Voxl2 Spektrum Receiver error

[Eric Katzfey]

@Chase-Riley said in Voxl2 Spektrum Receiver error:

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.

[Chase Riley]

@Eric-Katzfey it seems to change. I have seen different during testing. Same transmitter.

[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

[Eric Katzfey]

@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.

[Eric Katzfey]

@Chase-Riley Seems like maybe the data on the serial line is getting corrupted somehow

[Eric Katzfey]

@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?

[Chase Riley]

@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.

[Chase Riley]

@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

[Eric Katzfey]

@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?

[Chase Riley]

@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

[Eric Katzfey]

@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.

[Chase Riley]

@Eric-Katzfey Ok. Looking forward to trying it out.

[Eric Katzfey]

@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

[Chase Riley]

@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

[Eric Katzfey]

@Chase-Riley Does it seem to be working now? Can you calibrate RC now?

[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.

[Chase Riley]

@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

[Eric Katzfey]

@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.

[Eric Katzfey]

@Chase-Riley Here is a link to the transmitter we use: https://www.horizonhobby.com/product/dx6e-6-channel-dsmx-transmitter-only/SPMR6655.html

[Chase Riley]

@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?