# Voxl2 Spektrum Receiver error Source: https://forum.modalai.com/topic/2703/voxl2-spektrum-receiver-error Category: VOXL 2 and VOXL 2 Mini (https://forum.modalai.com/category/26/voxl-2-and-voxl-2-mini) Tags: voxl-2 Posted: 2023-09-28 15:10:14 UTC by Chase Riley Replies: 88 · Views: 47870 ## Chase Riley · 2023-09-28 15:10:14 UTC I am currently working on a custom frame with a Voxl2 running SDK 1.0.0. I am currently have a issue with integration of a Spektrum Satellite Receiver (Model # SPM9745). The receiver is bound to the transmitter and has the solid red light on the receiver and seems to be functioning fine , however I am not able to calibrate in QGC. QGC does not detect that there is any RC channels. I have the receiver pinned directly into J19 and have followed the pinout shown at (https://docs.modalai.com/voxl2-rc-configs/). Below is the error I see when running voxl-px4. The error will just repeat it self indefinitely. I am hoping someone from the Dev team will be able to help me troubleshoot this issue. ``` voxl2:/$ voxl-px4 [INFO] Reading from /etc/modalai/voxl-px4.conf Found DSP signature file [INFO] Daemon mode enabled ************************* GPS=HOLYBRO RC=SPEKTRUM OSD=DISABLE DAEMON_MODE=ENABLE SENSOR_CAL=ACTUAL EXTRA STEPS: ************************* INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM. INFO [px4] assuming working directory is rootfs, no symlinks needed. INFO [muorb] Got muorb init command Sending initialization request Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete INFO [muorb] SLPI: muorb aggregator thread running INFO [muorb] muorb protobuf initalize method succeeded INFO [muorb] succesfully did ADVERTISE_TEST_TYPE INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097656 INFO [muorb] succesfully did SUBSCRIBE_TEST_TYPE INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097655 INFO [muorb] succesfully did TOPIC_TEST_TYPE INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097654 INFO [muorb] succesfully did UNSUBSCRIBE_TEST_TYPE INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097653 INFO [muorb] muorb test passed ______ __ __ ___ | ___ \ \ \ / / / | | |_/ / \ V / / /| | | __/ / \ / /_| | | | / /^\ \ \___ | \_| \/ \/ |_/ px4 starting. INFO [px4] startup script: /bin/sh /usr/bin/voxl-px4-start 0 INFO [muorb] SLPI: Advertising remote topic log_message INFO [parameters] Starting param sync THREAD INFO [muorb] SLPI: Starting param sync THREAD ************************* GPS: HOLYBRO RC: SPEKTRUM OSD: DISABLE EXTRA STEPS: ************************* Running on M0054 INFO [muorb] SLPI: before starting the qshell_entry task INFO [muorb] SLPI: Creating pthread qshell INFO [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 2097652 INFO [muorb] SLPI: qshell entry..... INFO [muorb] SLPI: after starting the qshell_entry task INFO [muorb] SLPI: Init app map initialized INFO [param] selected parameter default file /data/px4/param/parameters INFO [muorb] SLPI: Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic INFO [uORB] Marking DeviceNode(parameter_client_reset_response) as advertised in process_remote_topic INFO [muorb] SLPI: Advertising remote topic parameter_update INFO [muorb] SLPI: Marking DeviceNode(parameter_client_set_value_request) as advertised in process_remote_to INFO [uORB] Marking DeviceNode(parameter_server_set_used_request) as advertised in process_remote_topic INFO [muorb] SLPI: Marking DeviceNode(parameter_server_set_used_response) as advertised in process_remote_to INFO [uORB] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic INFO [parameters] BSON document size 3360 bytes, decoded 3360 bytes (INT32:54, FLOAT:102) INFO [logger] logger started (mode=all) Starting IMU driver with no rotation INFO [qshell] Send cmd: 'icm42688p start -s' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: icm42688p start -s INFO [muorb] SLPI: arg0 = 'icm42688p' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-s' INFO [muorb] SLPI: *** SPI Device ID 0x26000a 2490378 INFO [uORB] Advertising remote topic sensor_accel INFO [uORB] Advertising remote topic sensor_gyro INFO [muorb] SLPI: ICM42688P::probe successful! INFO [muorb] SLPI: on SPI bus 1 INFO [muorb] SLPI: icm42688p #0 on SPI bus 1 INFO [muorb] SLPI: INFO [muorb] SLPI: >>> ICM42688P this: 3176e4a0 INFO [muorb] SLPI: Ok executing command: icm42688p start -s INFO [uORB] Advertising remote topic qshell_retval INFO [muorb] SLPI: >>> ICM42688P this: 3176e4a0 INFO [qshell] qshell return value timestamp: 65463876, local time: 65468142 INFO [muorb] SLPI: >>> ICM42688P this: 3176e4a0 INFO [muorb] SLPI: Register interrupt b21d3164 e620e69c 3176e4a0 INFO [uORB] Advertising remote topic sensor_gyro_fifo INFO [uORB] Advertising remote topic sensor_accel_fifo INFO [uORB] Advertising remote topic imu_server INFO [muorb] SLPI: >>> ICM42688P this: 3176e4a0 INFO [qshell] Send cmd: 'icp101xx start -I -b 5' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: icp101xx start -I -b 5 INFO [muorb] SLPI: arg0 = 'icp101xx' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-I' INFO [muorb] SLPI: arg3 = '-b' INFO [muorb] SLPI: arg4 = '5' INFO [muorb] SLPI: *** I2C Device ID 0xb76329 12018473 INFO [muorb] SLPI: icp101xx #0 on I2C bus 5 INFO [muorb] SLPI: address 0x63 INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: icp101xx start -I -b 5 INFO [qshell] qshell return value timestamp: 66522608, local time: 66524076 Starting Holybro magnetometer INFO [qshell] Send cmd: 'ist8310 start -R 10 -X -b 1' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: ist8310 start -R 10 -X -b 1 INFO [muorb] SLPI: arg0 = 'ist8310' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-R' INFO [muorb] SLPI: arg3 = '10' INFO [muorb] SLPI: arg4 = '-X' INFO [muorb] SLPI: arg5 = '-b' INFO [muorb] SLPI: arg6 = '1' INFO [muorb] SLPI: *** I2C Device ID 0x60e09 396809 INFO [muorb] SLPI: ist8310 #0 on I2C bus 1 INFO [muorb] SLPI: (external) INFO [muorb] SLPI: address 0xE INFO [muorb] SLPI: rotation 10 INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: ist8310 start -R 10 -X -b 1 INFO [qshell] qshell return value timestamp: 66576742, local time: 66578405 INFO [qshell] Send cmd: 'gps start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: gps start INFO [muorb] SLPI: arg0 = 'gps' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: Creating pthread gps INFO [muorb] SLPI: Successfully created px4 task PX4_gps with tid 2097648 INFO [muorb] SLPI: Ok executing command: gps start INFO [qshell] qshell return value timestamp: 66599884, local time: 66600724 Starting Holybro LED driver INFO [qshell] Send cmd: 'rgbled_ncp5623c start -X -b 1 -f 400 -a 56' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: rgbled_ncp5623c start -X -b 1 -f 400 -a 56 INFO [muorb] SLPI: arg0 = 'rgbled_ncp5623c' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-X' INFO [muorb] SLPI: arg3 = '-b' INFO [muorb] SLPI: arg4 = '1' INFO [muorb] SLPI: arg5 = '-f' INFO [muorb] SLPI: arg6 = '400' INFO [muorb] SLPI: arg7 = '-a' INFO [muorb] SLPI: arg8 = '56' INFO [muorb] SLPI: *** I2C Device ID 0x7b3809 8075273 INFO [muorb] SLPI: rgbled_ncp5623c #0 on I2C bus 1 INFO [muorb] SLPI: (external) INFO [muorb] SLPI: address 0x38 INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: rgbled_ncp5623c start -X -b 1 -f 400 -a 56 INFO [qshell] qshell return value timestamp: 66641991, local time: 66644114 INFO [uORB] Advertising remote topic sensor_mag INFO [qshell] Send cmd: 'modal_io start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: modal_io start INFO [muorb] SLPI: arg0 = 'modal_io' INFO [muorb] SLPI: arg1 = 'start' INFO [uORB] Advertising remote topic actuator_outputs INFO [uORB] Advertising remote topic sensor_baro INFO [muorb] SLPI: Ok executing command: modal_io start INFO [muorb] SLPI: Opened UART ESC device INFO [qshell] qshell return value timestamp: 66747643, local time: 66749765 INFO [uORB] Advertising remote topic actuator_outputs_debug INFO [uORB] Advertising remote topic esc_status Starting Spektrum RC INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: spektrum_rc start INFO [qshell] Send cmd: 'spektrum_rc start' INFO [muorb] SLPI: arg0 = 'spektrum_rc' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: Creating pthread spektrum_rc_main INFO [muorb] SLPI: Successfully created px4 task PX4_spektrum_rc_main with tid 2097645 INFO [muorb] SLPI: Ok executing command: spektrum_rc start INFO [qshell] qshell return value timestamp: 67802724, local time: 67805895 ERROR [muorb] SLPI: Spektrum RC: Read something other than correct DSM frame on read. Got 16 bytes. Protoco ERROR [muorb] SLPI: Spektrum RC: Read something other than correct DSM frame on read. Got 16 bytes. Protoco ``` ## Reply by Eric Katzfey (ModalAI staff) · 2023-09-28 15:43:00 UTC @Chase-Riley We use these receivers and haven't had an issue with them. The error message indicates it is getting 16 bytes at a time which matches the protocol specification. But it is not able to parse the protocol from that 16 bytes. That could either indicate a misalignment of some sort or a corruption of the data. Are you able to look at the TX line coming out of the 9745 on an oscilloscope? The error message is getting cutoff at the end. It should also be reporting the value of the protocol byte. It would be nice to see that. There is a verbose mode for the driver which will pront out more diagnostic information. You need to add the `-v` option to the start command (`qshell spektrum_rc start`) in the startup file `/usr/bin/voxl-px4-start` and then it will print out more information. ## Reply by Chase Riley · 2023-09-28 16:04:49 UTC (in reply to Eric Katzfey) @Eric-Katzfey Unfortunately I do not have access to a Oscope right now. I added in the "-v " option to the command as you recommended and have included the results below. ``` voxl-px4 [INFO] Reading from /etc/modalai/voxl-px4.conf Found DSP signature file [INFO] Daemon mode enabled ************************* GPS=HOLYBRO RC=SPEKTRUM OSD=DISABLE DAEMON_MODE=ENABLE SENSOR_CAL=ACTUAL EXTRA STEPS: ************************* INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM. INFO [px4] assuming working directory is rootfs, no symlinks needed. INFO [muorb] Got muorb init command Sending initialization request Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete INFO [muorb] SLPI: muorb aggregator thread running INFO [muorb] muorb protobuf initalize method succeeded INFO [muorb] succesfully did ADVERTISE_TEST_TYPE INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097656 INFO [muorb] succesfully did SUBSCRIBE_TEST_TYPE INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097655 INFO [muorb] succesfully did TOPIC_TEST_TYPE INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097654 INFO [muorb] succesfully did UNSUBSCRIBE_TEST_TYPE INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097653 INFO [muorb] muorb test passed ______ __ __ ___ | ___ \ \ \ / / / | | |_/ / \ V / / /| | | __/ / \ / /_| | | | / /^\ \ \___ | \_| \/ \/ |_/ px4 starting. INFO [muorb] SLPI: Advertising remote topic log_message INFO [px4] startup script: /bin/sh /usr/bin/voxl-px4-start 0 INFO [parameters] Starting param sync THREAD ************************* GPS: HOLYBRO RC: SPEKTRUM OSD: DISABLE EXTRA STEPS: ************************* INFO [muorb] SLPI: Starting param sync THREAD Running on M0054 INFO [muorb] SLPI: before starting the qshell_entry task INFO [muorb] SLPI: Creating pthread qshell INFO [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 2097652 INFO [muorb] SLPI: qshell entry..... INFO [muorb] SLPI: after starting the qshell_entry task INFO [muorb] SLPI: Init app map initialized INFO [param] selected parameter default file /data/px4/param/parameters INFO [muorb] SLPI: Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic INFO [uORB] Marking DeviceNode(parameter_client_reset_response) as advertised in process_remote_topic INFO [muorb] SLPI: Advertising remote topic parameter_update INFO [muorb] SLPI: Marking DeviceNode(parameter_client_set_value_request) as advertised in process_remote_to INFO [uORB] Marking DeviceNode(parameter_server_set_used_request) as advertised in process_remote_topic INFO [muorb] SLPI: Marking DeviceNode(parameter_server_set_used_response) as advertised in process_remote_to INFO [uORB] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic INFO [parameters] BSON document size 3360 bytes, decoded 3360 bytes (INT32:54, FLOAT:102) INFO [logger] logger started (mode=all) Starting IMU driver with no rotation INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [qshell] Send cmd: 'icm42688p start -s' INFO [muorb] SLPI: qshell gotten: icm42688p start -s INFO [muorb] SLPI: arg0 = 'icm42688p' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-s' INFO [muorb] SLPI: *** SPI Device ID 0x26000a 2490378 INFO [uORB] Advertising remote topic sensor_accel INFO [uORB] Advertising remote topic sensor_gyro INFO [muorb] SLPI: ICM42688P::probe successful! INFO [muorb] SLPI: on SPI bus 1 INFO [muorb] SLPI: icm42688p #0 on SPI bus 1 INFO [muorb] SLPI: INFO [muorb] SLPI: >>> ICM42688P this: 3176e490 INFO [muorb] SLPI: Ok executing command: icm42688p start -s INFO [uORB] Advertising remote topic qshell_retval INFO [muorb] SLPI: >>> ICM42688P this: 3176e490 INFO [qshell] qshell return value timestamp: 233627807, local time: 233632162 INFO [muorb] SLPI: >>> ICM42688P this: 3176e490 INFO [muorb] SLPI: Register interrupt b21d3164 e620e69c 3176e490 INFO [uORB] Advertising remote topic sensor_gyro_fifo INFO [uORB] Advertising remote topic sensor_accel_fifo INFO [uORB] Advertising remote topic imu_server INFO [muorb] SLPI: >>> ICM42688P this: 3176e490 INFO [qshell] Send cmd: 'icp101xx start -I -b 5' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: icp101xx start -I -b 5 INFO [muorb] SLPI: arg0 = 'icp101xx' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-I' INFO [muorb] SLPI: arg3 = '-b' INFO [muorb] SLPI: arg4 = '5' INFO [muorb] SLPI: *** I2C Device ID 0xb76329 12018473 INFO [muorb] SLPI: icp101xx #0 on I2C bus 5 INFO [muorb] SLPI: address 0x63 INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: icp101xx start -I -b 5 INFO [qshell] qshell return value timestamp: 234681842, local time: 234684609 Starting Holybro magnetometer INFO [qshell] Send cmd: 'ist8310 start -R 10 -X -b 1' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: ist8310 start -R 10 -X -b 1 INFO [muorb] SLPI: arg0 = 'ist8310' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-R' INFO [muorb] SLPI: arg3 = '10' INFO [muorb] SLPI: arg4 = '-X' INFO [muorb] SLPI: arg5 = '-b' INFO [muorb] SLPI: arg6 = '1' INFO [muorb] SLPI: *** I2C Device ID 0x60e09 396809 INFO [muorb] SLPI: ist8310 #0 on I2C bus 1 INFO [muorb] SLPI: (external) INFO [muorb] SLPI: address 0xE INFO [muorb] SLPI: rotation 10 INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: ist8310 start -R 10 -X -b 1 INFO [qshell] qshell return value timestamp: 234737029, local time: 234738986 INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: gps start INFO [qshell] Send cmd: 'gps start' INFO [muorb] SLPI: arg0 = 'gps' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: Creating pthread gps INFO [muorb] SLPI: Successfully created px4 task PX4_gps with tid 2097648 INFO [muorb] SLPI: Ok executing command: gps start INFO [qshell] qshell return value timestamp: 234763793, local time: 234766056 Starting Holybro LED driver INFO [qshell] Send cmd: 'rgbled_ncp5623c start -X -b 1 -f 400 -a 56' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: rgbled_ncp5623c start -X -b 1 -f 400 -a 56 INFO [muorb] SLPI: arg0 = 'rgbled_ncp5623c' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-X' INFO [muorb] SLPI: arg3 = '-b' INFO [muorb] SLPI: arg4 = '1' INFO [muorb] SLPI: arg5 = '-f' INFO [muorb] SLPI: arg6 = '400' INFO [muorb] SLPI: arg7 = '-a' INFO [muorb] SLPI: arg8 = '56' INFO [muorb] SLPI: *** I2C Device ID 0x7b3809 8075273 INFO [muorb] SLPI: rgbled_ncp5623c #0 on I2C bus 1 INFO [muorb] SLPI: (external) INFO [muorb] SLPI: address 0x38 INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: rgbled_ncp5623c start -X -b 1 -f 400 -a 56 INFO [qshell] qshell return value timestamp: 234817829, local time: 234819191 INFO [uORB] Advertising remote topic sensor_mag INFO [qshell] Send cmd: 'modal_io start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: modal_io start INFO [muorb] SLPI: arg0 = 'modal_io' INFO [muorb] SLPI: arg1 = 'start' INFO [uORB] Advertising remote topic actuator_outputs INFO [uORB] Advertising remote topic sensor_baro INFO [muorb] SLPI: Ok executing command: modal_io start INFO [muorb] SLPI: Opened UART ESC device INFO [qshell] qshell return value timestamp: 234921070, local time: 234923227 INFO [uORB] Advertising remote topic actuator_outputs_debug INFO [uORB] Advertising remote topic esc_status Starting Spektrum RC INFO [qshell] Send cmd: 'spektrum_rc start -v' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: spektrum_rc start -v INFO [muorb] SLPI: arg0 = 'spektrum_rc' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-v' INFO [muorb] SLPI: Creating pthread spektrum_rc_main INFO [muorb] SLPI: Successfully created px4 task PX4_spektrum_rc_main with tid 2097645 INFO [muorb] SLPI: Ok executing command: spektrum_rc start -v INFO [muorb] SLPI: Spektrum RC: Enabling verbose mode INFO [muorb] SLPI: Spektrum RC: dsm_init succeeded INFO [qshell] qshell return value timestamp: 235978442, local time: 235980066 INFO [muorb] SLPI: Spektrum RC: Read no bytes from UART ERROR [muorb] SLPI: Spektrum RC: Read something other than correct DSM frame on read. Got 16 bytes. Protoco ERROR [muorb] SLPI: Spektrum RC: Read something other than correct DSM frame on read. Got 16 bytes. Protoco ERROR [muorb] SLPI: Spektrum RC: Read something other than correct DSM frame on read. Got 16 bytes. Protoco ERROR [muorb] SLPI: Spektrum RC: Read something other than correct DSM frame on read. Got 16 bytes. Protoco``` ## Reply by ben grocholsky · 2023-09-28 22:50:50 UTC (in reply to Eric Katzfey) @Eric-Katzfey I've seen a similar issue with a DX7 transmitter paired to an off the shelf Sentinel. The binding worked but no data made it through the dsm parser. In that case the packets looked like: ``` INFO [muorb] SLPI: 0x1c 0x01 0x04 0xb4 0x15 0xf0 0x09 0xfe 0x0d 0xfe 0x01 0xc2 0x13 0x56 0x1b 0x57 INFO [muorb] SLPI: 0x1c 0x01 0x06 0xef 0x15 0xf0 0x0a 0x2f 0x0d 0xfe 0x01 0xc2 0x13 0x56 0x1b 0x57 INFO [muorb] SLPI: 0x1c 0x01 0x04 0xc6 0x15 0xf0 0x09 0x0f 0x0d 0xfe 0x01 0xc2 0x13 0x56 0x1b 0x57 INFO [muorb] SLPI: 0x1c 0x01 0x04 0xe3 0x15 0xf0 0x0b 0x04 0x0d 0xfe 0x01 0xc2 0x13 0x56 0x1b 0x57 INFO [muorb] SLPI: 0x1c 0x01 0x07 0x56 0x15 0xf0 0x09 0xd7 0x0d 0xfe 0x01 0xc2 0x13 0x56 0x1b 0x57 INFO [muorb] SLPI: 0x1c 0x01 0x05 0x51 0x15 0xf0 0x08 0xa7 0x0d 0xfe 0x01 0xc2 0x13 0x56 0x1b 0x57 ``` [This line of the code](https://github.com/modalai/px4-firmware/blob/8569ea45033856e91b0d1d4868e76cb30e12ba53/boards/modalai/voxl2-slpi/src/drivers/spektrum_rc/spektrum_rc.cpp#L156C61-L156C65) never sees `rx_buf[1]` 0x02 bit high and `first_correct_frame_received` never goes true. I'm not familiar enough with DSM to recommend a safe fix. (a minor change to the line above made data flow but was not robust when power cycling the transmitter...) Just confirming I've seen some spektrum transmitter hardware not work with the voxl2 parser. ## Reply by Eric Katzfey (ModalAI staff) · 2023-09-29 17:56:01 UTC (in reply to ben grocholsky) @ben-grocholsky Thanks Ben! Yes, and it sure would be nice to see the end of the error line to see what that protocol byte is. Unfortunately it gets truncated in the output. @Chase-Riley do you have the ability to rebuild px4? ## Reply by Eric Katzfey (ModalAI staff) · 2023-09-29 17:58:17 UTC (in reply to Chase Riley) @Chase-Riley As Ben suggested some DSM transmitters may cause it to use a different flavor of the protocol and break the driver code. Is it possible to try a different model of transmitter? ## Reply by ben grocholsky · 2023-09-30 00:15:58 UTC (in reply to Eric Katzfey) @Eric-Katzfey changing to accept 0x01 or 0x02 in rx_buf[1] appears to make my DX7 transmitter work. `input_rc` -> `RC_CHANNELS` shows up and starts/stops when powering the transmitter on/off. Any thoughts on if this is an acceptable change? ``` } else if (((newbytes != DSM_FRAME_SIZE) || ((rx_buf[1] & 0x0F) != 0x02)) && (! first_correct_frame_received)) { ``` to ``` } else if (((newbytes != DSM_FRAME_SIZE) || (((rx_buf[1] & 0x0F) != 0x02) && ((rx_buf[1] & 0x0F) != 0x01))) && (! first_correct_frame_received)) { ``` ``` INFO [muorb] SLPI: Spektrum RC: Read no bytes from UART INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0xff 0x01 0x06 0x08 0x17 0x42 0x0a 0x00 0x0d 0xfd 0x00 0xa9 0x10 0xaa 0x1b 0x57 INFO [muorb] SLPI: Spektrum RC: Read no bytes from UART INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0xff 0x01 0x06 0x08 0x17 0x42 0x0a 0x00 0x0d 0xfd 0x00 0xa9 0x10 0xaa 0x1b 0x57 ``` @Chase-Riley if needed, I can send you a deb file that will print out lots of debugs. Not safe for flying but hopefully it could help understanding what's happening. ## Reply by Chase Riley · 2023-10-02 12:27:39 UTC (in reply to Eric Katzfey) @Eric-Katzfey I can certainly try to rebuild px4. Just to confirm this would be done using a docker image (https://gitlab.com/voxl-public/rb5-flight/rb5-flight-px4-build-docker) correct? @ben-grocholsky That would be great if you could send me over the deb file to see if we can figure this out. ## Reply by Eric Katzfey (ModalAI staff) · 2023-10-02 15:39:12 UTC (in reply to Chase Riley) @Chase-Riley Yes, in that Docker. If you can rebuild then you can add Ben's patch and see if that solves your issue. If you cannot figure out how to build I could make a special deb for you to test out. ## Reply by Chase Riley · 2023-10-02 19:43:06 UTC (in reply to Eric Katzfey) @Eric-Katzfey I am attempting to rebuild px4, however there is a bit of a learning curve for me. If a custom deb file would be easy for you to throw together I would be willing to test that why I am working through the rebuild process. ## Reply by ben grocholsky · 2023-10-02 21:19:08 UTC (in reply to Chase Riley) @Chase-Riley Here's a debug deb to try while you're working out building custom `voxl-px4` [voxl-px4_1.14.0-2.0.50_DSMDEBUG_arm64.deb](https://drive.google.com/file/d/1XJBdAKxR0C0tYPDgfOB1uUGCJ6Pv_3kV/view?usp=sharing) It'll print out a bunch of info if you stop the service `systemctl stop voxl-px4` and run `voxl-px4` manually in a shell. If the 0x01 protocol byte is the issue you're having, then this version will start publishing RC data to uorb/mavlink. Otherwise, at least you'll be able to see what the raw data packets look like. ## Reply by Chase Riley · 2023-10-05 15:42:19 UTC (in reply to ben grocholsky) @ben-grocholsky @Eric-Katzfey My apologies for the delay. I ran voxl-px4 using Ben's custom deb file. Below is a snippet of the data. ``` voxl2:/$ voxl-px4 [INFO] Reading from /etc/modalai/voxl-px4.conf Found DSP signature file [INFO] Daemon mode enabled ************************* GPS=HOLYBRO RC=SPEKTRUM POWER MANAGER=VOXLPM DISTANCE SENSOR=NONE OSD=DISABLE DAEMON_MODE=ENABLE SENSOR_CAL=ACTUAL EXTRA STEPS: ************************* INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM. INFO [px4] assuming working directory is rootfs, no symlinks needed. INFO [muorb] Got muorb init command Sending initialization request Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete INFO [muorb] SLPI: muorb aggregator thread running INFO [muorb] muorb protobuf initalize method succeeded INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] succesfully did ADVERTISE_TEST_TYPE INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097656 INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] succesfully did SUBSCRIBE_TEST_TYPE INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097655 INFO [muorb] succesfully did TOPIC_TEST_TYPE INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097654 INFO [muorb] succesfully did UNSUBSCRIBE_TEST_TYPE INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097653 INFO [muorb] muorb test passed INFO [muorb] SLPI: Advertising remote topic log_message ______ __ __ ___ | ___ \ \ \ / / / | | |_/ / \ V / / /| | | __/ / \ / /_| | | | / /^\ \ \___ | \_| \/ \/ |_/ px4 starting. INFO [px4] startup script: /bin/sh /usr/bin/voxl-px4-start 0 INFO [parameters] Starting param sync THREAD ************************* GPS: HOLYBRO RC: SPEKTRUM POWER MANAGER: VOXLPM DISTANCE SENSOR: NONE OSD: DISABLE EXTRA STEPS: ************************* Running on M0054 INFO [muorb] SLPI: Starting param sync THREAD INFO [muorb] SLPI: before starting the qshell_entry task INFO [muorb] SLPI: Creating pthread qshell INFO [muorb] SLPI: qshell entry..... INFO [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 2097652 INFO [muorb] SLPI: Init app map initialized INFO [muorb] SLPI: after starting the qshell_entry task INFO [param] selected parameter default file /data/px4/param/parameters INFO [muorb] SLPI: Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic INFO [uORB] Marking DeviceNode(parameter_client_reset_response) as advertised in process_remote_topic INFO [muorb] SLPI: Advertising remote topic parameter_update INFO [muorb] SLPI: Marking DeviceNode(parameter_client_set_value_request) as advertised in process_remote_to INFO [uORB] Marking DeviceNode(parameter_server_set_used_request) as advertised in process_remote_topic INFO [muorb] SLPI: Marking DeviceNode(parameter_server_set_used_response) as advertised in process_remote_to INFO [uORB] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic INFO [parameters] BSON document size 3333 bytes, decoded 3333 bytes (INT32:50, FLOAT:104) INFO [logger] logger started (mode=all) Starting IMU driver with no rotation INFO [qshell] Send cmd: 'icm42688p start -s' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: icm42688p start -s INFO [muorb] SLPI: arg0 = 'icm42688p' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-s' INFO [muorb] SLPI: *** SPI Device ID 0x26000a 2490378 INFO [uORB] Advertising remote topic sensor_accel INFO [uORB] Advertising remote topic sensor_gyro INFO [muorb] SLPI: ICM42688P::probe successful! INFO [muorb] SLPI: on SPI bus 1 INFO [muorb] SLPI: icm42688p #0 on SPI bus 1 INFO [muorb] SLPI: INFO [muorb] SLPI: >>> ICM42688P this: 3176eb30 INFO [muorb] SLPI: Ok executing command: icm42688p start -s INFO [uORB] Advertising remote topic qshell_retval INFO [muorb] SLPI: >>> ICM42688P this: 3176eb30 INFO [qshell] qshell return value timestamp: 30285270, local time: 30290082 INFO [muorb] SLPI: >>> ICM42688P this: 3176eb30 INFO [muorb] SLPI: Register interrupt b21d3164 e6205e9c 3176eb30 INFO [uORB] Advertising remote topic sensor_gyro_fifo INFO [uORB] Advertising remote topic sensor_accel_fifo INFO [uORB] Advertising remote topic imu_server INFO [qshell] Send cmd: 'icp101xx start -I -b 5' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: icp101xx start -I -b 5 INFO [muorb] SLPI: arg0 = 'icp101xx' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-I' INFO [muorb] SLPI: arg3 = '-b' INFO [muorb] SLPI: arg4 = '5' INFO [muorb] SLPI: *** I2C Device ID 0xb76329 12018473 INFO [muorb] SLPI: icp101xx #0 on I2C bus 5 INFO [muorb] SLPI: address 0x63 INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: icp101xx start -I -b 5 INFO [qshell] qshell return value timestamp: 30338284, local time: 30340198 Starting ist8310 magnetometer INFO [qshell] Send cmd: 'ist8310 start -R 10 -X -b 1' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: ist8310 start -R 10 -X -b 1 INFO [muorb] SLPI: arg0 = 'ist8310' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-R' INFO [muorb] SLPI: arg3 = '10' INFO [muorb] SLPI: arg4 = '-X' INFO [muorb] SLPI: arg5 = '-b' INFO [muorb] SLPI: arg6 = '1' INFO [muorb] SLPI: *** I2C Device ID 0x60e09 396809 INFO [muorb] SLPI: ist8310 #0 on I2C bus 1 INFO [muorb] SLPI: (external) INFO [muorb] SLPI: address 0xE INFO [muorb] SLPI: rotation 10 INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: ist8310 start -R 10 -X -b 1 INFO [qshell] qshell return value timestamp: 30374600, local time: 30376477 INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: gps start INFO [muorb] SLPI: arg0 = 'gps' INFO [qshell] Send cmd: 'gps start' INFO [muorb] SLPI: >>> ICM42688P this: 3176eb30 INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: Creating pthread gps INFO [muorb] SLPI: Successfully created px4 task PX4_gps with tid 2097648 INFO [muorb] SLPI: Ok executing command: gps start INFO [qshell] qshell return value timestamp: 30402693, local time: 30404579 Starting Holybro LED driver INFO [qshell] Send cmd: 'rgbled_ncp5623c start -X -b 1 -f 400 -a 56' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: rgbled_ncp5623c start -X -b 1 -f 400 -a 56 INFO [muorb] SLPI: arg0 = 'rgbled_ncp5623c' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-X' INFO [muorb] SLPI: arg3 = '-b' INFO [muorb] SLPI: arg4 = '1' INFO [muorb] SLPI: arg5 = '-f' INFO [muorb] SLPI: arg6 = '400' INFO [muorb] SLPI: arg7 = '-a' INFO [muorb] SLPI: arg8 = '56' INFO [muorb] SLPI: *** I2C Device ID 0x7b3809 8075273 INFO [muorb] SLPI: rgbled_ncp5623c #0 on I2C bus 1 INFO [muorb] SLPI: (external) INFO [muorb] SLPI: address 0x38 INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: rgbled_ncp5623c start -X -b 1 -f 400 -a 56 INFO [qshell] qshell return value timestamp: 30457005, local time: 30458459 INFO [uORB] Advertising remote topic sensor_mag INFO [qshell] Send cmd: 'modal_io start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: modal_io start INFO [muorb] SLPI: arg0 = 'modal_io' INFO [muorb] SLPI: arg1 = 'start' INFO [uORB] Advertising remote topic actuator_outputs INFO [muorb] SLPI: Ok executing command: modal_io start INFO [muorb] SLPI: Opened UART ESC device INFO [qshell] qshell return value timestamp: 30550352, local time: 30552275 INFO [uORB] Advertising remote topic sensor_baro Starting Spektrum RC INFO [qshell] Send cmd: 'spektrum_rc start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: spektrum_rc start INFO [muorb] SLPI: arg0 = 'spektrum_rc' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: Creating pthread spektrum_rc_main INFO [muorb] SLPI: Successfully created px4 task PX4_spektrum_rc_main with tid 2097645 INFO [muorb] SLPI: Ok executing command: spektrum_rc start INFO [qshell] qshell return value timestamp: 30599384, local time: 30600883 INFO [muorb] SLPI: Spektrum RC: Read no bytes from UART INFO [uORB] Advertising remote topic actuator_outputs_debug INFO [uORB] Advertising remote topic esc_status INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x67 0x00 INFO [qshell] Send cmd: 'voxlpm start -X -b 2' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: voxlpm start -X -b 2 INFO [muorb] SLPI: arg0 = 'voxlpm' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-X' INFO [muorb] SLPI: arg3 = '-b' INFO [muorb] SLPI: arg4 = '2' INFO [muorb] SLPI: *** I2C Device ID 0xd24411 13779985 INFO [muorb] SLPI: Set i2c address 0x6a, fd 3 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [muorb] SLPI: Set i2c address 0x44, fd 3 INFO [uORB] Advertising remote topic battery_status INFO [muorb] SLPI: voxlpm #0 on I2C bus 2 INFO [muorb] SLPI: (external) INFO [muorb] SLPI: address 0x44 INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: voxlpm start -X -b 2 INFO [qshell] qshell return value timestamp: 30657353, local time: 30659016 INFO [uORB] Advertising remote topic power_monitor INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x61 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [qshell] Send cmd: 'sensors start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: sensors start INFO [muorb] SLPI: arg0 = 'sensors' INFO [muorb] SLPI: arg1 = 'start' INFO [uORB] Advertising remote topic sensor_selection INFO [uORB] Advertising remote topic sensors_status_imu INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [uORB] Advertising remote topic vehicle_acceleration INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [uORB] Advertising remote topic vehicle_angular_velocity INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [uORB] Advertising remote topic sensor_combined INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x67 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x61 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x67 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [uORB] Advertising remote topic vehicle_air_data INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [uORB] Advertising remote topic sensors_status_baro INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x67 0x00 ERROR [muorb] SLPI: Timeout waiting for parameter_server_set_used_response for SENS_GPS_MASK INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x61 0x00 INFO [uORB] Advertising remote topic vehicle_gps_position INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x61 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [uORB] Advertising remote topic vehicle_magnetometer INFO [uORB] Advertising remote topic sensor_preflight_mag INFO [uORB] Advertising remote topic sensors_status_mag INFO [uORB] Advertising remote topic vehicle_imu INFO [uORB] Advertising remote topic vehicle_imu_status INFO [muorb] SLPI: Ok executing command: sensors start INFO [qshell] qshell return value timestamp: 30853798, local time: 30856869 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [qshell] Send cmd: 'ekf2 start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: ekf2 start INFO [muorb] SLPI: arg0 = 'ekf2' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x67 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x61 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x67 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [uORB] Advertising remote topic input_rc INFO [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x61 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x67 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x67 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x61 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x61 0x00 INFO [uORB] Advertising remote topic vehicle_attitude INFO [uORB] Advertising remote topic vehicle_local_position INFO [uORB] Advertising remote topic estimator_event_flags INFO [uORB] Advertising remote topic estimator_innovation_test_ratios INFO [uORB] Advertising remote topic estimator_innovation_variances INFO [uORB] Advertising remote topic estimator_innovations INFO [uORB] Advertising remote topic estimator_sensor_bias INFO [uORB] Advertising remote topic estimator_states INFO [uORB] Advertising remote topic estimator_status_flags INFO [uORB] Advertising remote topic estimator_status INFO [muorb] SLPI: Ok executing command: ekf2 start INFO [qshell] qshell return value timestamp: 31159822, local time: 31165232 INFO [uORB] Advertising remote topic ekf2_timestamps INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [uORB] Advertising remote topic vehicle_odometry INFO [uORB] Advertising remote topic estimator_aid_src_baro_hgt INFO [uORB] Advertising remote topic estimator_aid_src_fake_pos INFO [uORB] Advertising remote topic estimator_aid_src_fake_hgt INFO [uORB] Advertising remote topic estimator_aid_src_mag_heading INFO [uORB] Advertising remote topic estimator_aid_src_mag INFO [uORB] Advertising remote topic estimator_aid_src_gravity INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x67 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x61 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x01 0x81 0x56 0x3d 0xba 0x1c 0x0d 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: Read 16 bytes from UART INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x01 0x0b 0xf5 0x2c 0x00 0x13 0xfe 0x26 0xaa 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [qshell] Send cmd: 'mc_pos_control start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mc_pos_control start INFO [muorb] SLPI: arg0 = 'mc_pos_control' ``` ## Reply by Chase Riley · 2023-10-05 18:12:40 UTC (in reply to Chase Riley) @ben-grocholsky @Eric-Katzfey I attempted to run voxl-px4 again after a power cycle and encountered this error. Similar to the error before but looks to be showing the info that was cut off in the previous deb file. ``` voxl2:/$ voxl-px4 [INFO] Reading from /etc/modalai/voxl-px4.conf Found DSP signature file [INFO] Daemon mode enabled ************************* GPS=HOLYBRO RC=SPEKTRUM POWER MANAGER=VOXLPM DISTANCE SENSOR=NONE OSD=DISABLE DAEMON_MODE=ENABLE SENSOR_CAL=ACTUAL EXTRA STEPS: ************************* INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM. INFO [px4] assuming working directory is rootfs, no symlinks needed. INFO [muorb] Got muorb init command Sending initialization request Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete INFO [muorb] SLPI: muorb aggregator thread running INFO [muorb] muorb protobuf initalize method succeeded INFO [muorb] succesfully did ADVERTISE_TEST_TYPE INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097656 INFO [muorb] succesfully did SUBSCRIBE_TEST_TYPE INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097655 INFO [muorb] succesfully did TOPIC_TEST_TYPE INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097654 INFO [muorb] succesfully did UNSUBSCRIBE_TEST_TYPE INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097653 INFO [muorb] muorb test passed ______ __ __ ___ | ___ \ \ \ / / / | | |_/ / \ V / / /| | | __/ / \ / /_| | | | / /^\ \ \___ | \_| \/ \/ |_/ px4 starting. INFO [muorb] SLPI: Advertising remote topic log_message INFO [px4] startup script: /bin/sh /usr/bin/voxl-px4-start 0 INFO [parameters] Starting param sync THREAD INFO [muorb] SLPI: Starting param sync THREAD ************************* GPS: HOLYBRO RC: SPEKTRUM POWER MANAGER: VOXLPM DISTANCE SENSOR: NONE OSD: DISABLE EXTRA STEPS: ************************* Running on M0054 INFO [muorb] SLPI: before starting the qshell_entry task INFO [muorb] SLPI: Creating pthread qshell INFO [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 2097652 INFO [muorb] SLPI: qshell entry..... INFO [muorb] SLPI: after starting the qshell_entry task INFO [muorb] SLPI: Init app map initialized INFO [param] selected parameter default file /data/px4/param/parameters INFO [muorb] SLPI: Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic INFO [uORB] Marking DeviceNode(parameter_client_reset_response) as advertised in process_remote_topic INFO [muorb] SLPI: Advertising remote topic parameter_update INFO [muorb] SLPI: Marking DeviceNode(parameter_client_set_value_request) as advertised in process_remote_to INFO [uORB] Marking DeviceNode(parameter_server_set_used_request) as advertised in process_remote_topic INFO [muorb] SLPI: Marking DeviceNode(parameter_server_set_used_response) as advertised in process_remote_to INFO [uORB] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic INFO [parameters] BSON document size 3333 bytes, decoded 3333 bytes (INT32:50, FLOAT:104) INFO [logger] logger started (mode=all) Starting IMU driver with no rotation INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [qshell] Send cmd: 'icm42688p start -s' INFO [muorb] SLPI: qshell gotten: icm42688p start -s INFO [muorb] SLPI: arg0 = 'icm42688p' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-s' INFO [muorb] SLPI: *** SPI Device ID 0x26000a 2490378 INFO [uORB] Advertising remote topic sensor_accel INFO [uORB] Advertising remote topic sensor_gyro INFO [muorb] SLPI: ICM42688P::probe successful! INFO [muorb] SLPI: on SPI bus 1 INFO [muorb] SLPI: icm42688p #0 on SPI bus 1 INFO [muorb] SLPI: INFO [muorb] SLPI: >>> ICM42688P this: 3176eb30 INFO [muorb] SLPI: Ok executing command: icm42688p start -s INFO [uORB] Advertising remote topic qshell_retval INFO [muorb] SLPI: >>> ICM42688P this: 3176eb30 INFO [qshell] qshell return value timestamp: 262948496, local time: 262952979 INFO [muorb] SLPI: >>> ICM42688P this: 3176eb30 INFO [muorb] SLPI: Register interrupt b21d3164 e6205e9c 3176eb30 INFO [uORB] Advertising remote topic sensor_gyro_fifo INFO [uORB] Advertising remote topic sensor_accel_fifo INFO [uORB] Advertising remote topic imu_server INFO [qshell] Send cmd: 'icp101xx start -I -b 5' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: icp101xx start -I -b 5 INFO [muorb] SLPI: arg0 = 'icp101xx' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-I' INFO [muorb] SLPI: arg3 = '-b' INFO [muorb] SLPI: arg4 = '5' INFO [muorb] SLPI: *** I2C Device ID 0xb76329 12018473 INFO [muorb] SLPI: icp101xx #0 on I2C bus 5 INFO [muorb] SLPI: address 0x63 INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: icp101xx start -I -b 5 INFO [qshell] qshell return value timestamp: 262991650, local time: 262992261 Starting ist8310 magnetometer INFO [qshell] Send cmd: 'ist8310 start -R 10 -X -b 1' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: ist8310 start -R 10 -X -b 1 INFO [muorb] SLPI: arg0 = 'ist8310' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-R' INFO [muorb] SLPI: arg3 = '10' INFO [muorb] SLPI: arg4 = '-X' INFO [muorb] SLPI: arg5 = '-b' INFO [muorb] SLPI: arg6 = '1' INFO [muorb] SLPI: *** I2C Device ID 0x60e09 396809 INFO [muorb] SLPI: ist8310 #0 on I2C bus 1 INFO [muorb] SLPI: (external) INFO [muorb] SLPI: address 0xE INFO [muorb] SLPI: rotation 10 INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: ist8310 start -R 10 -X -b 1 INFO [qshell] qshell return value timestamp: 263025555, local time: 263026330 INFO [qshell] Send cmd: 'gps start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: gps start INFO [muorb] SLPI: arg0 = 'gps' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: Creating pthread gps INFO [muorb] SLPI: Successfully created px4 task PX4_gps with tid 2097648 INFO [muorb] SLPI: Ok executing command: gps start INFO [qshell] qshell return value timestamp: 263048076, local time: 263048948 Starting Holybro LED driver INFO [muorb] SLPI: >>> ICM42688P this: 3176eb30 INFO [qshell] Send cmd: 'rgbled_ncp5623c start -X -b 1 -f 400 -a 56' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: rgbled_ncp5623c start -X -b 1 -f 400 -a 56 INFO [muorb] SLPI: arg0 = 'rgbled_ncp5623c' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-X' INFO [muorb] SLPI: arg3 = '-b' INFO [muorb] SLPI: arg4 = '1' INFO [muorb] SLPI: arg5 = '-f' INFO [muorb] SLPI: arg6 = '400' INFO [muorb] SLPI: arg7 = '-a' INFO [muorb] SLPI: arg8 = '56' INFO [muorb] SLPI: *** I2C Device ID 0x7b3809 8075273 INFO [muorb] SLPI: rgbled_ncp5623c #0 on I2C bus 1 INFO [muorb] SLPI: (external) INFO [muorb] SLPI: address 0x38 INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: rgbled_ncp5623c start -X -b 1 -f 400 -a 56 INFO [qshell] qshell return value timestamp: 263082514, local time: 263084020 INFO [qshell] Send cmd: 'modal_io start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: modal_io start INFO [muorb] SLPI: arg0 = 'modal_io' INFO [muorb] SLPI: arg1 = 'start' INFO [uORB] Advertising remote topic sensor_mag INFO [uORB] Advertising remote topic actuator_outputs INFO [muorb] SLPI: Ok executing command: modal_io start INFO [muorb] SLPI: Opened UART ESC device INFO [qshell] qshell return value timestamp: 263170284, local time: 263173206 Starting Spektrum RC INFO [uORB] Advertising remote topic sensor_baro INFO [qshell] Send cmd: 'spektrum_rc start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: spektrum_rc start INFO [muorb] SLPI: arg0 = 'spektrum_rc' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: Creating pthread spektrum_rc_main INFO [muorb] SLPI: Successfully created px4 task PX4_spektrum_rc_main with tid 2097645 INFO [muorb] SLPI: Ok executing command: spektrum_rc start INFO [qshell] qshell return value timestamp: 263217799, local time: 263218642 INFO [muorb] SLPI: Spektrum RC: Read no bytes from UART INFO [uORB] Advertising remote topic actuator_outputs_debug INFO [uORB] Advertising remote topic esc_status ERROR [muorb] SLPI: Spektrum RC: Got 6 bytes. Protocol byte is 0x52 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: voxlpm start -X -b 2 INFO [muorb] SLPI: arg0 = 'voxlpm' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-X' INFO [muorb] SLPI: arg3 = '-b' INFO [muorb] SLPI: arg4 = '2' INFO [muorb] SLPI: *** I2C Device ID 0xd24411 13779985 INFO [qshell] Send cmd: 'voxlpm start -X -b 2' INFO [muorb] SLPI: Set i2c address 0x6a, fd 3 INFO [muorb] SLPI: Set i2c address 0x44, fd 3 INFO [uORB] Advertising remote topic battery_status ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 INFO [muorb] SLPI: voxlpm #0 on I2C bus 2 INFO [muorb] SLPI: (external) INFO [muorb] SLPI: address 0x44 INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: voxlpm start -X -b 2 INFO [uORB] Advertising remote topic power_monitor INFO [qshell] qshell return value timestamp: 263251129, local time: 263253445 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 INFO [qshell] Send cmd: 'sensors start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: sensors start INFO [muorb] SLPI: arg0 = 'sensors' INFO [muorb] SLPI: arg1 = 'start' INFO [uORB] Advertising remote topic sensor_selection INFO [uORB] Advertising remote topic sensors_status_imu ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 INFO [uORB] Advertising remote topic vehicle_acceleration ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 INFO [uORB] Advertising remote topic vehicle_angular_velocity ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 INFO [uORB] Advertising remote topic sensor_combined ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 INFO [uORB] Advertising remote topic vehicle_air_data ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 INFO [uORB] Advertising remote topic vehicle_gps_position ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Timeout waiting for parameter_server_set_used_response for SENS_MAG_MODE INFO [uORB] Advertising remote topic sensors_status_baro ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 INFO [uORB] Advertising remote topic vehicle_magnetometer INFO [uORB] Advertising remote topic sensor_preflight_mag INFO [uORB] Advertising remote topic vehicle_imu INFO [uORB] Advertising remote topic vehicle_imu_status INFO [muorb] SLPI: Ok executing command: sensors start INFO [uORB] Advertising remote topic sensors_status_mag ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 INFO [qshell] qshell return value timestamp: 263462076, local time: 263466609 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 INFO [qshell] Send cmd: 'ekf2 start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: ekf2 start INFO [muorb] SLPI: arg0 = 'ekf2' INFO [muorb] SLPI: arg1 = 'start' ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 INFO [uORB] Advertising remote topic vehicle_attitude INFO [uORB] Advertising remote topic vehicle_local_position INFO [uORB] Advertising remote topic estimator_event_flags INFO [uORB] Advertising remote topic estimator_innovation_test_ratios INFO [uORB] Advertising remote topic estimator_innovation_variances INFO [uORB] Advertising remote topic estimator_innovations INFO [uORB] Advertising remote topic estimator_sensor_bias INFO [uORB] Advertising remote topic estimator_states INFO [uORB] Advertising remote topic estimator_status_flags INFO [uORB] Advertising remote topic estimator_status INFO [muorb] SLPI: Ok executing command: ekf2 start INFO [qshell] qshell return value timestamp: 263750947, local time: 263755362 INFO [uORB] Advertising remote topic ekf2_timestamps INFO [uORB] Advertising remote topic vehicle_odometry INFO [uORB] Advertising remote topic estimator_aid_src_baro_hgt INFO [uORB] Advertising remote topic estimator_aid_src_fake_pos INFO [uORB] Advertising remote topic estimator_aid_src_fake_hgt INFO [uORB] Advertising remote topic estimator_aid_src_mag_heading INFO [uORB] Advertising remote topic estimator_aid_src_mag INFO [uORB] Advertising remote topic estimator_aid_src_gravity ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 INFO [qshell] Send cmd: 'mc_pos_control start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mc_pos_control start INFO [muorb] SLPI: arg0 = 'mc_pos_control' INFO [muorb] SLPI: arg1 = 'start' ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 INFO [uORB] Advertising remote topic takeoff_status INFO [muorb] SLPI: Ok executing command: mc_pos_control start INFO [qshell] qshell return value timestamp: 263841868, local time: 263843014 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 INFO [qshell] Send cmd: 'mc_att_control start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mc_att_control start INFO [muorb] SLPI: arg0 = 'mc_att_control' INFO [muorb] SLPI: arg1 = 'start' ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 INFO [muorb] SLPI: Ok executing command: mc_att_control start INFO [qshell] qshell return value timestamp: 263905079, local time: 263906174 INFO [muorb] SLPI: baudrate set to 9600 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 INFO [muorb] SLPI: Sending initial CFG_VALSET. Attempt: 1 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 INFO [qshell] Send cmd: 'mc_rate_control start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mc_rate_control start INFO [muorb] SLPI: arg0 = 'mc_rate_control' INFO [muorb] SLPI: arg1 = 'start' ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 INFO [uORB] Advertising remote topic rate_ctrl_status INFO [muorb] SLPI: Ok executing command: mc_rate_control start INFO [qshell] qshell return value timestamp: 264001370, local time: 264002881 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 INFO [qshell] Send cmd: 'mc_hover_thrust_estimator start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mc_hover_thrust_estimator start INFO [muorb] SLPI: arg0 = 'mc_hover_thrust_estimator' INFO [muorb] SLPI: arg1 = 'start' ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 INFO [muorb] SLPI: Ok executing command: mc_hover_thrust_estimator start INFO [qshell] qshell return value timestamp: 264045767, local time: 264046812 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 INFO [qshell] Send cmd: 'mc_autotune_attitude_control start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mc_autotune_attitude_control start INFO [muorb] SLPI: arg0 = 'mc_autotune_attitude_control' INFO [muorb] SLPI: arg1 = 'start' ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 INFO [uORB] Advertising remote topic autotune_attitude_control_status INFO [muorb] SLPI: Ok executing command: mc_autotune_attitude_control start INFO [qshell] qshell return value timestamp: 264095634, local time: 264096726 ERROR [muorb] SLPI: Spektrum RC: Got 16 bytes. Protocol byte is 0x00 ``` ## Reply by ben grocholsky · 2023-10-05 18:33:32 UTC (in reply to Chase Riley) @Chase-Riley In the first of these two runs you were getting `0x01` protocol byte like I see on my DX7 transmitter. In that state with this binary you should see `rc_input` uorb messages and be able to try the `Radio Calibration` tool tab on QGroundControl. In the second run you're seeing `0x00` protocol byte and unfortunately I'm not sure what that means. If you can get the first case working repeatedly using one of the `voxl-bind-spektrum` options `-t -f -s` then we're on the path to a fix. Which did you use and have you tried them all? ## Reply by Chase Riley · 2023-10-05 18:45:27 UTC (in reply to ben grocholsky) @ben-grocholsky I am using a DX8 Transmitter during these test. Would the ```voxl-bind-spektrum``` be needed/do anything if I am not using the Spektrum bind board from Modal AI? I currently have the Spektrum receiver hooked directly to J19 on the VOXL2. When I was using SDK .0.9.5 I had the same receiver connected to the VOXL I/O board, and it worked great. Unfortunately the I/O board is not supported in SDK 1.0.0. ## Reply by ben grocholsky · 2023-10-06 04:16:39 UTC (in reply to Chase Riley) @Chase-Riley I didn't realize that had changed in V1.0. If you have access to a an alternative px4 fmu you could use the QGC pairing function to change the spektrum mode connected to that fmu and then plug it back into the voxl2. That could help check if one of the three options is more reliable. I'm not sure why you saw different data packets on a restart. Need to resolve that or try a different transmitter. ## Reply by Chase Riley · 2023-10-12 15:27:21 UTC (in reply to ben grocholsky) @ben-grocholsky @Eric-Katzfey I got it to work using by using the DSM2 binding method with another Px4 FMU. I do have a question though. I am now not able to get the actuators tab to show up in QGC for my ModalAI ESC. Would you DEB file have something to do with this? I have checked all my params in QGC and all seems to be correct. This was just the only other variable I could think of and wanted to check. Should I go back to running a standard DEB file? If so where would I find that now that I am running the custom debug one? ## Reply by Eric Katzfey (ModalAI staff) · 2023-10-12 15:38:07 UTC (in reply to Chase Riley) @Chase-Riley The standard px4 Debian package will set up the data correctly such that the actuators tab will be visible. For SDK 1.0 the packages are all available at http://voxl-packages.modalai.com/dists/qrb5165/sdk-1.0/binary-arm64/. To grab the px4 package use `wget http://voxl-packages.modalai.com/dists/qrb5165/sdk-1.0/binary-arm64/voxl-px4_1.14.0-2.0.34_arm64.deb` ## Reply by Chase Riley · 2023-10-12 18:06:19 UTC (in reply to Eric Katzfey) @Eric-Katzfey Unfortunately once I switch back to the standard Debian package the Spektrum error is back. I had it working every power up with the Debian Package from Ben. ## Reply by ben grocholsky · 2023-10-13 06:34:12 UTC (in reply to Chase Riley) @Eric-Katzfey the test deb file was just `voxl-dev` branch with the one line change to accept `(0x02|0x01)` protocol bytes with the error output shortened below 80 characters + debug print bools and macros in DSM parsing forced on. I can fly that one line change on a Sentinel to look for any unexpected consequences. It'd be great to coordinate on how to get such a change merged into the dev branch and a non-debug deb to Chase. ## Reply by Eric Katzfey (ModalAI staff) · 2023-10-13 15:19:47 UTC (in reply to ben grocholsky) @ben-grocholsky That would be great! Just submit a PR and I can merge it in and then cut a new release. ## Reply by ben grocholsky · 2023-10-14 05:22:06 UTC (in reply to Eric Katzfey) @Eric-Katzfey https://github.com/modalai/px4-firmware/pull/42 ## Reply by Chase Riley · 2023-10-16 14:22:49 UTC (in reply to ben grocholsky) @ben-grocholsky @Eric-Katzfey That would be great if I could get this working. How long would this take to get merged? ## Reply by Eric Katzfey (ModalAI staff) · 2023-10-16 17:41:03 UTC (in reply to Chase Riley) @Chase-Riley I made version 1.14.0-2.0.54 with the Spektrum RC changes in it. You can get it with `wget http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-px4_1.14.0-2.0.54-202310161035_arm64.deb`. Can you try it out and see if it fixes your issue? ## Reply by Chase Riley · 2023-10-19 13:06:50 UTC (in reply to Eric Katzfey) @Eric-Katzfey Spektrum now works with that deb file, however I am not able to get the actuators tab in QGC just like @ben-grocholsky's deb file. ## Reply by Eric Katzfey (ModalAI staff) · 2023-10-19 16:06:16 UTC (in reply to Chase Riley) @Chase-Riley Okay, glad that Spektrum is now working. Can you create a new post for the actuator tab issue. That is something completely different than the Spektrum RC issue. Thanks! ## Reply by Chase Riley · 2023-10-19 17:15:31 UTC (in reply to Eric Katzfey) @Eric-Katzfey I can make a new post if that is what you want me to do, however the issue that no actuator tab showing up has to do with the Debian Package Files that you and Ben have provided. Ben's: https://drive.google.com/file/d/1XJBdAKxR0C0tYPDgfOB1uUGCJ6Pv_3kV/view?usp=sharing Eric's: http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-px4_1.14.0-2.0.54-202310161035_arm64.deb If I flash the standard Debian Package File (http://voxl-packages.modalai.com/dists/qrb5165/sdk-1.0/binary-arm64/voxl-px4_1.14.0-2.0.34_arm64.deb) the actuators tab appears as normal. The only time the actuators tab does not appear for me is when I am running a custom Debian Package supplied by you or Ben. Both the your's and Ben's Debian Package files solve the Spektrum issue but they both break the ESC functionality. Please reference the post below where you told me that the standard Debian Package file sets up the data correctly for the actuators tab. @Eric-Katzfey said in [Voxl2 Spektrum Receiver error](/post/12662): > @Chase-Riley The standard px4 Debian package will set up the data correctly such that the actuators tab will be visible. For SDK 1.0 the packages are all available at http://voxl-packages.modalai.com/dists/qrb5165/sdk-1.0/binary-arm64/. To grab the px4 package use `wget http://voxl-packages.modalai.com/dists/qrb5165/sdk-1.0/binary-arm64/voxl-px4_1.14.0-2.0.34_arm64.deb` ## Reply by Eric Katzfey (ModalAI staff) · 2023-10-20 15:36:26 UTC (in reply to Chase Riley) @Chase-Riley Ah, sorry, didn't realize the correlation there. The one I prepared is an updated one from the SDK version that worked so it should be setting everything up correctly. But apparently something is wrong. We'll test and see if we can figure it out. ## Reply by Chase Riley · 2023-10-20 15:40:40 UTC (in reply to Eric Katzfey) @Eric-Katzfey Thanks for taking a look. I am standing by to see what you find out. ## Reply by Eric Katzfey (ModalAI staff) · 2023-10-20 16:29:24 UTC (in reply to Chase Riley) @Chase-Riley I started from scratch and flashed SDK 1.0.0 and could see the actuators tab on QGC 4.2.4. I then upgraded voxl-px4 to voxl-px4_1.14.0-2.0.54-202310161035_arm64.deb. I still see the actuators tab. Since Ben's Debian was based on an older px4 that didn't yet properly support the actuators tab it's possible that something got corrupted in that change. ## Reply by Chase Riley · 2023-10-20 16:40:22 UTC (in reply to Eric Katzfey) @Eric-Katzfey I will try that out and report back. ## Reply by Chase Riley · 2023-10-20 16:45:08 UTC (in reply to Eric Katzfey) @Eric-Katzfey Would you suggest flashing my Voxl to SDK .0.9.5 and then back to 1.0.0 and start from there? ## Reply by Eric Katzfey (ModalAI staff) · 2023-10-20 16:48:51 UTC (in reply to Chase Riley) @Chase-Riley No, but I would recommend deleting /data/px4/param/parameters before doing the SDK 1.0.0 flash. ## Reply by Chase Riley · 2023-10-20 16:52:43 UTC (in reply to Eric Katzfey) @Eric-Katzfey So delete that file and then flash SDK 1.0.0. Once SDK 1.0.0 flash is complete then upgrade to voxl-px4_1.14.0-2.0.54-202310161035_arm64.deb? ## Reply by Eric Katzfey (ModalAI staff) · 2023-10-20 17:09:15 UTC (in reply to Chase Riley) @Chase-Riley Yep! That should get everything going. ## Reply by Chase Riley · 2023-10-20 18:31:25 UTC (in reply to Eric Katzfey) @Eric-Katzfey I was able to delete the parameters file, flash SDK 1.0.0, and then upgrade to voxl-px4_1.14.0-2.0.54-202310161035_arm64.deb. I still am having the same issue. Spektrum works well however no actuators tab for the ESC. I did a quick test by downgrading back to voxl-px4_1.14.0-2.0.34_arm64.deb and the actuators tab appeared right away, however no Spektrum. To sum it up I am still having the same problem. ## Reply by Chase Riley · 2023-11-02 12:31:15 UTC (in reply to Eric Katzfey) @Eric-Katzfey can you help me out with this? ## Reply by Eric Katzfey (ModalAI staff) · 2023-11-02 22:53:20 UTC (in reply to Chase Riley) @Chase-Riley I wan;t able to reproduce this and I had some other team members try and they couldn't either. It worked fine for all of us. So I'm guessing that something in your file system got corrupted somehow. The files for the actuator tab are stored in /data/px4/etc/extras. Can you take a look at those files with both the working version and the non-working version and see if they are the same? ## Reply by Chase Riley · 2024-01-18 16:39:55 UTC (in reply to Eric Katzfey) @Eric-Katzfey said in [Voxl2 Spektrum Receiver error](/post/12688): > @Chase-Riley I made version 1.14.0-2.0.54 with the Spektrum RC changes in it. You can get it with `wget http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-px4_1.14.0-2.0.54-202310161035_arm64.deb`. Can you try it out and see if it fixes your issue? @Eric-Katzfey do you still have the version of px4 you referenced here. The link now gives a 404 error? ## Reply by Eric Katzfey (ModalAI staff) · 2024-01-18 20:41:49 UTC (in reply to Chase Riley) @Chase-Riley Yeah, that's was in our dev repo that has a lot of churn. But you can grab this one: http://voxl-packages.modalai.com/dists/qrb5165/sdk-1.0/binary-arm64/voxl-px4_1.14.0-2.0.55_arm64.deb if you want something close to that. But latest SDK 1.1.2 also has those changes and you should be on the latest. ## Reply by Chase Riley · 2024-01-22 19:29:26 UTC (in reply to Eric Katzfey) @Eric-Katzfey This error still exist in SDK 1.1.2. I have tried multiple settings on the DX8 for binding. I have tried other Receivers as well. ## Reply by Eric Katzfey (ModalAI staff) · 2024-01-22 21:15:10 UTC (in reply to Chase Riley) @Chase-Riley So the first deb you tried fixed the Spektrum issue but now with 1.1.2 it's back? That was a very simple change that went into the codebase and it is still there so not sure what happened. Can you send the output of `journalctl -b -u voxl-px4` so I can see if there are any error messages? ## Reply by Chase Riley · 2024-01-22 21:25:20 UTC (in reply to Eric Katzfey) @Eric-Katzfey I had to trim the output to fit into a forum post. ``` voxl2:/$ journalctl -b -u voxl-px4 -- Logs begin at Thu 2023-03-02 12:58:02 UTC, end at Thu 2023-03-02 13:13:00 UTC. -- Mar 02 12:58:05 m0054 systemd[1]: Starting px4... Mar 02 12:58:07 m0054 systemd[1]: Started px4. Mar 02 12:58:07 m0054 voxl-px4[1878]: [INFO] Reading from /etc/modalai/voxl-px4.conf Mar 02 12:58:07 m0054 voxl-px4[1878]: Found DSP signature file Mar 02 12:58:07 m0054 voxl-px4[1878]: [INFO] Daemon mode enabled Mar 02 12:58:07 m0054 voxl-px4[1878]: ************************* Mar 02 12:58:07 m0054 voxl-px4[1878]: GPS=AUTODETECT Mar 02 12:58:07 m0054 voxl-px4[1878]: RC=SPEKTRUM Mar 02 12:58:07 m0054 voxl-px4[1878]: ESC=VOXL_ESC Mar 02 12:58:07 m0054 voxl-px4[1878]: POWER MANAGER=VOXLPM Mar 02 12:58:07 m0054 voxl-px4[1878]: DISTANCE SENSOR=NONE Mar 02 12:58:07 m0054 voxl-px4[1878]: OSD=DISABLE Mar 02 12:58:07 m0054 voxl-px4[1878]: DAEMON_MODE=ENABLE Mar 02 12:58:07 m0054 voxl-px4[1878]: SENSOR_CAL=ACTUAL Mar 02 12:58:07 m0054 voxl-px4[1878]: EXTRA STEPS: Mar 02 12:58:07 m0054 voxl-px4[1878]: ************************* Mar 02 12:58:07 m0054 voxl-px4[1878]: INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM. Mar 02 12:58:07 m0054 voxl-px4[1878]: INFO [px4] assuming working directory is rootfs, no symlinks needed. Mar 02 12:58:07 m0054 voxl-px4[1878]: INFO [muorb] Got muorb init command Mar 02 12:58:07 m0054 voxl-px4[1878]: Sending initialization request Mar 02 12:58:07 m0054 voxl-px4[1878]: Got topic data before configuration complete Mar 02 12:58:07 m0054 voxl-px4[1878]: Got topic data before configuration complete Mar 02 12:58:07 m0054 voxl-px4[1878]: ************************* Mar 02 12:58:07 m0054 voxl-px4[1878]: GPS: AUTODETECT Mar 02 12:58:07 m0054 voxl-px4[1878]: RC: SPEKTRUM Mar 02 12:58:07 m0054 voxl-px4[1878]: ESC: VOXL_ESC Mar 02 12:58:07 m0054 voxl-px4[1878]: POWER MANAGER: VOXLPM Mar 02 12:58:07 m0054 voxl-px4[1878]: DISTANCE SENSOR: NONE Mar 02 12:58:07 m0054 voxl-px4[1878]: OSD: DISABLE Mar 02 12:58:07 m0054 voxl-px4[1878]: EXTRA STEPS: Mar 02 12:58:07 m0054 voxl-px4[1878]: Mar 02 12:58:07 m0054 voxl-px4[1878]: ************************* Mar 02 12:58:07 m0054 voxl-px4[1878]: Running on M0054 Mar 02 12:58:08 m0054 voxl-px4[1878]: INFO [param] selected parameter default file /data/px4/param/parameters Mar 02 12:58:10 m0054 voxl-px4[1878]: INFO [parameters] BSON document size 4125 bytes, decoded 4125 bytes (INT32:57, FLOAT:136) Mar 02 12:58:10 m0054 voxl-px4[1878]: Starting IMU driver with no rotation Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [qshell] Send cmd: 'icm42688p start -s -R 4' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [qshell] qshell return value timestamp: 11587369, local time: 11593616 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [qshell] Send cmd: 'icp101xx start -I -b 5' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [qshell] qshell return value timestamp: 11630444, local time: 11631222 Mar 02 12:58:11 m0054 voxl-px4[1878]: Looking for qmc5883l magnetometer Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: muorb aggregator thread running Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] muorb protobuf initalize method succeeded Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] succesfully did ADVERTISE_TEST_TYPE Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Creating pthread test_MUORB Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097656 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] succesfully did SUBSCRIBE_TEST_TYPE Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Creating pthread test_MUORB Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097655 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] succesfully did TOPIC_TEST_TYPE Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Creating pthread test_MUORB Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097654 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] succesfully did UNSUBSCRIBE_TEST_TYPE Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Creating pthread test_MUORB Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097653 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] muorb test passed Mar 02 12:58:11 m0054 voxl-px4[1878]: ______ __ __ ___ Mar 02 12:58:11 m0054 voxl-px4[1878]: | ___ \ \ \ / / / | Mar 02 12:58:11 m0054 voxl-px4[1878]: | |_/ / \ V / / /| | Mar 02 12:58:11 m0054 voxl-px4[1878]: | __/ / \ / /_| | Mar 02 12:58:11 m0054 voxl-px4[1878]: | | / /^\ \ \___ | Mar 02 12:58:11 m0054 voxl-px4[1878]: \_| \/ \/ |_/ Mar 02 12:58:11 m0054 voxl-px4[1878]: px4 starting. Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [px4] startup script: /bin/sh /usr/bin/voxl-px4-start 0 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Advertising remote topic log_message Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [parameters] Starting param sync THREAD Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Starting param sync THREAD Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: before starting the qshell_entry task Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Creating pthread qshell Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: qshell entry..... Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 2097652 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Init app map initialized Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: after starting the qshell_entry task Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Marking DeviceNode(parameter_client_reset_response) as advertised in process_remote_topic Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Advertising remote topic parameter_update Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Marking DeviceNode(parameter_client_set_value_request) as advertised in process_remote_topic Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Marking DeviceNode(parameter_server_set_used_request) as advertised in process_remote_topic Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Marking DeviceNode(parameter_server_set_used_response) as advertised in process_remote_topic Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [logger] logger started (mode=all) Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: qshell gotten: icm42688p start -s -R 4 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg0 = 'icm42688p' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg1 = 'start' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg2 = '-s' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg3 = '-R' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg4 = '4' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: *** SPI Device ID 0x26000a 2490378 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic sensor_accel Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic sensor_gyro Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: ICM42688P::probe successful! Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: on SPI bus 1 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: icm42688p #0 on SPI bus 1 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: rotation 4 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: >>> ICM42688P this: 3176ecd0 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Ok executing command: icm42688p start -s -R 4 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic qshell_retval Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: >>> ICM42688P this: 3176ecd0 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Register interrupt b21d31a4 e6201b3c 3176ecd0 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic sensor_gyro_fifo Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic sensor_accel_fifo Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic imu_server Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: qshell gotten: icp101xx start -I -b 5 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg0 = 'icp101xx' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg1 = 'start' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg2 = '-I' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg3 = '-b' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg4 = '5' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: *** I2C Device ID 0xb76329 12018473 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: icp101xx #0 on I2C bus 5 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: address 0x63 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Ok executing command: icp101xx start -I -b 5 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in procesINFO [qshell] Send cmd: 'qmc5883l start -R 10 -X -b 1' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [qshell] cmd returned with: -1 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [qshell] qshell return value timestamp: 11661692, local time: 11664384 Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [qshell] Command failed Mar 02 12:58:11 m0054 voxl-px4[1878]: Looking for ist8310 magnetometer Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [qshell] Send cmd: 'ist8310 start -R 10 -X -b 1' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [qshell] qshell return value timestamp: 11691188, local time: 11692742 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [qshell] Send cmd: 'gps start' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [qshell] qshell return value timestamp: 11724704, local time: 11726454 Mar 02 12:58:11 m0054 voxl-px4[1878]: Looking for ncp5623c RGB LED Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [qshell] Send cmd: 'rgbled_ncp5623c start -X -b 1 -f 400 -a 56' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [qshell] qshell return value timestamp: 11752678, local time: 11753969 Mar 02 12:58:11 m0054 voxl-px4[1878]: Starting VOXL ESC driver Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [qshell] Send cmd: 'voxl_esc start' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [qshell] qshell return value timestamp: 11835821, local time: 11838037 Mar 02 12:58:11 m0054 voxl-px4[1878]: Starting Spektrum RC Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [qshell] Send cmd: 'spektrum_rc start' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [qshell] qshell return value timestamp: 11886393, local time: 11888078 Mar 02 12:58:11 m0054 voxl-px4[1878]: s_remote_topic Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: qshell gotten: qmc5883l start -R 10 -X -b 1 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg0 = 'qmc5883l' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg1 = 'start' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg2 = '-R' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg3 = '10' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg4 = '-X' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg5 = '-b' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg6 = '1' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: *** I2C Device ID 0x80d09 527625 Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: i2c probe failed Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: PX4_qshell: no instance started (no device on bus?) Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Failed to execute command: qmc5883l start -R 10 -X -b 1 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: qshell gotten: ist8310 start -R 10 -X -b 1 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg0 = 'ist8310' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg1 = 'start' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg2 = '-R' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg3 = '10' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg4 = '-X' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg5 = '-b' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg6 = '1' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: *** I2C Device ID 0x60e09 396809 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: ist8310 #0 on I2C bus 1 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: (external) Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: address 0xE Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: rotation 10 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Ok executing command: ist8310 start -R 10 -X -b 1 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: >>> ICM42688P this: 3176ecd0 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: qshell gotten: gps start Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg0 = 'gps' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg1 = 'start' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Creating pthread gps Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Successfully created px4 task PX4_gps with tid 2097647 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Ok executing command: gps start Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: qshell gotten: rgbled_ncp5623c start -X -b 1 -f 400 -a 56 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg0 = 'rgbled_ncp5623c' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg1 = 'start' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg2 = '-X' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg3 = '-b' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg4 = '1' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg5 = '-f' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg6 = '400' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg7 = '-a' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg8 = '56' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: *** I2C Device ID 0x7b3809 8075273 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: rgbled_ncp5623c #0 on I2C bus 1 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: (external) Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: address 0x38 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Ok executing command: rgbled_ncp5623c start -X -b 1 -f 400 -a 56 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic sensor_mag Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: qshell gotten: voxl_esc start Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg0 = 'voxl_esc' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg1 = 'start' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic actuator_outputs Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Ok executing command: voxl_esc start Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Opened UART ESC device Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic sensor_baro Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: qshell gotten: spektrum_rc start Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg0 = 'spektrum_rc' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg1 = 'start' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Creating pthread spektrum_rc_main Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Successfully created px4 task PX4_spektrum_rc_main with tid 2097644 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Ok executing command: spektrum_rc start Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic actuator_outputs_debug Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic esc_status Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: qshell gotten: voxlpm start -X -b 2 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg0 = 'voxlpm' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg1 = 'start' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg2 = '-X' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg3 = '-b' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg4 = '2' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: *** I2C Device ID 0xd24411 13779985 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Set i2c address 0x6a, fd 4 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Set i2c addINFO [qshell] Send cmd: 'voxlpm start -X -b 2' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [qshell] qshell return value timestamp: 11923833, local time: 11926013 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [qshell] Send cmd: 'sensors start' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [qshell] qshell return value timestamp: 12118075, local time: 12122006 Mar 02 12:58:11 m0054 voxl-px4[1878]: ress 0x44, fd 4 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic battery_status Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: voxlpm #0 on I2C bus 2 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: (external) Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: address 0x44 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Ok executing command: voxlpm start -X -b 2 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic power_monitor Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: qshell gotten: sensors start Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg0 = 'sensors' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg1 = 'start' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic sensor_selection Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic sensors_status_imu Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic vehicle_acceleration Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic vehicle_angular_velocity Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic sensor_combined Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic vehicle_air_data Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic vehicle_gps_position Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic sensors_status_baro Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Timeout waiting for parameter_server_set_used_response for CAL_MAG_COMP_TYP Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic vehicle_magnetometer Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic sensor_preflight_mag Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic vehicle_imu Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic vehicle_imu_status Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Ok executing command: sensors start Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic sensors_status_mag Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: qshell gotten: ekf2 start Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg0 = 'ekf2' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg1 = 'start' Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RCINFO [qshell] Send cmd: 'ekf2 start' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [qshell] qshell return value timestamp: 12374104, local time: 12378323 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [qshell] Send cmd: 'mc_pos_control start' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [qshell] qshell return value timestamp: 12482484, local time: 12483852 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [qshell] Send cmd: 'mc_att_control start' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [qshell] qshell return value timestamp: 12525883, local time: 12527670 Mar 02 12:58:11 m0054 voxl-px4[1878]: : Invalid DSM frame. 16 bytes. Protocol byte 0x00 Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic vehicle_attitude Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic vehicle_local_position Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic estimator_event_flags Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic estimator_innovation_test_ratios Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic estimator_innovation_variances Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic estimator_innovations Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic estimator_sensor_bias Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic estimator_states Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic estimator_status_flags Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic estimator_status Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Ok executing command: ekf2 start Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic ekf2_timestamps Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic vehicle_odometry Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic estimator_aid_src_baro_hgt Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic estimator_aid_src_fake_pos Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic estimator_aid_src_fake_hgt Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic estimator_aid_src_gravity Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: qshell gotten: mc_pos_control start Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg0 = 'mc_pos_control' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg1 = 'start' Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic takeoff_status Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Ok executing command: mc_pos_control start Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic estimator_aid_src_mag_heading Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic estimator_aid_src_mag Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: qshell gotten: mc_att_control start Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg0 = 'mc_att_control' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg1 = 'start' Mar 02 12:58:11 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Ok executing command: mc_att_control start Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 Mar 02 12:58:11 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertisedINFO [qshell] Send cmd: 'mc_rate_control start' Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO [qshell] qshell return value timestamp: 12616998, local time: 12618394 Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO [qshell] Send cmd: 'mc_hover_thrust_estimator start' Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO [qshell] qshell return value timestamp: 12678757, local time: 12680493 Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO [qshell] Send cmd: 'mc_autotune_attitude_control start' Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO [qshell] qshell return value timestamp: 12721830, local time: 12722851 Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO [qshell] Send cmd: 'land_detector start multicopter' Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO [qshell] qshell return value timestamp: 12767035, local time: 12769446 Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO [qshell] Send cmd: 'manual_control start' Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO [qshell] qshell return value timestamp: 12821435, local time: 12823707 Mar 02 12:58:12 m0054 voxl-px4[1878]: in process_remote_topic Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO [muorb] SLPI: qshell gotten: mc_rate_control start Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg0 = 'mc_rate_control' Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg1 = 'start' Mar 02 12:58:12 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic rate_ctrl_status Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Ok executing command: mc_rate_control start Mar 02 12:58:12 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO [muorb] SLPI: qshell gotten: mc_hover_thrust_estimator start Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg0 = 'mc_hover_thrust_estimator' Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg1 = 'start' Mar 02 12:58:12 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Ok executing command: mc_hover_thrust_estimator start Mar 02 12:58:12 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO [muorb] SLPI: qshell gotten: mc_autotune_attitude_control start Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg0 = 'mc_autotune_attitude_control' Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg1 = 'start' Mar 02 12:58:12 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO [uORB] Advertising remote topic autotune_attitude_control_status Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Ok executing command: mc_autotune_attitude_control start Mar 02 12:58:12 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO [muorb] SLPI: qshell gotten: land_detector start multicopter Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg0 = 'land_detector' Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg1 = 'start' Mar 02 12:58:12 m0054 voxl-px4[1878]: INFO [muorb] SLPI: arg2 = 'multicopter' Mar 02 12:58:12 m0054 voxl-px4[1878]: ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 ``` ## Reply by Eric Katzfey (ModalAI staff) · 2024-01-22 21:37:42 UTC (in reply to Chase Riley) @Chase-Riley said in [Voxl2 Spektrum Receiver error](/post/14162): > ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 Yep, there's the error. That's the correct size but the code is expecting either 0x01 or 0x02 as valid protocols, not 0x00. Does it report 0x00 every single time or does it change? Is this the same transmitter you used earlier? Seems like it must be something different as that one was reporting 0x01, not 0x00. I can build a new version that also allows 0x00 and see if that fixes anything. ## Reply by Chase Riley · 2024-01-22 21:45:10 UTC (in reply to Eric Katzfey) @Eric-Katzfey it seems to change. I have seen different during testing. Same transmitter. ## Reply by Chase Riley · 2024-01-22 21:49:22 UTC (in reply to Chase Riley) @Chase-Riley Actually it may change with the frame rate in the transmitter. I just ran it 5 times without changing the settings and it stayed as 0x00. Update. I powered down the transmitter and when I ran again i received 0x5a ## Reply by Eric Katzfey (ModalAI staff) · 2024-01-22 21:57:10 UTC (in reply to Chase Riley) @Chase-Riley Okay, well I'll just make a custom build for you that removes the check on that byte completely but that's probably not the right thing to do. But at least it will get us farther down the road. I'll try to think of some other useful debugging information to output as well. ## Reply by Eric Katzfey (ModalAI staff) · 2024-01-22 21:57:56 UTC (in reply to Chase Riley) @Chase-Riley Seems like maybe the data on the serial line is getting corrupted somehow ## Reply by Eric Katzfey (ModalAI staff) · 2024-01-22 22:59:08 UTC (in reply to Chase Riley) @Chase-Riley Actually, can you start the driver with the `-v` flag so that it produces more output and send me the log from that? ## Reply by Chase Riley · 2024-01-23 00:29:41 UTC (in reply to Eric Katzfey) @Eric-Katzfey I am out of the office for the night. I will get back to you first thing in the morning EST. If you could try the custom file that would be great. It may help me continue testing while we work on debugging this issue more. ## Reply by Chase Riley · 2024-01-23 13:40:32 UTC (in reply to Eric Katzfey) @Eric-Katzfey Here is the log with the ```-v``` argument added to the Spektrum Driver Start. ``` voxl2:/$ voxl-px4 -d [INFO] Reading from /etc/modalai/voxl-px4.conf Found DSP signature file [INFO] Disabling daemon mode ************************* GPS=AUTODETECT RC=SPEKTRUM ESC=VOXL_ESC POWER MANAGER=VOXLPM DISTANCE SENSOR=NONE OSD=DISABLE DAEMON_MODE=DISABLE SENSOR_CAL=ACTUAL EXTRA STEPS: ************************* INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM. INFO [px4] assuming working directory is rootfs, no symlinks needed. INFO [muorb] Got muorb init command Sending initialization request Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete INFO [muorb] SLPI: muorb aggregator thread running INFO [muorb] muorb protobuf initalize method succeeded INFO [muorb] succesfully did ADVERTISE_TEST_TYPE INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097656 INFO [muorb] succesfully did SUBSCRIBE_TEST_TYPE INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097655 INFO [muorb] succesfully did TOPIC_TEST_TYPE INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097654 INFO [muorb] succesfully did UNSUBSCRIBE_TEST_TYPE INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097653 INFO [muorb] muorb test passed ______ __ __ ___ | ___ \ \ \ / / / | | |_/ / \ V / / /| | | __/ / \ / /_| | | | / /^\ \ \___ | \_| \/ \/ |_/ px4 starting. INFO [px4] startup script: /bin/sh /usr/bin/voxl-px4-start 0 INFO [muorb] SLPI: Advertising remote topic log_message INFO [parameters] Starting param sync THREAD ************************* GPS: AUTODETECT RC: SPEKTRUM ESC: VOXL_ESC POWER MANAGER: VOXLPM DISTANCE SENSOR: NONE OSD: DISABLE EXTRA STEPS: ************************* INFO [muorb] SLPI: Starting param sync THREAD Running on M0054 INFO [muorb] SLPI: before starting the qshell_entry task INFO [muorb] SLPI: Creating pthread qshell INFO [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 2097652 INFO [muorb] SLPI: qshell entry..... INFO [muorb] SLPI: after starting the qshell_entry task INFO [muorb] SLPI: Init app map initialized INFO [param] selected parameter default file /data/px4/param/parameters INFO [muorb] SLPI: Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic INFO [uORB] Marking DeviceNode(parameter_client_reset_response) as advertised in process_remote_topic INFO [muorb] SLPI: Advertising remote topic parameter_update INFO [muorb] SLPI: Marking DeviceNode(parameter_client_set_value_request) as advertised in process_remote_to INFO [uORB] Marking DeviceNode(parameter_server_set_used_request) as advertised in process_remote_topic INFO [muorb] SLPI: Marking DeviceNode(parameter_server_set_used_response) as advertised in process_remote_to INFO [uORB] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic INFO [parameters] BSON document size 4125 bytes, decoded 4125 bytes (INT32:57, FLOAT:136) INFO [logger] logger started (mode=all) Starting IMU driver with no rotation INFO [qshell] Send cmd: 'icm42688p start -s -R 4' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: icm42688p start -s -R 4 INFO [muorb] SLPI: arg0 = 'icm42688p' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-s' INFO [muorb] SLPI: arg3 = '-R' INFO [muorb] SLPI: arg4 = '4' INFO [muorb] SLPI: *** SPI Device ID 0x26000a 2490378 INFO [uORB] Advertising remote topic sensor_accel INFO [uORB] Advertising remote topic sensor_gyro INFO [muorb] SLPI: ICM42688P::probe successful! INFO [muorb] SLPI: on SPI bus 1 INFO [muorb] SLPI: icm42688p #0 on SPI bus 1 INFO [muorb] SLPI: rotation 4 INFO [muorb] SLPI: >>> ICM42688P this: 3176cce0 INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: icm42688p start -s -R 4 INFO [uORB] Advertising remote topic qshell_retval INFO [muorb] SLPI: >>> ICM42688P this: 3176cce0 INFO [qshell] qshell return value timestamp: 197304564, local time: 197310221 INFO [muorb] SLPI: >>> ICM42688P this: 3176cce0 INFO [muorb] SLPI: Register interrupt b21d31a4 e6201b3c 3176cce0 INFO [uORB] Advertising remote topic sensor_gyro_fifo INFO [uORB] Advertising remote topic sensor_accel_fifo INFO [uORB] Advertising remote topic imu_server INFO [qshell] Send cmd: 'icp101xx start -I -b 5' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: icp101xx start -I -b 5 INFO [muorb] SLPI: arg0 = 'icp101xx' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-I' INFO [muorb] SLPI: arg3 = '-b' INFO [muorb] SLPI: arg4 = '5' INFO [muorb] SLPI: *** I2C Device ID 0xb76329 12018473 INFO [muorb] SLPI: icp101xx #0 on I2C bus 5 INFO [muorb] SLPI: address 0x63 INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: icp101xx start -I -b 5 INFO [qshell] qshell return value timestamp: 197356803, local time: 197358238 Looking for qmc5883l magnetometer INFO [qshell] Send cmd: 'qmc5883l start -R 10 -X -b 1' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: qmc5883l start -R 10 -X -b 1 INFO [muorb] SLPI: arg0 = 'qmc5883l' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-R' INFO [muorb] SLPI: arg3 = '10' INFO [muorb] SLPI: arg4 = '-X' INFO [muorb] SLPI: arg5 = '-b' INFO [muorb] SLPI: arg6 = '1' INFO [muorb] SLPI: *** I2C Device ID 0x80d09 527625 ERROR [muorb] SLPI: i2c probe failed INFO [muorb] SLPI: PX4_qshell: no instance started (no device on bus?) ERROR [muorb] SLPI: Failed to execute command: qmc5883l start -R 10 -X -b 1 INFO [qshell] cmd returned with: -1 INFO [qshell] qshell return value timestamp: 197389684, local time: 197391710 ERROR [qshell] Command failed Looking for ist8310 magnetometer INFO [muorb] SLPI: >>> ICM42688P this: 3176cce0 INFO [qshell] Send cmd: 'ist8310 start -R 10 -X -b 1' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: ist8310 start -R 10 -X -b 1 INFO [muorb] SLPI: arg0 = 'ist8310' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-R' INFO [muorb] SLPI: arg3 = '10' INFO [muorb] SLPI: arg4 = '-X' INFO [muorb] SLPI: arg5 = '-b' INFO [muorb] SLPI: arg6 = '1' INFO [muorb] SLPI: *** I2C Device ID 0x60e09 396809 INFO [muorb] SLPI: ist8310 #0 on I2C bus 1 INFO [muorb] SLPI: (external) INFO [muorb] SLPI: address 0xE INFO [muorb] SLPI: rotation 10 INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: ist8310 start -R 10 -X -b 1 INFO [qshell] qshell return value timestamp: 197437606, local time: 197440108 INFO [qshell] Send cmd: 'gps start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: gps start INFO [muorb] SLPI: arg0 = 'gps' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: Creating pthread gps INFO [muorb] SLPI: Successfully created px4 task PX4_gps with tid 2097647 INFO [muorb] SLPI: Ok executing command: gps start INFO [qshell] qshell return value timestamp: 197463075, local time: 197465432 Looking for ncp5623c RGB LED INFO [qshell] Send cmd: 'rgbled_ncp5623c start -X -b 1 -f 400 -a 56' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: rgbled_ncp5623c start -X -b 1 -f 400 -a 56 INFO [muorb] SLPI: arg0 = 'rgbled_ncp5623c' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-X' INFO [muorb] SLPI: arg3 = '-b' INFO [muorb] SLPI: arg4 = '1' INFO [muorb] SLPI: arg5 = '-f' INFO [muorb] SLPI: arg6 = '400' INFO [muorb] SLPI: arg7 = '-a' INFO [muorb] SLPI: arg8 = '56' INFO [muorb] SLPI: *** I2C Device ID 0x7b3809 8075273 INFO [muorb] SLPI: rgbled_ncp5623c #0 on I2C bus 1 INFO [muorb] SLPI: (external) INFO [muorb] SLPI: address 0x38 INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: rgbled_ncp5623c start -X -b 1 -f 400 -a 56 INFO [qshell] qshell return value timestamp: 197515519, local time: 197517065 INFO [uORB] Advertising remote topic sensor_mag Starting VOXL ESC driver INFO [qshell] Send cmd: 'voxl_esc start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: voxl_esc start INFO [muorb] SLPI: arg0 = 'voxl_esc' INFO [muorb] SLPI: arg1 = 'start' INFO [uORB] Advertising remote topic sensor_baro INFO [uORB] Advertising remote topic actuator_outputs INFO [muorb] SLPI: ubx msg 0x0107 invalid len 46584 INFO [muorb] SLPI: Ok executing command: voxl_esc start INFO [muorb] SLPI: Opened UART ESC device INFO [qshell] qshell return value timestamp: 197621321, local time: 197622953 Starting Spektrum RC INFO [qshell] Send cmd: 'spektrum_rc start -v' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: spektrum_rc start -v INFO [muorb] SLPI: arg0 = 'spektrum_rc' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-v' INFO [muorb] SLPI: Creating pthread spektrum_rc_main INFO [muorb] SLPI: Successfully created px4 task PX4_spektrum_rc_main with tid 2097644 INFO [muorb] SLPI: Ok executing command: spektrum_rc start -v INFO [muorb] SLPI: Spektrum RC: Enabling verbose mode INFO [muorb] SLPI: Spektrum RC: dsm_init succeeded INFO [qshell] qshell return value timestamp: 197674334, local time: 197676244 INFO [uORB] Advertising remote topic actuator_outputs_debug INFO [uORB] Advertising remote topic esc_status INFO [muorb] SLPI: Spektrum RC: Read no bytes from UART ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 INFO [qshell] Send cmd: 'voxlpm start -X -b 2' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: voxlpm start -X -b 2 INFO [muorb] SLPI: arg0 = 'voxlpm' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-X' INFO [muorb] SLPI: arg3 = '-b' INFO [muorb] SLPI: arg4 = '2' INFO [muorb] SLPI: *** I2C Device ID 0xd24411 13779985 INFO [muorb] SLPI: Set i2c address 0x6a, fd 4 INFO [muorb] SLPI: Set i2c address 0x44, fd 4 ERROR [muorb] SLPI: i2c probe failed INFO [muorb] SLPI: PX4_qshell: no instance started (no device on bus?) ERROR [muorb] SLPI: Failed to execute command: voxlpm start -X -b 2 ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 INFO [qshell] cmd returned with: -1 INFO [qshell] qshell return value timestamp: 197707182, local time: 197710461 ERROR [qshell] Command failed ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 INFO [qshell] Send cmd: 'sensors start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: sensors start INFO [muorb] SLPI: arg0 = 'sensors' INFO [muorb] SLPI: arg1 = 'start' INFO [uORB] Advertising remote topic sensor_selection INFO [uORB] Advertising remote topic sensors_status_imu ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 INFO [uORB] Advertising remote topic vehicle_acceleration ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 INFO [uORB] Advertising remote topic vehicle_angular_velocity ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 INFO [uORB] Advertising remote topic sensor_combined ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 INFO [uORB] Advertising remote topic vehicle_air_data ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x00 ``` ## Reply by Eric Katzfey (ModalAI staff) · 2024-01-23 15:39:55 UTC (in reply to Chase Riley) @Chase-Riley Interesting. Okay, so in this case it's always 0x00. But you say you have seen other random values? Can you capture a log with that happening? ## Reply by Chase Riley · 2024-01-23 15:59:09 UTC (in reply to Eric Katzfey) @Eric-Katzfey Here is the log you requested. To get a different value than 0x00 I just powered down and then powered back up the transmitter. I also ran it again after this test and received 0x5a. ``` voxl2:/$ voxl-px4 -d [INFO] Reading from /etc/modalai/voxl-px4.conf Found DSP signature file [INFO] Disabling daemon mode ************************* GPS=AUTODETECT RC=SPEKTRUM ESC=VOXL_ESC POWER MANAGER=VOXLPM DISTANCE SENSOR=NONE OSD=DISABLE DAEMON_MODE=DISABLE SENSOR_CAL=ACTUAL EXTRA STEPS: ************************* INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM. INFO [px4] assuming working directory is rootfs, no symlinks needed. INFO [muorb] Got muorb init command Sending initialization request Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete INFO [muorb] SLPI: muorb aggregator thread running INFO [muorb] muorb protobuf initalize method succeeded INFO [muorb] succesfully did ADVERTISE_TEST_TYPE INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097656 INFO [muorb] succesfully did SUBSCRIBE_TEST_TYPE INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097655 INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] succesfully did TOPIC_TEST_TYPE INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097654 INFO [muorb] succesfully did UNSUBSCRIBE_TEST_TYPE INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097653 INFO [muorb] muorb test passed INFO [muorb] SLPI: Advertising remote topic log_message ______ __ __ ___ | ___ \ \ \ / / / | | |_/ / \ V / / /| | | __/ / \ / /_| | | | / /^\ \ \___ | \_| \/ \/ |_/ px4 starting. INFO [px4] startup script: /bin/sh /usr/bin/voxl-px4-start 0 INFO [parameters] Starting param sync THREAD ************************* GPS: AUTODETECT RC: SPEKTRUM ESC: VOXL_ESC POWER MANAGER: VOXLPM DISTANCE SENSOR: NONE OSD: DISABLE EXTRA STEPS: ************************* INFO [muorb] SLPI: Starting param sync THREAD Running on M0054 INFO [muorb] SLPI: before starting the qshell_entry task INFO [muorb] SLPI: Creating pthread qshell INFO [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 2097652 INFO [muorb] SLPI: qshell entry..... INFO [muorb] SLPI: after starting the qshell_entry task INFO [muorb] SLPI: Init app map initialized INFO [param] selected parameter default file /data/px4/param/parameters INFO [muorb] SLPI: Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic INFO [uORB] Marking DeviceNode(parameter_client_reset_response) as advertised in process_remote_topic INFO [muorb] SLPI: Advertising remote topic parameter_update INFO [muorb] SLPI: Marking DeviceNode(parameter_client_set_value_request) as advertised in process_remote_to INFO [uORB] Marking DeviceNode(parameter_server_set_used_request) as advertised in process_remote_topic INFO [muorb] SLPI: Marking DeviceNode(parameter_server_set_used_response) as advertised in process_remote_to INFO [uORB] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic INFO [parameters] BSON document size 4125 bytes, decoded 4125 bytes (INT32:57, FLOAT:136) INFO [logger] logger started (mode=all) Starting IMU driver with no rotation INFO [qshell] Send cmd: 'icm42688p start -s -R 4' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: icm42688p start -s -R 4 INFO [muorb] SLPI: arg0 = 'icm42688p' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-s' INFO [muorb] SLPI: arg3 = '-R' INFO [muorb] SLPI: arg4 = '4' INFO [muorb] SLPI: *** SPI Device ID 0x26000a 2490378 INFO [uORB] Advertising remote topic sensor_accel INFO [uORB] Advertising remote topic sensor_gyro INFO [muorb] SLPI: ICM42688P::probe successful! INFO [muorb] SLPI: on SPI bus 1 INFO [muorb] SLPI: icm42688p #0 on SPI bus 1 INFO [muorb] SLPI: rotation 4 INFO [muorb] SLPI: >>> ICM42688P this: 3176ccf0 INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: icm42688p start -s -R 4 INFO [uORB] Advertising remote topic qshell_retval INFO [muorb] SLPI: >>> ICM42688P this: 3176ccf0 INFO [qshell] qshell return value timestamp: 140652268, local time: 140655765 INFO [muorb] SLPI: >>> ICM42688P this: 3176ccf0 INFO [muorb] SLPI: Register interrupt b21d31a4 e6201b3c 3176ccf0 INFO [uORB] Advertising remote topic sensor_gyro_fifo INFO [uORB] Advertising remote topic sensor_accel_fifo INFO [uORB] Advertising remote topic imu_server INFO [qshell] Send cmd: 'icp101xx start -I -b 5' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: icp101xx start -I -b 5 INFO [muorb] SLPI: arg0 = 'icp101xx' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-I' INFO [muorb] SLPI: arg3 = '-b' INFO [muorb] SLPI: arg4 = '5' INFO [muorb] SLPI: *** I2C Device ID 0xb76329 12018473 INFO [muorb] SLPI: icp101xx #0 on I2C bus 5 INFO [muorb] SLPI: address 0x63 INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: icp101xx start -I -b 5 INFO [qshell] qshell return value timestamp: 140688809, local time: 140690531 Looking for qmc5883l magnetometer INFO [qshell] Send cmd: 'qmc5883l start -R 10 -X -b 1' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: qmc5883l start -R 10 -X -b 1 INFO [muorb] SLPI: arg0 = 'qmc5883l' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-R' INFO [muorb] SLPI: arg3 = '10' INFO [muorb] SLPI: arg4 = '-X' INFO [muorb] SLPI: arg5 = '-b' INFO [muorb] SLPI: arg6 = '1' INFO [muorb] SLPI: *** I2C Device ID 0x80d09 527625 ERROR [muorb] SLPI: i2c probe failed INFO [muorb] SLPI: PX4_qshell: no instance started (no device on bus?) ERROR [muorb] SLPI: Failed to execute command: qmc5883l start -R 10 -X -b 1 INFO [qshell] cmd returned with: -1 INFO [qshell] qshell return value timestamp: 140728848, local time: 140731229 ERROR [qshell] Command failed Looking for ist8310 magnetometer INFO [qshell] Send cmd: 'ist8310 start -R 10 -X -b 1' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: ist8310 start -R 10 -X -b 1 INFO [muorb] SLPI: arg0 = 'ist8310' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-R' INFO [muorb] SLPI: arg3 = '10' INFO [muorb] SLPI: arg4 = '-X' INFO [muorb] SLPI: arg5 = '-b' INFO [muorb] SLPI: arg6 = '1' INFO [muorb] SLPI: *** I2C Device ID 0x60e09 396809 INFO [muorb] SLPI: ist8310 #0 on I2C bus 1 INFO [muorb] SLPI: (external) INFO [muorb] SLPI: address 0xE INFO [muorb] SLPI: rotation 10 INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: ist8310 start -R 10 -X -b 1 INFO [qshell] qshell return value timestamp: 140766613, local time: 140767902 INFO [muorb] SLPI: >>> ICM42688P this: 3176ccf0 INFO [qshell] Send cmd: 'gps start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: gps start INFO [muorb] SLPI: arg0 = 'gps' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: Creating pthread gps INFO [muorb] SLPI: Successfully created px4 task PX4_gps with tid 2097647 INFO [muorb] SLPI: Ok executing command: gps start INFO [qshell] qshell return value timestamp: 140792157, local time: 140794315 Looking for ncp5623c RGB LED INFO [qshell] Send cmd: 'rgbled_ncp5623c start -X -b 1 -f 400 -a 56' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: rgbled_ncp5623c start -X -b 1 -f 400 -a 56 INFO [muorb] SLPI: arg0 = 'rgbled_ncp5623c' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-X' INFO [muorb] SLPI: arg3 = '-b' INFO [muorb] SLPI: arg4 = '1' INFO [muorb] SLPI: arg5 = '-f' INFO [muorb] SLPI: arg6 = '400' INFO [muorb] SLPI: arg7 = '-a' INFO [muorb] SLPI: arg8 = '56' INFO [muorb] SLPI: *** I2C Device ID 0x7b3809 8075273 INFO [muorb] SLPI: rgbled_ncp5623c #0 on I2C bus 1 INFO [muorb] SLPI: (external) INFO [muorb] SLPI: address 0x38 INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: rgbled_ncp5623c start -X -b 1 -f 400 -a 56 INFO [qshell] qshell return value timestamp: 140826063, local time: 140827364 Starting VOXL ESC driver INFO [uORB] Advertising remote topic sensor_mag INFO [qshell] Send cmd: 'voxl_esc start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: voxl_esc start INFO [muorb] SLPI: arg0 = 'voxl_esc' INFO [muorb] SLPI: arg1 = 'start' INFO [uORB] Advertising remote topic actuator_outputs INFO [uORB] Advertising remote topic sensor_baro INFO [muorb] SLPI: Ok executing command: voxl_esc start INFO [muorb] SLPI: Opened UART ESC device INFO [qshell] qshell return value timestamp: 140915998, local time: 140917432 Starting Spektrum RC INFO [qshell] Send cmd: 'spektrum_rc start -v' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: spektrum_rc start -v INFO [muorb] SLPI: arg0 = 'spektrum_rc' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-v' INFO [muorb] SLPI: Creating pthread spektrum_rc_main INFO [muorb] SLPI: Successfully created px4 task PX4_spektrum_rc_main with tid 2097644 INFO [muorb] SLPI: Ok executing command: spektrum_rc start -v INFO [muorb] SLPI: Spektrum RC: Enabling verbose mode INFO [muorb] SLPI: Spektrum RC: dsm_init succeeded INFO [qshell] qshell return value timestamp: 140957493, local time: 140958599 INFO [muorb] SLPI: Spektrum RC: Read no bytes from UART ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x2d INFO [uORB] Advertising remote topic actuator_outputs_debug INFO [uORB] Advertising remote topic esc_status INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [qshell] Send cmd: 'voxlpm start -X -b 2' INFO [muorb] SLPI: qshell gotten: voxlpm start -X -b 2 INFO [muorb] SLPI: arg0 = 'voxlpm' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-X' INFO [muorb] SLPI: arg3 = '-b' INFO [muorb] SLPI: arg4 = '2' ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x2d INFO [muorb] SLPI: *** I2C Device ID 0xd24411 13779985 INFO [muorb] SLPI: Set i2c address 0x6a, fd 4 INFO [muorb] SLPI: Set i2c address 0x44, fd 4 INFO [uORB] Advertising remote topic battery_status INFO [muorb] SLPI: voxlpm #0 on I2C bus 2 INFO [muorb] SLPI: (external) INFO [muorb] SLPI: address 0x44 INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: voxlpm start -X -b 2 INFO [qshell] qshell return value timestamp: 140988963, local time: 140990201 INFO [uORB] Advertising remote topic power_monitor ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x2d ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x2d ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x2d ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 16 bytes. Protocol byte 0x2d ``` ## Reply by Eric Katzfey (ModalAI staff) · 2024-01-23 16:10:51 UTC (in reply to Chase Riley) @Chase-Riley Okay, I'm preparing a new Debian that just completely removes that protocol byte check and, when verbose debug information is selected, will dump the complete frame contents about once a second so we can see what is actually being received at the driver. ## Reply by Chase Riley · 2024-01-23 16:19:17 UTC (in reply to Eric Katzfey) @Eric-Katzfey Ok. Looking forward to trying it out. ## Reply by Eric Katzfey (ModalAI staff) · 2024-01-23 16:36:20 UTC (in reply to Chase Riley) @Chase-Riley You can get it with `wget https://storage.googleapis.com/modalai_public/forum/voxl-px4_1.14.66-6.0.0_arm64.deb` ## Reply by Chase Riley · 2024-01-23 16:55:26 UTC (in reply to Eric Katzfey) @Eric-Katzfey Here is the log with the new Debian. ``` voxl2:/$ voxl-px4 -d [INFO] Reading from /etc/modalai/voxl-px4.conf Found DSP signature file [INFO] Disabling daemon mode ************************* GPS=AUTODETECT RC=SPEKTRUM ESC=VOXL_ESC POWER MANAGER=VOXLPM DISTANCE SENSOR=NONE OSD=DISABLE DAEMON_MODE=DISABLE SENSOR_CAL=ACTUAL EXTRA STEPS: ************************* INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM. INFO [px4] assuming working directory is rootfs, no symlinks needed. INFO [muorb] Got muorb init command Sending initialization request Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete Got topic data before configuration complete INFO [muorb] SLPI: muorb aggregator thread running INFO [muorb] muorb protobuf initalize method succeeded INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] succesfully did ADVERTISE_TEST_TYPE INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097656 INFO [muorb] succesfully did SUBSCRIBE_TEST_TYPE INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097655 INFO [muorb] succesfully did TOPIC_TEST_TYPE INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097654 INFO [muorb] succesfully did UNSUBSCRIBE_TEST_TYPE INFO [muorb] SLPI: Creating pthread test_MUORB INFO [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097653 INFO [muorb] muorb test passed ______ __ __ ___ | ___ \ \ \ / / / | | |_/ / \ V / / /| | | __/ / \ / /_| | | | / /^\ \ \___ | \_| \/ \/ |_/ px4 starting. INFO [muorb] SLPI: Advertising remote topic log_message INFO [px4] startup script: /bin/sh /usr/bin/voxl-px4-start 0 INFO [parameters] Starting param sync THREAD ************************* GPS: AUTODETECT RC: SPEKTRUM ESC: VOXL_ESC POWER MANAGER: VOXLPM DISTANCE SENSOR: NONE OSD: DISABLE EXTRA STEPS: ************************* INFO [muorb] SLPI: Starting param sync THREAD Running on M0054 INFO [muorb] SLPI: before starting the qshell_entry task INFO [muorb] SLPI: Creating pthread qshell INFO [muorb] SLPI: qshell entry..... INFO [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 2097652 INFO [muorb] SLPI: Init app map initialized INFO [muorb] SLPI: after starting the qshell_entry task INFO [param] selected parameter default file /data/px4/param/parameters INFO [muorb] SLPI: Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic INFO [uORB] Marking DeviceNode(parameter_client_reset_response) as advertised in process_remote_topic INFO [muorb] SLPI: Advertising remote topic parameter_update INFO [muorb] SLPI: Marking DeviceNode(parameter_client_set_value_request) as advertised in process_remote_to INFO [uORB] Marking DeviceNode(parameter_server_set_used_request) as advertised in process_remote_topic INFO [muorb] SLPI: Marking DeviceNode(parameter_server_set_used_response) as advertised in process_remote_to INFO [uORB] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic INFO [parameters] BSON document size 4125 bytes, decoded 4125 bytes (INT32:57, FLOAT:136) INFO [logger] logger started (mode=all) Starting IMU driver with no rotation INFO [qshell] Send cmd: 'icm42688p start -s -R 4' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: icm42688p start -s -R 4 INFO [muorb] SLPI: arg0 = 'icm42688p' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-s' INFO [muorb] SLPI: arg3 = '-R' INFO [muorb] SLPI: arg4 = '4' INFO [muorb] SLPI: *** SPI Device ID 0x26000a 2490378 INFO [uORB] Advertising remote topic sensor_accel INFO [uORB] Advertising remote topic sensor_gyro INFO [muorb] SLPI: ICM42688P::probe successful! INFO [muorb] SLPI: on SPI bus 1 INFO [muorb] SLPI: icm42688p #0 on SPI bus 1 INFO [muorb] SLPI: rotation 4 INFO [muorb] SLPI: >>> ICM42688P this: 3176ed20 INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: icm42688p start -s -R 4 INFO [uORB] Advertising remote topic qshell_retval INFO [muorb] SLPI: >>> ICM42688P this: 3176ed20 INFO [qshell] qshell return value timestamp: 108528422, local time: 108534280 INFO [muorb] SLPI: >>> ICM42688P this: 3176ed20 INFO [muorb] SLPI: Register interrupt b21d31a4 e6201b3c 3176ed20 INFO [uORB] Advertising remote topic sensor_gyro_fifo INFO [uORB] Advertising remote topic sensor_accel_fifo INFO [uORB] Advertising remote topic imu_server INFO [qshell] Send cmd: 'icp101xx start -I -b 5' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: icp101xx start -I -b 5 INFO [muorb] SLPI: arg0 = 'icp101xx' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-I' INFO [muorb] SLPI: arg3 = '-b' INFO [muorb] SLPI: arg4 = '5' INFO [muorb] SLPI: *** I2C Device ID 0xb76329 12018473 INFO [muorb] SLPI: icp101xx #0 on I2C bus 5 INFO [muorb] SLPI: address 0x63 INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: icp101xx start -I -b 5 INFO [qshell] qshell return value timestamp: 108579731, local time: 108582550 Looking for qmc5883l magnetometer INFO [qshell] Send cmd: 'qmc5883l start -R 10 -X -b 1' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: qmc5883l start -R 10 -X -b 1 INFO [muorb] SLPI: arg0 = 'qmc5883l' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-R' INFO [muorb] SLPI: arg3 = '10' INFO [muorb] SLPI: arg4 = '-X' INFO [muorb] SLPI: arg5 = '-b' INFO [muorb] SLPI: arg6 = '1' INFO [muorb] SLPI: *** I2C Device ID 0x80d09 527625 ERROR [muorb] SLPI: i2c probe failed INFO [muorb] SLPI: PX4_qshell: no instance started (no device on bus?) ERROR [muorb] SLPI: Failed to execute command: qmc5883l start -R 10 -X -b 1 INFO [qshell] cmd returned with: -1 INFO [qshell] qshell return value timestamp: 108614169, local time: 108616786 ERROR [qshell] Command failed Looking for ist8310 magnetometer INFO [muorb] SLPI: >>> ICM42688P this: 3176ed20 INFO [qshell] Send cmd: 'ist8310 start -R 10 -X -b 1' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: ist8310 start -R 10 -X -b 1 INFO [muorb] SLPI: arg0 = 'ist8310' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-R' INFO [muorb] SLPI: arg3 = '10' INFO [muorb] SLPI: arg4 = '-X' INFO [muorb] SLPI: arg5 = '-b' INFO [muorb] SLPI: arg6 = '1' INFO [muorb] SLPI: *** I2C Device ID 0x60e09 396809 INFO [muorb] SLPI: ist8310 #0 on I2C bus 1 INFO [muorb] SLPI: (external) INFO [muorb] SLPI: address 0xE INFO [muorb] SLPI: rotation 10 INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: ist8310 start -R 10 -X -b 1 INFO [qshell] qshell return value timestamp: 108652161, local time: 108653528 INFO [qshell] Send cmd: 'gps start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: gps start INFO [muorb] SLPI: arg0 = 'gps' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: Creating pthread gps INFO [muorb] SLPI: Successfully created px4 task PX4_gps with tid 2097647 INFO [muorb] SLPI: Ok executing command: gps start INFO [qshell] qshell return value timestamp: 108678128, local time: 108679924 Looking for ncp5623c RGB LED INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [qshell] Send cmd: 'rgbled_ncp5623c start -X -b 1 -f 400 -a 56' INFO [muorb] SLPI: qshell gotten: rgbled_ncp5623c start -X -b 1 -f 400 -a 56 INFO [muorb] SLPI: arg0 = 'rgbled_ncp5623c' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-X' INFO [muorb] SLPI: arg3 = '-b' INFO [muorb] SLPI: arg4 = '1' INFO [muorb] SLPI: arg5 = '-f' INFO [muorb] SLPI: arg6 = '400' INFO [muorb] SLPI: arg7 = '-a' INFO [muorb] SLPI: arg8 = '56' INFO [muorb] SLPI: *** I2C Device ID 0x7b3809 8075273 INFO [muorb] SLPI: rgbled_ncp5623c #0 on I2C bus 1 INFO [muorb] SLPI: (external) INFO [muorb] SLPI: address 0x38 INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: rgbled_ncp5623c start -X -b 1 -f 400 -a 56 INFO [qshell] qshell return value timestamp: 108709712, local time: 108711831 Starting VOXL ESC driver INFO [uORB] Advertising remote topic sensor_mag INFO [qshell] Send cmd: 'voxl_esc start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: voxl_esc start INFO [muorb] SLPI: arg0 = 'voxl_esc' INFO [muorb] SLPI: arg1 = 'start' INFO [uORB] Advertising remote topic actuator_outputs INFO [uORB] Advertising remote topic sensor_baro INFO [muorb] SLPI: Ok executing command: voxl_esc start INFO [muorb] SLPI: Opened UART ESC device INFO [qshell] qshell return value timestamp: 108819381, local time: 108821923 Starting Spektrum RC INFO [qshell] Send cmd: 'spektrum_rc start -v' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: spektrum_rc start -v INFO [muorb] SLPI: arg0 = 'spektrum_rc' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-v' INFO [muorb] SLPI: Creating pthread spektrum_rc_main INFO [muorb] SLPI: Successfully created px4 task PX4_spektrum_rc_main with tid 2097644 INFO [muorb] SLPI: Ok executing command: spektrum_rc start -v INFO [muorb] SLPI: Spektrum RC: Enabling verbose mode INFO [muorb] SLPI: Spektrum RC: dsm_init succeeded INFO [qshell] qshell return value timestamp: 108849790, local time: 108851570 INFO [muorb] SLPI: Spektrum RC: Read no bytes from UART INFO [qshell] Send cmd: 'voxlpm start -X -b 2' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: voxlpm start -X -b 2 INFO [muorb] SLPI: arg0 = 'voxlpm' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = '-X' INFO [muorb] SLPI: arg3 = '-b' INFO [muorb] SLPI: arg4 = '2' INFO [uORB] Advertising remote topic actuator_outputs_debug INFO [uORB] Advertising remote topic esc_status INFO [muorb] SLPI: *** I2C Device ID 0xd24411 13779985 INFO [muorb] SLPI: Set i2c address 0x6a, fd 4 INFO [muorb] SLPI: Set i2c address 0x44, fd 4 INFO [uORB] Advertising remote topic battery_status INFO [muorb] SLPI: voxlpm #0 on I2C bus 2 INFO [muorb] SLPI: (external) INFO [muorb] SLPI: address 0x44 INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: voxlpm start -X -b 2 INFO [uORB] Advertising remote topic power_monitor INFO [qshell] qshell return value timestamp: 108881654, local time: 108883951 INFO [qshell] Send cmd: 'sensors start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: sensors start INFO [muorb] SLPI: arg0 = 'sensors' INFO [muorb] SLPI: arg1 = 'start' INFO [uORB] Advertising remote topic sensor_selection INFO [uORB] Advertising remote topic sensors_status_imu INFO [uORB] Advertising remote topic vehicle_acceleration INFO [uORB] Advertising remote topic vehicle_angular_velocity INFO [uORB] Advertising remote topic sensor_combined INFO [uORB] Advertising remote topic vehicle_air_data ERROR [muorb] SLPI: Timeout waiting for parameter_server_set_used_response for SENS_GPS_PRIME INFO [uORB] Advertising remote topic vehicle_gps_position INFO [uORB] Advertising remote topic sensors_status_baro INFO [uORB] Advertising remote topic vehicle_magnetometer INFO [uORB] Advertising remote topic sensor_preflight_mag INFO [uORB] Advertising remote topic vehicle_imu INFO [uORB] Advertising remote topic vehicle_imu_status INFO [muorb] SLPI: Ok executing command: sensors start INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: 0x00 0x00 0x81 0x86 0x39 0x56 0x1c 0x0d INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x61 0x00 INFO [uORB] Advertising remote topic sensors_status_mag INFO [qshell] qshell return value timestamp: 109070971, local time: 109078977 INFO [qshell] Send cmd: 'ekf2 start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: ekf2 start INFO [muorb] SLPI: arg0 = 'ekf2' INFO [muorb] SLPI: arg1 = 'start' INFO [uORB] Advertising remote topic input_rc INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x00 0x81 0x86 0x39 0x56 0x1c 0x0d INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [uORB] Advertising remote topic vehicle_attitude INFO [uORB] Advertising remote topic vehicle_local_position INFO [uORB] Advertising remote topic estimator_event_flags INFO [uORB] Advertising remote topic estimator_innovation_test_ratios INFO [uORB] Advertising remote topic estimator_innovation_variances INFO [uORB] Advertising remote topic estimator_innovations INFO [uORB] Advertising remote topic estimator_sensor_bias INFO [uORB] Advertising remote topic estimator_states INFO [uORB] Advertising remote topic estimator_status_flags INFO [uORB] Advertising remote topic estimator_status INFO [muorb] SLPI: Ok executing command: ekf2 start INFO [qshell] qshell return value timestamp: 109344658, local time: 109348511 INFO [uORB] Advertising remote topic ekf2_timestamps INFO [uORB] Advertising remote topic vehicle_odometry INFO [uORB] Advertising remote topic estimator_aid_src_baro_hgt INFO [uORB] Advertising remote topic estimator_aid_src_fake_pos INFO [uORB] Advertising remote topic estimator_aid_src_fake_hgt INFO [uORB] Advertising remote topic estimator_aid_src_gravity INFO [uORB] Advertising remote topic estimator_aid_src_mag_heading INFO [uORB] Advertising remote topic estimator_aid_src_mag INFO [qshell] Send cmd: 'mc_pos_control start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mc_pos_control start INFO [muorb] SLPI: arg0 = 'mc_pos_control' INFO [muorb] SLPI: arg1 = 'start' INFO [uORB] Advertising remote topic takeoff_status INFO [muorb] SLPI: Ok executing command: mc_pos_control start INFO [qshell] qshell return value timestamp: 109447440, local time: 109448532 INFO [qshell] Send cmd: 'mc_att_control start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mc_att_control start INFO [muorb] SLPI: arg0 = 'mc_att_control' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: Ok executing command: mc_att_control start INFO [qshell] qshell return value timestamp: 109490661, local time: 109491803 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: 0x00 0x00 0x81 0x86 0x39 0x56 0x1c 0x0d INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [qshell] Send cmd: 'mc_rate_control start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mc_rate_control start INFO [muorb] SLPI: arg0 = 'mc_rate_control' INFO [muorb] SLPI: arg1 = 'start' INFO [uORB] Advertising remote topic rate_ctrl_status INFO [muorb] SLPI: Ok executing command: mc_rate_control start INFO [qshell] qshell return value timestamp: 109586749, local time: 109589982 INFO [qshell] Send cmd: 'mc_hover_thrust_estimator start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mc_hover_thrust_estimator start INFO [muorb] SLPI: arg0 = 'mc_hover_thrust_estimator' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: Ok executing command: mc_hover_thrust_estimator start INFO [qshell] qshell return value timestamp: 109645064, local time: 109646589 INFO [qshell] Send cmd: 'mc_autotune_attitude_control start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mc_autotune_attitude_control start INFO [muorb] SLPI: arg0 = 'mc_autotune_attitude_control' INFO [muorb] SLPI: arg1 = 'start' INFO [uORB] Advertising remote topic autotune_attitude_control_status INFO [muorb] SLPI: Ok executing command: mc_autotune_attitude_control start INFO [qshell] qshell return value timestamp: 109687598, local time: 109688691 INFO [qshell] Send cmd: 'land_detector start multicopter' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: land_detector start multicopter INFO [muorb] SLPI: arg0 = 'land_detector' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: arg2 = 'multicopter' INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x00 0x81 0x86 0x39 0x56 0x1c 0x0d INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [muorb] SLPI: Ok executing command: land_detector start multicopter INFO [qshell] qshell return value timestamp: 109739354, local time: 109741061 INFO [uORB] Advertising remote topic vehicle_land_detected INFO [muorb] SLPI: baudrate set to 9600 INFO [qshell] Send cmd: 'manual_control start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: manual_control start INFO [muorb] SLPI: arg0 = 'manual_control' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: Sending initial CFG_VALSET. Attempt: 1 INFO [muorb] SLPI: Ok executing command: manual_control start INFO [qshell] qshell return value timestamp: 109801954, local time: 109803502 INFO [uORB] Advertising remote topic manual_control_setpoint INFO [qshell] Send cmd: 'control_allocator start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: control_allocator start INFO [muorb] SLPI: arg0 = 'control_allocator' INFO [muorb] SLPI: arg1 = 'start' INFO [uORB] Advertising remote topic control_allocator_status INFO [uORB] Marking DeviceNode(control_allocator_status) as advertised in process_remote_topic INFO [uORB] Advertising remote topic actuator_motors INFO [uORB] Advertising remote topic actuator_servos INFO [uORB] Advertising remote topic actuator_servos_trim INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x00 0x81 0x86 0x39 0x56 0x1c 0x0d INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x67 0x00 INFO [muorb] SLPI: Ok executing command: control_allocator start INFO [qshell] qshell return value timestamp: 110087397, local time: 110090284 INFO [qshell] Send cmd: 'load_mon start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: load_mon start INFO [muorb] SLPI: arg0 = 'load_mon' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: Ok executing command: load_mon start INFO [uORB] Advertising remote topic cpuload INFO [qshell] qshell return value timestamp: 110141759, local time: 110143643 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x00 0x81 0x86 0x39 0x56 0x1c 0x0d INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x61 0x00 INFO [qshell] Send cmd: 'rc_update start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: rc_update start INFO [muorb] SLPI: arg0 = 'rc_update' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: 0x00 0x00 0x81 0x86 0x39 0x56 0x1c 0x0d INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [muorb] SLPI: Ok executing command: rc_update start INFO [qshell] qshell return value timestamp: 110418193, local time: 110421870 INFO [qshell] Send cmd: 'commander start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: commander start INFO [muorb] SLPI: arg0 = 'commander' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: Creating pthread commander INFO [muorb] SLPI: Successfully created px4 task PX4_commander with tid 2097639 INFO [uORB] Advertising remote topic rc_channels INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x00 0x81 0x86 0x39 0x56 0x1c 0x0d INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 ``` ## Reply by Eric Katzfey (ModalAI staff) · 2024-01-23 16:57:53 UTC (in reply to Chase Riley) @Chase-Riley Does it seem to be working now? Can you calibrate RC now? ## Reply by Eric Katzfey (ModalAI staff) · 2024-01-23 16:59:29 UTC (in reply to Eric Katzfey) @Eric-Katzfey And can you wait a little longer to get more data in the log? I'd like to see the data dumps of more packets. ## Reply by Chase Riley · 2024-01-23 17:08:21 UTC (in reply to Eric Katzfey) @Eric-Katzfey I am able to calibrate the RC now with that Debian. Here is the log after letting it run a little longer. Let me know if you need more in the log. Would you recommend flying with this Debian File? ``` INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x61 0x00 INFO [muorb] SLPI: Ok executing command: rc_update start INFO [qshell] qshell return value timestamp: 356493009, local time: 356495308 INFO [uORB] Advertising remote topic rc_channels INFO [qshell] Send cmd: 'commander start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: commander start INFO [muorb] SLPI: arg0 = 'commander' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: Creating pthread commander INFO [muorb] SLPI: Successfully created px4 task PX4_commander with tid 2097639 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x61 0x00 INFO [uORB] Advertising remote topic manual_control_input INFO [uORB] Advertising remote topic manual_control_switches INFO [uORB] Advertising remote topic action_request INFO [uORB] Advertising remote topic led_control INFO [muorb] SLPI: LED: open /dev/led0 failed (22) INFO [uORB] Advertising remote topic tune_control INFO [muorb] SLPI: Ok executing command: commander start INFO [qshell] qshell return value timestamp: 356734246, local time: 356736417 INFO [uORB] Advertising remote topic event INFO [uORB] Advertising remote topic health_report INFO [uORB] Advertising remote topic failsafe_flags INFO [uORB] Advertising remote topic actuator_armed INFO [uORB] Advertising remote topic vehicle_control_mode INFO [uORB] Advertising remote topic vehicle_status INFO [uORB] Advertising remote topic failure_detector_status INFO [uORB] Advertising remote topic vehicle_thrust_setpoint INFO [uORB] Advertising remote topic vehicle_torque_setpoint INFO [uORB] Advertising remote topic vehicle_attitude_setpoint INFO [uORB] Advertising remote topic vehicle_rates_setpoint INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [qshell] Send cmd: 'flight_mode_manager start' INFO [muorb] SLPI: qshell gotten: flight_mode_manager start INFO [muorb] SLPI: arg0 = 'flight_mode_manager' INFO [muorb] SLPI: arg1 = 'start' INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [uORB] Advertising remote topic vehicle_command INFO [muorb] SLPI: Ok executing command: flight_mode_manager start INFO [qshell] qshell return value timestamp: 356898624, local time: 356901074 INFO [dataman] data manager file '/data/px4/dataman' size is 7866640 bytes INFO [muorb] SLPI: Advertising remote topic transponder_report INFO [muorb] SLPI: Advertising remote topic rtl_time_estimate INFO [muorb] SLPI: Advertising remote topic position_setpoint_triplet INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [modal_io_bridge] Modal IO Bridge driver starting INFO [mavlink] mode: Onboard, data rate: 100000 B/s on udp port 14556 remote port 14557 INFO [muorb] SLPI: Advertising remote topic telemetry_status INFO [mavlink] partner IP: 127.0.0.1 INFO [muorb] SLPI: Advertising remote topic offboard_control_mode INFO [muorb] SLPI: Advertising remote topic obstacle_distance INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [muorb] SLPI: Advertising remote topic timesync_status INFO [uORB] Advertising remote topic actuator_controls_status_0 INFO [mavlink] mode: Normal, data rate: 100000 B/s on udp port 14558 remote port 14559 INFO [muorb] SLPI: Marking DeviceNode(telemetry_status) as advertised in process_remote_topic INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network) INFO [px4] Startup script returned successfully pxh> INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x61 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [muorb] SLPI: Sending initial CFG_VALSET. Attempt: 2 INFO [mavlink] partner IP: 127.0.0.1 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [uORB] Advertising remote topic mavlink_log ERROR [muorb] SLPI: Preflight Fail: low battery INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x61 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x61 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x61 0x00 INFO [muorb] SLPI: Sending initial CFG_VALSET. Attempt: 3 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x61 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x61 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x61 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: u-blox firmware version: SPG 3.01 INFO [muorb] SLPI: u-blox protocol version: 18.00 INFO [muorb] SLPI: u-blox module: NEO-M8N-0 INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x61 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x61 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [uORB] Advertising remote topic sensor_gps INFO [uORB] Advertising remote topic home_position INFO [uORB] Advertising remote topic estimator_gps_status INFO [uORB] Advertising remote topic estimator_aid_src_gnss_hgt INFO [uORB] Advertising remote topic estimator_aid_src_gnss_pos INFO [uORB] Advertising remote topic estimator_aid_src_gnss_vel ERROR [muorb] SLPI: Preflight Fail: low battery INFO [muorb] SLPI: Advertising remote topic mission_result INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x61 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x61 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x61 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x61 0x00 INFO [muorb] SLPI: Advertising remote topic ping INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x61 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x61 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x61 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x03 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x03 0x81 0x56 0x39 0x56 0x1c 0x0c INFO [muorb] SLPI: 0x44 0x00 0x4c 0x00 0x5c 0x00 0x65 0x00 ``` ## Reply by Eric Katzfey (ModalAI staff) · 2024-01-23 17:12:23 UTC (in reply to Chase Riley) @Chase-Riley Looks like the data is stable. It just doesn't seem the protocol byte to a stable value. Very odd. But I would try a flight with it in a carefully controlled environment in case anything goes wrong. In the worst case it could go out of control and you might not be able to use the kill switch so be safe. ## Reply by Eric Katzfey (ModalAI staff) · 2024-01-23 17:27:04 UTC (in reply to Chase Riley) @Chase-Riley Here is a link to the transmitter we use: https://www.horizonhobby.com/product/dx6e-6-channel-dsmx-transmitter-only/SPMR6655.html ## Reply by Chase Riley · 2024-01-23 19:07:42 UTC (in reply to Eric Katzfey) @Eric-Katzfey When getting everything tested to go out and fly I started receiving a failsafe for ESC failure. When we were working with this back in SDK 1.0 in this thread. I had the issue of the actuators tab not showing up in QGC. I can now see the actuators tab on SDK 1.1.2 however I can not test the motors and when I try to arm I receive ESC Failure message. I am not sure if this has something to do with the custom deb file like it did when I couldn't see the actuators tab. I can upload firmware and params to the ESC fine. Running ```voxl-esc-scan.py``` returns no issues. Any thoughts? ## Reply by Chase Riley · 2024-01-23 20:10:40 UTC (in reply to Eric Katzfey) @Eric-Katzfey I was able to solve the ESC issue. It was not linked to the Spektrum issue. After getting the ESC to function I was not able to control throttle on the air vehicle. I am able to calibrate the RC controller and set flight modes and so on. Everything seems normal until a arm the motors (testing in Stabilize). The motors arm and spin up but I am unable to change the speed on the motors with any input of the controller. I checked the Px4 RC params and all match previously good known params. I have inlcluded a snippet of running ```voxl-px4 -d``` with Spektrum sill with ```-v``` argument. I noticed there was another error with a different value and was also 32 bytes instead of the 16 bytes we have been seeing. ``` INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xfe INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xfe INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xfe INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Sending initial CFG_VALSET. Attempt: 3 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xfe INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xfe INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xfe INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xfe INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [uORB] Advertising remote topic mavlink_log INFO [muorb] SLPI: Armed by external command INFO [uORB] Advertising remote topic vehicle_command_ack INFO [logger] Start file log (type: full) WARN [uORB] orb_advertise_multi: failed to set queue size INFO [logger] [logger] /data/px4/log/2024-01-23/16_57_27.ulg WARN [mavlink] Event dropped (7, 65526) WARN [mavlink] Event dropped (7, 65526) INFO [logger] Opened full log file: /data/px4/log/2024-01-23/16_57_27.ulg INFO [muorb] SLPI: Advertising remote topic logger_status WARN [mavlink] Dropped 65519 events (seq=65526) WARN [mavlink] Dropped 65519 events (seq=65526) INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Takeoff detected WARN [mavlink] Event dropped (65527, 7) WARN [mavlink] Event dropped (65527, 7) WARN [mavlink] Dropped 7 events (seq=7) WARN [mavlink] Dropped 7 events (seq=7) INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: baudrate set to 9600 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Sending initial CFG_VALSET. Attempt: 1 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xfe INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xfe INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xfe INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Sending initial CFG_VALSET. Attempt: 2 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xfe INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xfe INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xfe INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Sending initial CFG_VALSET. Attempt: 3 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xfe INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xfe INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xfe INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xfe INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xfe INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: u-blox firmware version: SPG 3.01 INFO [muorb] SLPI: u-blox protocol version: 18.00 INFO [muorb] SLPI: u-blox module: NEO-M8N-0 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xfe INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xfe INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xfe INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xfe INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Landing detected INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xfe INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [muorb] SLPI: baudrate set to 9600 INFO [muorb] SLPI: Sending initial CFG_VALSET. Attempt: 1 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xfe INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xfe INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 32 bytes. Protocol byte 0x02 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x63 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x02 0x0b 0xf5 0x2e 0xaa 0x13 0xff INFO [muorb] SLPI: Disarmed by landing INFO [muorb] SLPI: 0x21 0x56 0x36 0xaa 0x54 0x00 0x65 0x00 INFO [uORB] Marking DeviceNode(parameter_server_set_value_request) as advertised in process_remote_topic INFO [muorb] SLPI: Marking DeviceNode(parameter_server_set_value_response) as advertised in process_remote_t INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x02 ``` ## Reply by Chase Riley · 2024-01-23 20:32:21 UTC (in reply to Eric Katzfey) @Eric-Katzfey I am also getting my hands on a DX6e for me to test. I should be able to try that in the morning. I still would like to figure out the DX8 as well though since we already have a bunch on hand in our lab. ## Reply by Eric Katzfey (ModalAI staff) · 2024-01-24 00:04:01 UTC (in reply to Chase Riley) @Chase-Riley Did you analyze the flight log? ## Reply by Eric Katzfey (ModalAI staff) · 2024-01-24 00:13:01 UTC (in reply to Chase Riley) @Chase-Riley For the DX8 there are some configuration options on the transmitter. There is DSMX versus DSM2. That may need to be changed. Have you tried the different options yet? ## Reply by Chase Riley · 2024-01-24 01:12:10 UTC (in reply to Eric Katzfey) @Eric-Katzfey I have tried all of the options in the DX8. 11, 22 and DSM2, DSMX. They all seemed to produce the same results in the logs. ## Reply by Chase Riley · 2024-01-24 14:21:01 UTC (in reply to Eric Katzfey) @Eric-Katzfey Here is a ```voxl-px4``` log while testing with a DX6e this morning. I was able to bind and calibrate no problem. I am just not able to control the motors. Flight mode and kill switch seem to be working fine. So seems to have the same behavior as the DX8 with a error in the log for 32 bytes and 0x00. ``` INFO [muorb] SLPI: 0x00 0x00 0x8c 0x05 0x01 0x56 0x14 0x00 INFO [muorb] SLPI: 0x1b 0xf5 0x2e 0xaa 0x3c 0x00 0x34 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x00 0x8c 0x05 0x01 0x56 0x14 0x00 INFO [muorb] SLPI: 0x1b 0xf6 0x2e 0xaa 0x3c 0x00 0x34 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x00 0x8c 0x05 0x01 0x56 0x14 0x00 INFO [muorb] SLPI: 0x1b 0xf6 0x2e 0xaa 0x3c 0x00 0x34 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x00 0x8c 0x05 0x01 0x56 0x14 0x00 INFO [muorb] SLPI: 0x1b 0xf5 0x2e 0xaa 0x3c 0x00 0x34 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x00 0x8c 0x05 0x01 0x56 0x14 0x00 INFO [muorb] SLPI: 0x1b 0xf5 0x2e 0xaa 0x3c 0x00 0x34 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x00 0x8c 0x05 0x01 0x56 0x14 0x00 INFO [muorb] SLPI: 0x1b 0xf5 0x2e 0xaa 0x3c 0x00 0x34 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x00 0x8c 0x05 0x01 0x56 0x14 0x00 INFO [muorb] SLPI: 0x1b 0xf6 0x2e 0xaa 0x3c 0x00 0x34 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x00 0x8c 0x05 0x01 0x56 0x14 0x00 INFO [muorb] SLPI: 0x1b 0xf5 0x2e 0xaa 0x3c 0x00 0x34 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x00 0x8c 0x05 0x01 0x56 0x14 0x00 INFO [muorb] SLPI: 0x1b 0xf6 0x2e 0xaa 0x3c 0x00 0x34 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x00 0x8c 0x05 0x01 0x56 0x14 0x00 INFO [muorb] SLPI: 0x1b 0xf5 0x2e 0xaa 0x3c 0x00 0x34 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x00 0x8c 0x05 0x01 0x56 0x14 0x00 INFO [muorb] SLPI: 0x1b 0xf5 0x2e 0xaa 0x3c 0x00 0x34 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x00 0x8c 0x05 0x01 0x56 0x14 0x00 INFO [muorb] SLPI: 0x1b 0xf6 0x2e 0xaa 0x3c 0x00 0x34 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x00 0x8c 0x05 0x01 0x56 0x14 0x00 INFO [muorb] SLPI: 0x1b 0xf5 0x2e 0xaa 0x3c 0x00 0x34 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x00 0x8c 0x05 0x01 0x56 0x14 0x00 INFO [muorb] SLPI: 0x1b 0xf6 0x2e 0xaa 0x3c 0x00 0x34 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x00 0x8c 0x05 0x01 0x56 0x14 0x00 INFO [muorb] SLPI: 0x1b 0xf6 0x2e 0xaa 0x3c 0x00 0x34 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x00 0x8c 0x05 0x01 0x56 0x14 0x00 INFO [muorb] SLPI: 0x1b 0xf5 0x2e 0xaa 0x3c 0x00 0x34 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x00 0x8c 0x05 0x01 0x56 0x14 0x00 INFO [muorb] SLPI: 0x1b 0xf5 0x2e 0xaa 0x3c 0x00 0x34 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x00 0x8c 0x05 0x01 0x56 0x14 0x00 INFO [muorb] SLPI: 0x1b 0xf6 0x2e 0xaa 0x3c 0x00 0x34 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x00 0x8c 0x05 0x01 0x56 0x14 0x00 INFO [muorb] SLPI: 0x1b 0xf5 0x2e 0xaa 0x3c 0x00 0x34 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x00 0x8c 0x05 0x01 0x56 0x14 0x00 INFO [muorb] SLPI: 0x1b 0xf6 0x2e 0xaa 0x3c 0x00 0x34 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x00 0x8c 0x05 0x01 0x56 0x14 0x00 INFO [muorb] SLPI: 0x1b 0xf5 0x2e 0xaa 0x3c 0x00 0x34 0x00 ERROR [muorb] SLPI: Spektrum RC: Invalid DSM frame. 32 bytes. Protocol byte 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x00 0x8c 0x05 0x01 0x56 0x14 0x00 INFO [muorb] SLPI: 0x1b 0xf5 0x2e 0xaa 0x3c 0x00 0x34 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x00 0x8c 0x05 0x01 0x56 0x14 0x00 INFO [muorb] SLPI: 0x1b 0xf6 0x2e 0xaa 0x3c 0x00 0x34 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x00 0x8c 0x05 0x01 0x56 0x14 0x00 INFO [muorb] SLPI: 0x1b 0xf6 0x2e 0xaa 0x3c 0x00 0x34 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x00 0x8c 0x05 0x01 0x56 0x14 0x00 INFO [muorb] SLPI: 0x1b 0xf5 0x2e 0xaa 0x3c 0x00 0x34 0x00 INFO [muorb] SLPI: Armed by external command INFO [logger] Start file log (type: full) INFO [logger] [logger] /data/px4/log/2024-01-24/19_14_37.ulg INFO [logger] Opened full log file: /data/px4/log/2024-01-24/19_14_37.ulg WARN [mavlink] Event dropped (297, 65527) WARN [mavlink] Event dropped (297, 65527) WARN [mavlink] Dropped 65230 events (seq=65527) WARN [mavlink] Dropped 65230 events (seq=65527) INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x00 0x8c 0x05 0x01 0x56 0x14 0x00 INFO [muorb] SLPI: 0x1b 0xf6 0x2e 0xaa 0x3c 0x00 0x34 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 INFO [muorb] SLPI: Spektrum RC: DSM message parsed successfully INFO [muorb] SLPI: Spektrum RC: Publishing input_rc INFO [muorb] SLPI: 0x00 0x00 0x8c 0x05 0x01 0x56 0x14 0x00 INFO [muorb] SLPI: 0x1b 0xf6 0x2e 0xaa 0x3c 0x00 0x34 0x00 INFO [muorb] SLPI: Spektrum RC: 16 bytes from UART, protocol byte 0x00 ``` ## Reply by Eric Katzfey (ModalAI staff) · 2024-01-24 14:39:24 UTC (in reply to Chase Riley) @Chase-Riley Huh, that still doesn't look right. When you calibrate you can move each stick and it shows properly in QGC? And listener input_rc shows the values moving properly when you move the sticks? What is the value of the parameter COM_RC_IN_MODE? ## Reply by Chase Riley · 2024-01-24 14:44:35 UTC (in reply to Eric Katzfey) @Eric-Katzfey yes, each stick moves correctly in QGC. ```listener input_rc``` shows all sticks move correctly. I have tested with ```COM_RC_IN_MODE``` set to 0 and 2 and both yield the same results. ## Reply by Eric Katzfey (ModalAI staff) · 2024-01-24 14:53:51 UTC (in reply to Chase Riley) @Chase-Riley And they are mapped correctly such that throttle is on the stick you want? Can you do listener on manual_control_setpoint and see the throttle value move when you move the throttle stick? ## Reply by Chase Riley · 2024-01-24 15:00:47 UTC (in reply to Eric Katzfey) @Eric-Katzfey ```RC_MAP_THROTTLE``` is set to Channel 3, ```RC_MAP_YAW``` is set to Channel 4, ```RC_MAP_ROLL``` is set to Channel 1, and ```RC_MAP_PITCH``` is set to Channel 2. Moving the Throttle and Yaw stick while running ```listener manual_control_setpoint``` shows Throttle and Yaw changing values as it should. It also shows that Stick movement goes TRUE. ## Reply by Eric Katzfey (ModalAI staff) · 2024-01-24 15:28:42 UTC (in reply to Chase Riley) @Chase-Riley Then at this point I can't think of how the RC could be related to the motors not spinning up. Can you arm, try to throttle up a few times, then disarm and send us the px4 flight log? ## Reply by Eric Katzfey (ModalAI staff) · 2024-01-24 15:30:14 UTC (in reply to Chase Riley) @Chase-Riley And you have tried to throttle up in manual flight mode? ## Reply by Chase Riley · 2024-01-24 15:44:29 UTC (in reply to Eric Katzfey) @Eric-Katzfey I have tried to spin the motors in manual mode as well with no change. I have included a drop box link with the px4 flight log you requested. https://www.dropbox.com/scl/fi/z5jnzbj44lnezjyhuzh8d/DX6e_Throttle_Test_log.ulg?rlkey=csjcwa2eu7n9g20xfah9bz7u3&dl=0 ## Reply by Eric Katzfey (ModalAI staff) · 2024-01-24 16:02:45 UTC (in reply to Chase Riley) @Chase-Riley I'm having some others take a look at the log file. I'm kind of stumped at the moment. ## Reply by Chase Riley · 2024-01-24 16:13:17 UTC (in reply to Eric Katzfey) @Eric-Katzfey Please let me know what you or your team find. This seems to be the last hurdle to getting me to flight testing. I have a shipping deadline to make on Friday with this system. ## Reply by Eric Katzfey (ModalAI staff) · 2024-01-24 16:21:08 UTC (in reply to Chase Riley) @Chase-Riley Seems like ESC param issue. Alex is going to respond with some suggestions. ## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-24 16:21:26 UTC (in reply to Chase Riley) @Chase-Riley , we have discussed and the data on the PX4 side looks ok so far, which leads me to believe there may be an error in ESC params, specifically the RPM curve calibration `pwm_vs_rpm_curve_a0`, `pwm_vs_rpm_curve_a1`, `pwm_vs_rpm_curve_a2`. Please confirm that you performed the calibration (with propeller mounted on motor!) according to instructions [here](https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/dev/voxl-esc-tools/calibration.md?ref_type=heads) and updated the results (a0, a1, a2) params in your esc params xml file and sent it to the ESC ? Also double check the `min_rpm` and `max_rpm` in your esc params ## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-24 16:23:32 UTC (in reply to Alex Kushleyev) Additionally, I saw that you use `THR_MDL_FAC` set to 0.8, which is what we use in our Sentinel drone. However, your propellers, if i am not mistaken, are much larger and this factor may need to be correct. I will double check how to calculate this factor correctly. ## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-24 16:35:31 UTC (in reply to Alex Kushleyev) Another suggestion: you can test your ESC response with the following command: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/dev/voxl-esc-tools/calibration.md?ref_type=heads#test-esc-using-rpm-commands (at the very bottom) (you can adjust your test command according to your motor / prop and min/max rpm, etc) ## Reply by Chase Riley · 2024-01-24 16:49:47 UTC (in reply to Alex Kushleyev) @Alex-Kushleyev I went and checked my .xml file and verified it was correct and re uploaded it to the ESC just to make sure. I had already run the calibration and updated the A0, A1, and A2. I did find that my ```min_rpm``` and ```max rpm``` were different in the xml file than I had them set in px4. That may have been the issue because control seems to be working fine now. Between re flashing the xml and changing the values one or both of the solutions solved the issue. I will contnue testing and report back with any issues. Thanks for jumping in and helping out. @Eric-Katzfey you said this morning that the DX6e data I sent over did not look correct. Is there something else we want to look into there. As I said before after looking at the logs the DX8 and the DX6e seem to behave the same way. ## Reply by Chase Riley · 2024-01-24 16:54:08 UTC (in reply to Alex Kushleyev) @Alex-Kushleyev Do you have a rough idea of what this value should be set to? If you need to know my motor and prop combo send me an email. I would rather not disclose on the forums. ## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-24 17:02:28 UTC (in reply to Chase Riley) @Chase-Riley , i am checking. There should be a formula to calculated it. ## Reply by Eric Katzfey (ModalAI staff) · 2024-01-24 17:32:46 UTC (in reply to Chase Riley) @Chase-Riley Just the protocol byte being different than what we normally see. Not sure why it is doing that. ## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-24 18:18:56 UTC (in reply to Alex Kushleyev) @Chase-Riley , based on the following documentation, https://docs.px4.io/main/en/config_mc/pid_tuning_guide_multicopter.html , this factor determines the mapping between the control command (in our case rpm) and thrust. An ideal propeller would have a quadratic relationship between thrust and rpm, such as thrust = a*rpm^2, but the propeller will lose efficiency at higher rpms, so a good compromise is the value of 0.8, which we are using on our vehicles. This parameter is actually not dependent on the specific min and max rpm, but should be considered as a general approximation to map the control input to thrust (in normalized units, which is taken care of by px4). Please note that if you use a traditional ESC, whose control input is PWM duty cycle, the resulting mapping will be less accurate (in terms of being a perfect quadratic function). The reason is that with modalai esc, the ESC takes care of RPM control (and thrust is a function of RPM), but traditional ESCs do not RPM control, so the relationship to thrust is more complicated. So i think you can leave `THR_MDL_FAC` parameter at 0.8 and should be OK! ## Reply by Chase Riley · 2024-01-26 14:04:03 UTC (in reply to Alex Kushleyev) @Alex-Kushleyev and @Eric-Katzfey Thanks for your help on this. Flight testing went well. I was able to test with the Spektrum DX8 and DX6e and saw no difference between the two while running the custom Debian file that was sent over. ## Reply by Eric Katzfey (ModalAI staff) · 2024-01-26 16:33:43 UTC (in reply to Chase Riley) @Chase-Riley Okay, thanks for the update. I'll have to add an option to ignore the protocol byte check in the Spektrum driver then.