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

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    • A
      Aaky @Eric Katzfey
      last edited by

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

                  @Eric-Katzfey

                  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 Completed
                  
                  

                  But 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.

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

                    @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?

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

                      @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.

                      A Eric KatzfeyE 2 Replies Last reply Reply Quote 0
                      • A
                        Aaky @Aaky
                        last edited by

                        @Eric-Katzfey Any update on this issue?

                        In my opinion you should be able to replicate this problem easily on your end with fresh flashed beta image.

                        Please help ahead.

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

                          @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.

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

                            @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.

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

                              @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?

                              A 2 Replies Last reply Reply Quote 0
                              • A
                                Aaky @Eric Katzfey
                                last edited by Aaky

                                @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.

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

                                  @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.

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

                                    @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.

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

                                      @Aaky What format is that logs file? Is it an archive?

                                      1 Reply Last reply Reply Quote 0
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