Supporting power monitor to see battery status
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Hi,
I've linked the power monitor to FCv2, but I'm unable to view the battery status from either GCS or voxlpm. Your assistance in resolving this matter would be greatly appreciated. Thank you.
[boot] Rev 0x0 : Ver 0x3 V2003000 [boot] Fault Log info File No 4 Length 3177 flags:0x01 state:1 [boot] Fault Log is Armed ERROR [PX4_MTD] failed to initialize mtd driver ERROR [PX4_MTD] mtd fail[hardfault_log] Fault Log is Armed ure: -5 bus 2 address 0 class 1 nsh: sysinit: fopen failed: No such file or directory HW arch: MODALAI_FC_V2 HW type: V2003000 HW version: 0x003 HW revision: 0x000 PX4 git-hash: 996e85e9360801dd9ec11b7149a524e38231dcc6 PX4 version: 1.14.0 0 (17694720) Vendor version: 2.0.64 0 (33570816) OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: 3f77354c0dc88793a47ff3b57595195ab45f7ba9 Build datetime: Jan 3 2024 15:59:58 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 0006000000003333363031315105003a001c MCU: STM32H7[4|5]xxx, rev. V INFO [param] selected parameter default file /fs/microsd/params INFO [param] importing from '/fs/microsd/params' INFO [parameters] BSON document size 1487 bytes, decoded 1487 bytes (INT32:29, FLOAT:44) INFO [param] selected parameter backup file /fs/microsd/parameters_backup.bson Board architecture defaults: /etc/init.d/rc.board_arch_defaults Board defaults: /etc/init.d/rc.board_defaults Loading airframe: /etc/init.d/airframes/4001_quad_x nsh: tone_alarm: command not found INFO [dataman] data manager file '/fs/microsd/dataman' size is 62560 bytes Board sensors: /etc/init.d/rc.board_sensors INFO [voxlpm] Failed to init voxlpm type: 0 on bus: 3, but will try again periodically. voxlpm #0 on I2C bus 3 (external) address 0x44 WARN [SPI_I2C] Already running on bus 3 WARN [SPI_I2C] voxlpm: no instance started (no device on bus?) icm42688p #0 on SPI bus 1 rotation 12 icm42688p #1 on SPI bus 2 rotation 12 WARN [SPI_I2C] icp201xx: no instance started (no device on bus?) nsh: icm20948_i2c_passthrough: command not found nsh: battery_status: command not found ekf2 [542:237] Starting MAVLink on /dev/ttyS6 INFO [mavlink] mode: Onboard, data rate: 46080 B/s on /dev/ttyS6 @ 921600B Addons script: /fs/microsd/etc/extras.txt nsh: BMP388: command not found INFO [logger] logger started (mode=all) INFO [uavcan] Node ID 1, bitrate 1000000 NuttShell (NSH) NuttX-11.0.0 nsh> WARN [health_and_arming_checks] Preflight Fail: barometer 0 missing WARN [health_and_arming_checks] Preflight Fail: Crash dumps present on SD, vehicle needs service nsh> ver all HW arch: MODALAI_FC_V2 HW type: V2003000 HW version: 0x003 HW revision: 0x000 PX4 git-hash: 996e85e9360801dd9ec11b7149a524e38231dcc6 PX4 version: 1.14.0 0 (17694720) Vendor version: 2.0.64 0 (33570816) OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: 3f77354c0dc88793a47ff3b57595195ab45f7ba9 Build datetime: Jan 3 2024 15:59:58 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 0006000000003333363031315105003a001c MCU: STM32H7[4|5]xxx, rev. V nsh> nsh> voxlpm status voxlpm: sample: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms - type: BATT - voltage: 0.0000 VDC - current: 0.0000 ADC - shunt: 0.0000 mV, 0.0000 mA - rsense: 0.000500 ohm, cal: 0 - meas interval: 100000 us nsh> nsh> i2cdetect -b 3 Scanning I2C bus: 3 0 1 2 3 4 5 6 7 8 9 a b c d e f 00: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 70: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -
@Vinny, I've conducted measurements on J13 pins, specifically p3 and p4. While p4 (I2C SDA) registers a stable 5V when the voxlpm is operational, I've observed that p3 (I2C SCL) shows no voltage at all. I suspect this discrepancy might be the root cause of my inability to retrieve battery information. Could you please assist in verifying and addressing this issue? Thank you.
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Hi @Will
Few questions then (and good sleuthing here):- If you disconnect the power module from the FCv2 board, do you observe both I2C_SDA and I2C_SCL HIGH or LOW on the power module? The 5V pullups are located at the power module, and not the FCv2 side
- When plugged in to the FCv2, does anything change? (i..e: is SCL HIGH on the power module, but when you insert to J13 it goes low?)
- Can you possibly replace your MCBL-00062 and retry?
https://docs.modalai.com/cable-datasheets/#mcbl-00062
The Molex side is notorious for loosing connectivity at the pin contacts in high-use applications where folks pull on the wires and not the connector (We have a standing rule at HQ to replace any power cable after every few months).
We'll take it from there pending your results.
Thanks! -
Tagging along here. I observed similar issue with the voxlpm driver on Flight core v2.
Personally I have been working on a voxl1 + flight core v2 (I have 2 set of this). I am using the older v2 power module https://docs.modalai.com/power-module-v2-datasheet/ connected to a standard 4s LiPo battery.
The version of my flight core shown below.
.I am seeing that one of the flight-core (rarely use this, mostly as backup) has output by voxlpm as shown below,
while my other flight core (mainly working on this) is not giving any output (shown below)
Both flight core able to detect the i2c port at bus 3 address 44 and 45.
https://github.com/PX4/PX4-Autopilot/blob/main/src/drivers/power_monitor/voxlpm/voxlpm.hpp
I assume the firmware on my board (1.13.2) is using the voxlpmv3 and sensing on the address 0x44 as the default voxlpm is sensing at the RSENSE_VBATT.
Any idea what might be the case? Is there a way to observe the uORB id for battery_status or monitor the process when voxlpm start at boot?
What i have tried.
- Use same power module connector.
- Load the same px4 parameter.
- Updating to the latest sdk 1.12 and px4 1.14 firmware http://voxl-packages.modalai.com/dists/fc-v2/sdk-1.1/modalai_fc-v2_1.14.0-2.0.63.px4
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Hi @skl1g14
I've notified our team to look into this for you. Your request is beyond my support ability
Anything HW related, feel free to tag me.Thanks!
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@skl1g14 You can use the listener command to monitor topic data. For example
listener battery_status. -
@skl1g14 You can also use the
dmesgcommand to look at all of the past messages since boot -
@skl1g14 , based on your
voxlpm status, you actually have V3 power adapter, because it saysV3 (INA231). The px4 driver should do a probe and find either V2 or V3 power adapter based on the i2c addresses : https://github.com/PX4/PX4-Autopilot/blob/main/src/drivers/power_monitor/voxlpm/voxlpm.cpp#L120If you can use
i2cdetectto detect i2c addresses44and45this also confirms V3 power adapter.If your second flight core is not reading battery voltage, it seems that it failed to detect the power adapter. Is it possible that you are using old version of PX4 that did not have the support for V3 power adapter?
You can try to add some print statements into
init()andprobe()functions here : https://github.com/PX4/PX4-Autopilot/blob/main/src/drivers/power_monitor/voxlpm/voxlpm.cpp#L68@Will , if you cannot see any I2C devices using
i2c_detect -b 3that is not very good. Maybe try again after disablingvoxlpmdriver, just to make sure there is no conflict between the driver and thei2c_detecttest. I would also recommend using an oscilloscope (if you have one available) to check if there is i2c communication attempts when you do runi2c_detect -
Hi @Alex-Kushleyev,
Updated the PX4 firmware to 1.14
Adding the following two parameters to the list and load parameter from file seems to fix it for me? I could not find these 2 parameters in QGC initally. I am using the latest version of QGC (v4.30).
I tried to remove these 2 parameters but I could not reproduce my issue, i can still see the voxlpm output afterwards.
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Default px4 parameter list.
# Onboard parameters for Vehicle 1 # # Stack: PX4 Pro # Vehicle: Multi-Rotor # Version: 1.14.0 dev # Git Revision: b02a6b4ae902003f # # Vehicle-Id Component-Id Name Value Type 1 1 ASPD_SCALE_1 1.000000000000000000 9 1 1 BAT1_CAPACITY 3000.000000000000000000 9 1 1 BAT1_N_CELLS 4 6 1 1 BAT1_R_INTERNAL 0.008000000379979610 9 1 1 BAT1_SOURCE 0 6 1 1 BAT1_V_CHARGED 4.150000095367431641 9 1 1 BAT1_V_EMPTY 3.599999904632568359 9 1 1 BAT1_V_LOAD_DROP 0.100000001490116119 9 1 1 BAT_AVRG_CURRENT 15.000000000000000000 9 1 1 BAT_CRIT_THR 0.250000000000000000 9 1 1 BAT_EMERGEN_THR 0.100000001490116119 9 1 1 BAT_LOW_THR 0.300000011920928955 9 1 1 BAT_N_CELLS 4 6 1 1 BAT_V_CHARGED 4.150000095367431641 9 1 1 BAT_V_EMPTY 3.599999904632568359 9 1 1 BAT_V_LOAD_DROP 0.300000011920928955 9 1 1 CAL_ACC0_ID 2490378 6 1 1 CAL_ACC0_PRIO 50 6 1 1 CAL_ACC0_ROT -1 6 1 1 CAL_ACC0_XOFF 0.000000000000000000 9 1 1 CAL_ACC0_XSCALE 1.000000000000000000 9 1 1 CAL_ACC0_YOFF 0.000000000000000000 9 1 1 CAL_ACC0_YSCALE 1.000000000000000000 9 1 1 CAL_ACC0_ZOFF 0.000000000000000000 9 1 1 CAL_ACC0_ZSCALE 1.000000000000000000 9 1 1 CAL_ACC1_ID 2490386 6 1 1 CAL_ACC1_PRIO 50 6 1 1 CAL_ACC1_ROT -1 6 1 1 CAL_ACC1_XOFF 0.000000000000000000 9 1 1 CAL_ACC1_XSCALE 1.000000000000000000 9 1 1 CAL_ACC1_YOFF 0.000000000000000000 9 1 1 CAL_ACC1_YSCALE 1.000000000000000000 9 1 1 CAL_ACC1_ZOFF 0.000000000000000000 9 1 1 CAL_ACC1_ZSCALE 1.000000000000000000 9 1 1 CAL_ACC2_ID 0 6 1 1 CAL_ACC3_ID 0 6 1 1 CAL_AIR_CMODEL 0 6 1 1 CAL_AIR_TUBED_MM 1.500000000000000000 9 1 1 CAL_AIR_TUBELEN 0.200000002980232239 9 1 1 CAL_BARO0_ID 0 6 1 1 CAL_BARO1_ID 0 6 1 1 CAL_BARO2_ID 0 6 1 1 CAL_BARO3_ID 0 6 1 1 CAL_GYRO0_ID 2490378 6 1 1 CAL_GYRO0_PRIO 50 6 1 1 CAL_GYRO0_ROT -1 6 1 1 CAL_GYRO0_XOFF -0.007948651909828186 9 1 1 CAL_GYRO0_YOFF 0.006882027722895145 9 1 1 CAL_GYRO0_ZOFF 0.005271935835480690 9 1 1 CAL_GYRO1_ID 2490386 6 1 1 CAL_GYRO1_PRIO 50 6 1 1 CAL_GYRO1_ROT -1 6 1 1 CAL_GYRO1_XOFF -0.014327573589980602 9 1 1 CAL_GYRO1_YOFF 0.010455547831952572 9 1 1 CAL_GYRO1_ZOFF 0.001255361014045775 9 1 1 CAL_GYRO2_ID 0 6 1 1 CAL_GYRO3_ID 0 6 1 1 CAL_MAG0_ID 396809 6 1 1 CAL_MAG0_PRIO 75 6 1 1 CAL_MAG0_ROT 10 6 1 1 CAL_MAG0_XCOMP 0.000000000000000000 9 1 1 CAL_MAG0_XODIAG 0.000000000000000000 9 1 1 CAL_MAG0_XOFF 0.000000000000000000 9 1 1 CAL_MAG0_XSCALE 1.000000000000000000 9 1 1 CAL_MAG0_YCOMP 0.000000000000000000 9 1 1 CAL_MAG0_YODIAG 0.000000000000000000 9 1 1 CAL_MAG0_YOFF 0.000000000000000000 9 1 1 CAL_MAG0_YSCALE 1.000000000000000000 9 1 1 CAL_MAG0_ZCOMP 0.000000000000000000 9 1 1 CAL_MAG0_ZODIAG 0.000000000000000000 9 1 1 CAL_MAG0_ZOFF 0.000000000000000000 9 1 1 CAL_MAG0_ZSCALE 1.000000000000000000 9 1 1 CAL_MAG1_ID 0 6 1 1 CAL_MAG1_ROT -1 6 1 1 CAL_MAG2_ID 0 6 1 1 CAL_MAG2_ROT -1 6 1 1 CAL_MAG3_ID 0 6 1 1 CAL_MAG3_ROT -1 6 1 1 CAM_CAP_FBACK 0 6 1 1 CA_AIRFRAME 0 6 1 1 CA_FAILURE_MODE 0 6 1 1 CA_METHOD 2 6 1 1 CA_R0_SLEW 0.000000000000000000 9 1 1 CA_R10_SLEW 0.000000000000000000 9 1 1 CA_R11_SLEW 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0.000000000000000000 9 1 1 CA_ROTOR9_AZ -1.000000000000000000 9 1 1 CA_ROTOR9_CT 6.500000000000000000 9 1 1 CA_ROTOR9_KM 0.050000000745058060 9 1 1 CA_ROTOR9_PX 0.000000000000000000 9 1 1 CA_ROTOR9_PY 0.000000000000000000 9 1 1 CA_ROTOR9_PZ 0.000000000000000000 9 1 1 CA_ROTOR_COUNT 4 6 1 1 CA_R_REV 0 6 1 1 CA_SV0_SLEW 0.000000000000000000 9 1 1 CA_SV1_SLEW 0.000000000000000000 9 1 1 CA_SV2_SLEW 0.000000000000000000 9 1 1 CA_SV3_SLEW 0.000000000000000000 9 1 1 CA_SV4_SLEW 0.000000000000000000 9 1 1 CA_SV5_SLEW 0.000000000000000000 9 1 1 CA_SV6_SLEW 0.000000000000000000 9 1 1 CA_SV7_SLEW 0.000000000000000000 9 1 1 CBRK_AIRSPD_CHK 0 6 1 1 CBRK_BUZZER 0 6 1 1 CBRK_FLIGHTTERM 121212 6 1 1 CBRK_IO_SAFETY 22027 6 1 1 CBRK_SUPPLY_CHK 0 6 1 1 CBRK_USB_CHK 197848 6 1 1 CBRK_VTOLARMING 0 6 1 1 COM_ACT_FAIL_ACT 0 6 1 1 COM_ARM_ARSP_EN 1 6 1 1 COM_ARM_AUTH_ID 10 6 1 1 COM_ARM_AUTH_MET 0 6 1 1 COM_ARM_AUTH_REQ 0 6 1 1 COM_ARM_AUTH_TO 1.000000000000000000 9 1 1 COM_ARM_BAD_INOV 0 6 1 1 COM_ARM_CHK_ESCS 0 6 1 1 COM_ARM_EKF_BIAS 3.000000000000000000 9 1 1 COM_ARM_EKF_HGT 1.000000000000000000 9 1 1 COM_ARM_EKF_POS 0.500000000000000000 9 1 1 COM_ARM_EKF_VEL 0.500000000000000000 9 1 1 COM_ARM_EKF_YAW 0.500000000000000000 9 1 1 COM_ARM_HFLT_CHK 1 6 1 1 COM_ARM_IMU_ACC 0.699999988079071045 9 1 1 COM_ARM_IMU_GYR 0.250000000000000000 9 1 1 COM_ARM_MAG_ANG 60 6 1 1 COM_ARM_MAG_STR 2 6 1 1 COM_ARM_MIS_REQ 0 6 1 1 COM_ARM_ODID 0 6 1 1 COM_ARM_SDCARD 1 6 1 1 COM_ARM_SWISBTN 0 6 1 1 COM_ARM_WO_GPS 1 6 1 1 COM_CPU_MAX 95.000000000000000000 9 1 1 COM_DISARM_FORCE 0 6 1 1 COM_DISARM_LAND 0.100000001490116119 9 1 1 COM_DISARM_PRFLT 20.000000000000000000 9 1 1 COM_DL_LOSS_T 10 6 1 1 COM_FAIL_ACT_T 5.000000000000000000 9 1 1 COM_FLIGHT_UUID 0 6 1 1 COM_FLTMODE1 1 6 1 1 COM_FLTMODE2 0 6 1 1 COM_FLTMODE3 0 6 1 1 COM_FLTMODE4 2 6 1 1 COM_FLTMODE5 0 6 1 1 COM_FLTMODE6 7 6 1 1 COM_FLT_PROFILE 0 6 1 1 COM_FLT_TIME_MAX -1 6 1 1 COM_FORCE_SAFETY 0 6 1 1 COM_HLDL_LOSS_T 120 6 1 1 COM_HLDL_REG_T 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@skl1g14 , based on the following function, the shunt parameters are not required and will default to nominal values if not present : https://github.com/PX4/PX4-Autopilot/blob/main/src/drivers/power_monitor/voxlpm/voxlpm.cpp#L163
So i am not sure what happened, it is possible that adding those shunt values to px4 params and issue being resolved was a coincidence - perhaps something else has triggered the change..
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Yes, i believe that might be the case. There might be some other px4 firmware parameters that are causing it.
