QGC Starts up showing a heading of north no mater the direction of compass

[Eric Katzfey]

@Chase-Riley I think you'll need to specify the YAW 180 rotation for the IMU then on the driver start line. e.g. qshell icm42688p start -s -R 4

[Chase Riley]

@Eric-Katzfey Where would I locate the driver to make the change? Right now I just have it changed in the px4 params. I am assuming that the Mag should be set at "No Rotation"?

[Eric Katzfey]

@Chase-Riley It's the startup file in /usr/bin/voxl-px4-start. That is the magic file that starts all of the px4 drivers and modules. Keep the mag rotation as it is. That refers to the orientation of the mag within the Holybro unit.

[Chase Riley]

@Eric-Katzfey I was able to change the argument to -R 4 in the if and else statements in the driver start line. I changed the if first and saw no change after a restart or voxl-px4 and a reboot. I went back in a changed the else statement and got the following results. I still am seeing the same behavior with the compass though. My heading always starts facing north.

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 -R 4'
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: 3176ec10
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: 3176ec10
INFO  [qshell] qshell return value timestamp: 473947504, local time: 473954013
INFO  [muorb] SLPI: >>> ICM42688P this: 3176ec10
INFO  [muorb] SLPI: Register interrupt b21d3164 e620609c 3176ec10
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: 473990855, local time: 473992752
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: 474026327, local time: 474027995
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: 474050364, local time: 474051234
Starting Holybro LED driver
INFO  [muorb] SLPI: >>> ICM42688P this: 3176ec10
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: 

[Eric Katzfey]

@Chase-Riley Hmmm. Do you also have VIO running?

[Eric Katzfey]

@Chase-Riley What are the parameter values for SYS_HAS_MAG and EKF2_MAG_TYPE?

[Chase Riley]

@Eric-Katzfey I do not have VIO running and I have SYS_HAS_MAG = 1 and EKF2_MAG_TYPE = 0

[Eric Katzfey]

@Chase-Riley And on QGC does the attitude display move around normally as you would expect as you pick up the drone and move it around? Just the heading stays stuck at North?

[Eric Katzfey]

@Chase-Riley And when you say that you cannot go into position mode do you have a solid GPS lock?

[Eric Katzfey]

@Chase-Riley In QGC can you open up mavlink inspector and take a look at the global position int message? How often is it coming in? Do all of the fields look like they are updating normally? Is hdg stuck at 0?

[Chase Riley]

@Eric-Katzfey yes QGC artificial horizon and other telem reacts as it should. If I power up the air vehicle pointing south, east, or west it show that the heading is north. If I yaw the air vehicle the heading does change but it is incorrect because the system always starts at north.

I went a step further in testing and removed the GPS/Mag from the air vehicle. This allowed me to yaw the GPS/Mag independently from the air frame. When doing this QGC shows no change in heading. If I yaw the air vehicle while the GPS/Mag stays still the heading moves in QGC.

This makes it seem that QGC is getting heading info from the VOXL2 maybe IMU instead of the external GPS/Mag.

I have full GPS lock when trying to switch to position mode which makes me think that this heading issue could be why I can't switch into position.

I also have 5 total systems that are configured the same way. All 5 have this same heading issue.

[Chase Riley]

@Eric-Katzfey I was able to look at GPS_RAW_INT in the mavlink inspector. Value seem to be updating at about 1Hz, however you are correct that HDG_acc us stuck at 0 no matter the heading of the Voxl or GPS/Mag.

[Chase Riley]

@Eric-Katzfey I was also able to flash 1 of my 5 systems to SDK 1.1.2 just to check to see if I have the same issue and it seems I do. I have included an error I found while running voxl-px4 on my SDK 1.1.2.

INFO  [muorb] SLPI: >>> ICM42688P this: 3176eba0
INFO  [muorb] SLPI: Ok executing command: icm42688p start -s
INFO  [uORB] Advertising remote topic qshell_retval
INFO  [muorb] SLPI: >>> ICM42688P this: 3176eba0
INFO  [qshell] qshell return value timestamp: 46007098, local time: 46011498
INFO  [muorb] SLPI: >>> ICM42688P this: 3176eba0
INFO  [muorb] SLPI: Register interrupt b21d31a4 e6201b3c 3176eba0
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: 46049655, local time: 46051360
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: 46090352, local time: 46091734
ERROR [qshell] Command failed
Looking for ist8310 magnetometer
INFO  [muorb] SLPI: >>> ICM42688P this: 3176eba0
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: 46128693, local time: 46130008
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: 46153157, local time: 46155078
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

[Eric Katzfey]

@Chase-Riley It makes me believe that one of the rotations somewhere is not set correctly. What is SENS_BOARD_ROT set to? I guess we can just trace the topic messages through the system to see where it is getting confused. So you already did listener sensor_mag and you can see it publishing and the values updating regularly when you move the unit around? That topic goes to the sensors module that then publishes the vehicle_magnetometer topic. Can you do a listener on that to make sure it looks like it is working?

[Eric Katzfey]

@Chase-Riley What happens when you try to do a compass calibration?

[Eric Katzfey]

@Chase-Riley That error is normal. It tries to start both mag drivers assuming that one will fail.

[Eric Katzfey]

@Chase-Riley Also, when arming is failing in position mode you can do a listener on the failsafe_flags topic to see what flags are set.

[Chase Riley]

@Eric-Katzfey running px4-listener sensor_mag shows the mag data and it changes as I move the GPS/Mag around. So that is behaving how I would expect it to SENS_BOARD_ROT is set to YAW 180. This is due to the VOXL2 being mounted 180 degrees rotated in the air frame.

Everything seems to go well through an compass calibration. We have done quite a few while troubleshooting this.

I will take a look at the failsafes when I try to go into position mode, however at this point I think the heading needs to be resolved first either way. Am I correct to think that when rotating the GPS/Mag separate from the VOXL2 I should see a heading change based on the direction of the GPS/Mag? In this case I only see the heading change when rotating the VOXL2 (Which to my knowledge has no Mag on board).

[Eric Katzfey]

@Chase-Riley Instead of setting SENS_BOARD_ROT you can set the rotation on the IMU driver to -R 4. But don't do both. I would try setting SENS_BOARD_ROT to 0 and keeping the -R 4 on the IMU driver start and see if that makes any difference. Also, do the listener vehicle_magnetometer to see if it is updating nicely like listener sensor_mag does.

[Eric Katzfey]

@Chase-Riley Is there any way that you can orient the board exactly as we have it in one of our drones (Sentinel, Starling) and use our parameter set and see if it works fine then?