ModalAI Forum
    • Categories
    • Recent
    • Tags
    • Popular
    • Users
    • Groups
    • Register
    • Login

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

    VOXL 2
    2
    33
    1146
    Loading More Posts
    • Oldest to Newest
    • Newest to Oldest
    • Most Votes
    Reply
    • Reply as topic
    Log in to reply
    This topic has been deleted. Only users with topic management privileges can see it.
    • 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
                          • First post
                            Last post
                          Powered by NodeBB | Contributors