vision-px4.conf to new location: /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 Created symlink /etc/systemd/system/multi-user.target.wants/voxl-vision-hub.service → /etc/systemd/system/voxl-vision-hub.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 Created symlink /etc/systemd/system/multi-user.target.wants/voxl-mavlink-server.service → /etc/systemd/system/voxl-mavlink-server.service. Done configuring voxl-mavlink-server Success! executing: voxl-configure-portal enable enabling voxl-portal systemd service Created symlink /etc/systemd/system/multi-user.target.wants/voxl-portal.service → /etc/systemd/system/voxl-portal.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 Created symlink /etc/systemd/system/multi-user.target.wants/voxl-streamer.service → /etc/systemd/system/voxl-streamer.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 Created symlink /etc/systemd/system/multi-user.target.wants/voxl-mavcam-manager.service → /etc/systemd/system/voxl-mavcam-manager.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 missing gyro0_offset, removing old empty file enabling voxl-imu-server systemd service Created symlink /etc/systemd/system/multi-user.target.wants/voxl-imu-server.service → /etc/systemd/system/voxl-imu-server.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 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 bridge disabled Success! executing: voxl-configure-px4 sentinel_v1 wiping old config file enabling voxl-px4 systemd service Created symlink /etc/systemd/system/multi-user.target.wants/voxl-px4.service → /etc/systemd/system/voxl-px4.service. Done configuring voxl-px4 Success! executing: voxl-configure-px4-params -np MRB-D0006 [INFO] Voxl-px4 not currently running [INFO] Starting voxl-px4 service... [INFO] Voxl-px4 started successfully! [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... [INFO] Px4 parameter configuration successful! [INFO] Loading file: /usr/share/modalai/px4_params/v1.14/EKF2_helpers/outdoor_gps_baro.params [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] SYS_HAS_MAG N/A 1 [2] SYS_HAS_GPS N/A 1 [3] EKF2_MAG_TYPE N/A 0 [4] EKF2_GPS_CTRL N/A 7 [5] EKF2_EV_CTRL N/A 0 [6] EKF2_AID_MASK N/A 0 [7] EKF2_HGT_REF N/A 0 [8] COM_ARM_WO_GPS N/A 1 [INFO] Setting params... [INFO] Px4 parameter configuration successful! [INFO] Loading file: /data/px4/param/parameters_gyro.cal [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] CAL_GYRO0_ID N/A 2490378 [2] CAL_GYRO0_PRIO N/A 50 [3] CAL_GYRO0_XOFF N/A 0.0227608 [4] CAL_GYRO0_YOFF N/A 0.00552622 [5] CAL_GYRO0_ZOFF N/A -0.0139491 [6] CAL_GYRO0_ROT N/A -1 [INFO] Setting params... [INFO] Px4 parameter configuration successful! [INFO] Loading file: /data/px4/param/parameters_level.cal [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] SENS_BOARD_X_OFF N/A -4.80679 [2] SENS_BOARD_Y_OFF N/A -2.07214 [INFO] Setting params... [INFO] Px4 parameter configuration successful! [INFO] Loading file: /data/px4/param/parameters_mag.cal [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] CAL_MAG0_ID N/A 396809 [2] CAL_MAG0_PRIO N/A 75 [3] CAL_MAG0_XOFF N/A 0.0189662 [4] CAL_MAG0_YOFF N/A -0.0148698 [5] CAL_MAG0_ZOFF N/A 0.163498 [6] CAL_MAG0_XSCALE N/A 1.01365 [7] CAL_MAG0_YSCALE N/A 0.922817 [8] CAL_MAG0_ZSCALE N/A 1.10712 [9] CAL_MAG0_XODIAG N/A 0.0136699 [10] CAL_MAG0_YODIAG N/A 0.0716552 [11] CAL_MAG0_ZODIAG N/A 0.0244222 [12] CAL_MAG0_XCOMP N/A 0 [13] CAL_MAG0_YCOMP N/A 0 [14] CAL_MAG0_ZCOMP N/A 0 [15] CAL_MAG0_ROT N/A 0 [INFO] Setting params... [INFO] Px4 parameter configuration successful! [INFO] Done configuring for platform MRB-D0006 Success! 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 ------------------------------------------------------------------ SUCCESSFULLY CONFIGURED MPA SERVICES! Services will 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 ------------------------------------------------------------------ SDK Install CompletedBut even after this installation success as compared to previous installation I am facing same problem of not able to arm the UAV and GPS LED blinking red always. On the exact same indoor location where I am testing 1.14 firmware version I downgraded complete system image to platform 0.9.5 with PX4 version 1.12.31 and I am able to arm the UAV and holybro GPS LED blows Green and QGC goes in "Ready to fly condition."
Please guide ahead.
@Aaky At the PX4 console prompt can you enter the command listener input_rc? Is this a Sentinel drone or a custom drone? Can you calibrate the RC?
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@Aaky At the PX4 console prompt can you enter the command listener input_rc? Is this a Sentinel drone or a custom drone? Can you calibrate the RC?
@Eric-Katzfey This is custom drone with sentinel configuration via voxl-configure-mpa.
I tried "px4-listener input_rc" and it say's "Never published". I am not using any RC at the moment and just relying on radio modem based link with QGC for controlling the UAV. Is RC essential?
Also I was not getting console on VOXL-PX4 when I ran it from commandline so used px4-listener.
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@Eric-Katzfey This is custom drone with sentinel configuration via voxl-configure-mpa.
I tried "px4-listener input_rc" and it say's "Never published". I am not using any RC at the moment and just relying on radio modem based link with QGC for controlling the UAV. Is RC essential?
Also I was not getting console on VOXL-PX4 when I ran it from commandline so used px4-listener.
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@Eric-Katzfey This is custom drone with sentinel configuration via voxl-configure-mpa.
I tried "px4-listener input_rc" and it say's "Never published". I am not using any RC at the moment and just relying on radio modem based link with QGC for controlling the UAV. Is RC essential?
Also I was not getting console on VOXL-PX4 when I ran it from commandline so used px4-listener.
@Aaky Even if getting RC commands over data link from QGC it will still publish input_rc topics. You need that to be able to arm in manual mode.
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@Aaky Even if getting RC commands over data link from QGC it will still publish input_rc topics. You need that to be able to arm in manual mode.
@Eric-Katzfey Hi Eric, I did connect joystick and enabled mavlink based RC to UAV. This worked to arm the UAV in manual mode but in GPS mode, arming is still not working and blocking me to start using your newer beta image along with PX4 1.14 firmware version. GPS continues to blink red even in good GPS conditions outdoor and never allows to arm even after proper calibration process for MAG, Accel and Gyro.
Please help to debug this further.
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@Eric-Katzfey Hi Eric, I did connect joystick and enabled mavlink based RC to UAV. This worked to arm the UAV in manual mode but in GPS mode, arming is still not working and blocking me to start using your newer beta image along with PX4 1.14 firmware version. GPS continues to blink red even in good GPS conditions outdoor and never allows to arm even after proper calibration process for MAG, Accel and Gyro.
Please help to debug this further.
@Aaky Well that sounds like some progress. When you transition from manual mode to position mode does it allow the transition? Does QGC or voxl-px4 give you any messages at all?
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@Aaky Well that sounds like some progress. When you transition from manual mode to position mode does it allow the transition? Does QGC or voxl-px4 give you any messages at all?
@Eric-Katzfey
I upgraded to official SDK 1.0.0 version now. I am able to transition from manual to position mode on QGC with my joystick connected as RC source. But when I try to arm in position mode QGC again say's "ARM_DISARM command temperorily rejected".Please check logs on this link. When in position mode if I try to arm I do not get any preflight check failure message on PX4 logs.
GPS LED still blinks RED continously even in good GPS area outdoor.
Please help to debug further.
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@Aaky Well that sounds like some progress. When you transition from manual mode to position mode does it allow the transition? Does QGC or voxl-px4 give you any messages at all?
@Eric-Katzfey One more update. I got all preflight checks cleared by again keeping my UAV in outdoor conditions with joystick RC connected. Now GPS LED glows green. Now I am getting one preflight check problem which is regarding "ESC failure". I tried disabling ModalAI ESC with MODAL_IO_CONFIG = Disabled, but still I am facing problem but I think by connecting ESC this problem should be solved.
On a seperate note, Is VOXL2 IO board (M0065) supported now on PX4 1.14 on new SDK? I have use case where I need to connect servo to PX4 (Only option I see is with M0065 + PWM breakout board) along with MODALAI ESC. Please provide some information on this point.
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@Eric-Katzfey One more update. I got all preflight checks cleared by again keeping my UAV in outdoor conditions with joystick RC connected. Now GPS LED glows green. Now I am getting one preflight check problem which is regarding "ESC failure". I tried disabling ModalAI ESC with MODAL_IO_CONFIG = Disabled, but still I am facing problem but I think by connecting ESC this problem should be solved.
On a seperate note, Is VOXL2 IO board (M0065) supported now on PX4 1.14 on new SDK? I have use case where I need to connect servo to PX4 (Only option I see is with M0065 + PWM breakout board) along with MODALAI ESC. Please provide some information on this point.
@Aaky No, M0065 is not yet supported with 1.14.0. We will be supporting that product on 1.14.0 in a future release.
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@Eric-Katzfey
I upgraded to official SDK 1.0.0 version now. I am able to transition from manual to position mode on QGC with my joystick connected as RC source. But when I try to arm in position mode QGC again say's "ARM_DISARM command temperorily rejected".Please check logs on this link. When in position mode if I try to arm I do not get any preflight check failure message on PX4 logs.
GPS LED still blinks RED continously even in good GPS area outdoor.
Please help to debug further.
@Aaky What format is that logs file? Is it an archive?
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