# Random PX4 Mavlink Disconnected

Source: https://forum.modalai.com/topic/2361/random-px4-mavlink-disconnected
Category: VOXL 2 and VOXL 2 Mini (https://forum.modalai.com/category/26/voxl-2-and-voxl-2-mini)
Tags: voxl-2
Posted: 2023-06-30 08:57:50 UTC by Tjark
Replies: 2 · Views: 656

## Tjark · 2023-06-30 08:57:50 UTC

Hi,

We have an issue where sometimes the drone drops out of the air. Looking at the `journalctl` logging we see a `WARNING: PX4 Mavlink Disconnected` message at the time when it drops. Also, a few seconds before it has disconnected we see the message `kernel: ==> rtl8188e_iol_efuse_patch`. Has anyone else experienced this or has an idea what could be causing this? 

Also, I saw that there are two ways to get the `WARNING: PX4 Mavlink Disconnect`. One with a disconnect callback and one with a timeout. Would it be an idea to tell in the logging message of the timeout that the disconnect is caused by a timeout?

This is the software we have running:
```
--------------------------------------------------------------------------------
system-image: 1.5.2-M0054-14.1a-perf-nightly-20221219
kernel:       #1 SMP PREEMPT Mon Dec 19 02:17:54 UTC 2022 4.19.125
--------------------------------------------------------------------------------
hw version:   M0054
--------------------------------------------------------------------------------
voxl-suite:   0.9.5
--------------------------------------------------------------------------------

PHIL:~$ voxl-inspect-services -v
 Service Name         |  Version  |  Enabled  |   Running   |  CPU Usage
---------------------------------------------------------------------------
 docker-autorun       |    1.2.4  | Disabled  | Not Running |  
 docker-daemon        |    1.2.4  | Disabled  | Not Running |  
 modallink-relink     |   0.16.1  | Disabled  | Not Running |  
 voxl-camera-server   |    1.3.7  |  Enabled  |   Running   |     0.0
 voxl-cpu-monitor     |    0.3.0  |  Enabled  |   Running   |     0.0
 voxl-dfs-server      |    0.1.0  | Disabled  | Not Running |  
 voxl-imu-server      |    0.5.0  |  Enabled  |   Running   |     0.0
 voxl-mavlink-server  |    0.3.0  |  Enabled  |   Running   |     0.0
 voxl-modem           |   0.16.1  | Disabled  | Not Running |  
 voxl-portal          |    0.5.0  | Disabled  | Not Running |  
 voxl-px4-imu-server  |    0.1.2  | Disabled  | Not Running |  
 voxl-px4             |  1.12.31  |  Enabled  |   Running   |     0.0
 voxl-qvio-server     |    0.8.2  |  Enabled  |   Running   |     0.0
 voxl-remote-id       |    0.0.5  | Disabled  | Not Running |  
 voxl-softap          |    0.1.5  | Disabled  | Not Running |  
 voxl-static-ip       |    0.1.5  | Disabled  | Not Running |  
 voxl-streamer        |    0.4.1  | Disabled  | Not Running |  
 voxl-tag-detector    |    0.0.4  | Disabled  | Not Running |  
 voxl-tflite-server   |    0.3.1  | Disabled  | Not Running |  
 voxl-time-sync       |    1.2.2  | Disabled  | Not Running |  
 voxl-vision-px4      |    1.4.0  |  Enabled  |   Running   |     0.0
 voxl-wait-for-fs     |    1.2.2  |  Enabled  |  Completed  |  
```

## Reply by tom (ModalAI staff) · 2023-06-30 17:49:51 UTC

@Tjark The only obvious thing I notice from your version info is that your system image is a bit out of date for that voxl-suite version, I would expect it to be version 1.5.5. I'd recommend re-flashing to the 0.9.5 release

## Reply by Tjark · 2023-07-03 12:43:58 UTC (in reply to tom)

@tom Yes, thanks! That is a good idea. I will do that. 
I was looking at the release page of the system image and saw this line with 1.5.3 internal release:

```
HLOS

    Added service file that changes SLPI restart level to avoid board crash when SLPI crashes
```

What is SLPI and could you describe a little bit more what kind of issues you saw when SLPI crashed?
I also sometimes saw `px4io io_reg_get(4,0,15): data error -5` in the logging so maybe that could be related?