# voxl-PX4 maxes 2 CPUs

Source: https://forum.modalai.com/topic/2681/voxl-px4-maxes-2-cpus
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2023-09-22 16:24:16 UTC by Rowan Dempster
Replies: 14 · Views: 1657

## Rowan Dempster · 2023-09-22 16:24:16 UTC

Hello,

When I start voxl-px4 on VOXL2 I noticed that the CPU usage goes from 0% to over 25%, is this expected?

![Screenshot 2023-09-22 at 12.15.47 PM.png](https://forum.modalai.com/assets/uploads/files/1695399851644-screenshot-2023-09-22-at-12.15.47-pm.png)

## Reply by Moderator (ModalAI staff) · 2023-09-22 22:43:42 UTC

Hi Rowan, which software version are you using, what peripherals do you have connected and is the vehicle armed, etc?

## Reply by Rowan Dempster · 2023-09-25 14:17:18 UTC (in reply to Moderator)

@Moderator Hi, I am using SDK1.0. No peripherals attached, just the VOXL2 Board alone.

## Reply by Eric Katzfey (ModalAI staff) · 2023-09-25 18:16:55 UTC (in reply to Rowan Dempster)

@Rowan-Dempster No, that is definitely not expected. PX4 should only be using a small amount of CPU. Can you disable all other services so it's only PX4 running and see if that changes?

## Reply by tom (ModalAI staff) · 2023-09-25 18:22:01 UTC (in reply to Rowan Dempster)

@Rowan-Dempster Can you also post the output of `voxl-inspect-services` so we can see the CPU usage by each service

## Reply by Rowan Dempster · 2023-09-26 16:20:06 UTC (in reply to Eric Katzfey)

@Eric-Katzfey voxl-px4 and cpu-inspector were the only two services I have running

## Reply by Rowan Dempster · 2023-09-26 16:22:22 UTC (in reply to tom)

@tom ![598d8e34-9b28-4736-9d74-543a26806232-image.png](https://forum.modalai.com/assets/uploads/files/1695745222645-598d8e34-9b28-4736-9d74-543a26806232-image.png)

## Reply by tom (ModalAI staff) · 2023-09-26 16:34:25 UTC (in reply to Rowan Dempster)

@Rowan-Dempster If you run it as a service with `voxl-configure-px4` do you see the same issue?

## Reply by tom (ModalAI staff) · 2023-09-26 16:34:48 UTC (in reply to tom)

@tom The output of `journalctl -u voxl-px4` could be helpful

## Reply by Rowan Dempster · 2023-10-06 13:50:42 UTC (in reply to tom)

@tom Yes I do

## Reply by Rowan Dempster · 2023-10-06 14:15:46 UTC (in reply to tom)

@tom Here's the service log: https://drive.google.com/file/d/1JBxlCP5Ppelu4AFKIKV55oLfmyrgcdQC/view?usp=sharing

## Reply by Eric Katzfey (ModalAI staff) · 2023-10-06 15:06:30 UTC (in reply to Rowan Dempster)

@Rowan-Dempster If you are running voxl-px4 as a service you need to change your /etc/modalai/voxl-px4.conf file to enable daemon mode. Your log shows you have it disabled `DAEMON_MODE=DISABLE`

## Reply by Rowan Dempster · 2023-10-06 21:58:31 UTC (in reply to Eric Katzfey)

@Eric-Katzfey I don't have that .conf file, even after I run voxl-configure-px4 (I just select enable)

## Reply by tom (ModalAI staff) · 2023-10-06 22:02:19 UTC (in reply to Rowan Dempster)

@Rowan-Dempster You need to do `voxl-configure-px4 factory_enable`

## Reply by Rowan Dempster · 2023-10-09 15:08:28 UTC (in reply to tom)

@tom That fixed the CPU usage issue, thank you!