Position mode works, but offboard mode don't

Alex Kushleyev

@Dawid-Mościcki , i took a look at the log, the ESC performance looks good. I do see the jump at the end, which you described, but it is not clear to my why this happened.

@Zachary-Lowell-0 , any suggestions how to diagnose further? Position and offboard mode use VIO, for x-y-z control, right? (sorry if I am off, not entirely familiar). Can we log and look at VIO quality?

Dawid Mościcki

@Alex-Kushleyev Any updates on reviewing this issue ? TBH i'm scared to take off this drone from ground again without finding cause of that strange behavior ...

Zachary Lowell 0

@Alex-Kushleyev said in Position mode works, but offboard mode don't:

for

@Dawid-Mościcki I would say it is safe for now to just fly via position mode or mannual mode and have a kill switch linked to the rC controller. Then you can try swapping over to positio mode. Then try your offboard code.

If the esc chimes when booted then it is getting the right data to control the motors.

Dawid Mościcki

@Zachary-Lowell-0 that crash happened in position mode .......

Zachary Lowell 0

Got it - if you are certain this is an issue in the parameters of PX4, you can reconfigure the MPA to match that of the m500 - just run voxl-configure-mpa and it will then ask for the drone you are using. Then it will parse through all the config files for the m500 and setup the MPA and px4. Then reboot and everything should be back to factory defaults.

Dawid Mościcki

@Zachary-Lowell-0
I did it, and configured drone accordingly to https://docs.modalai.com/flying-with-vio/ so that drone could fly without GPS.
Drone can't fly at all, doesnt respond to stick inputs, logs : https://review.px4.io/plot_app?log=f4e0abee-f370-4932-91c4-2e19aa6e66cf
Vibration metrics is too high, what can we do ?
Please help

Dawid Mościcki

@Dawid-Mościcki Any 3D files for this drone are available for download ? For example landing skid ?

Dawid Mościcki

@Dawid-Mościcki i don't even know how's that possible https://review.px4.io/plot_app?log=973783b8-6262-46e3-8214-602dce495131
look at actuator FFT

Zachary Lowell 0

@Dawid-Mościcki said in Position mode works, but offboard mode don't:

Please help

2 Replies Last reply about 24 hours ago Reply

Hi David - can you reflash your voxl with the most recent SDK and reconfigure the SKU - we need to start from baseline. Let me know.

Zach

Dawid Mościcki

@Zachary-Lowell-0 what do You mean by SDK ? Is this guide that i should follow, but without full wipe ? https://docs.modalai.com/sentinel-factory-reset/

tom

@Dawid-Mościcki https://docs.modalai.com/flash-system-image/#flashing-a-voxl-sdk-release

Dawid Mościcki

@tom after flashing, i've got problem with calibrating IMU, btw should 2 imu be present ? because i can see only one :
voxl-calibrate-imu-temp
voxl-imu-server currently has no calibration file
Server has IMU0 enabled and available for temperature calibration
WARNING, voxl-fan utility missing, can't turn on fan

============================================================================
We're now starting the COLD stage of the calibration.
Please stop all unnecessary services in another terminal, and try your best
to cool the PCB with a fan. Alternatively, start this process on a cold PCB.

We will be measuring the static gyro and accel offset as the board heats up.
VOXL must remain completely still through this entire process!
The IMU temperatures will be printed here continuously.

Press ENTER to start the heating process when you are happy that the IMUs
are cold enough for the lower bound. 25-35C is a reasonable goal for this.

CPU: 36.3C IMU0: 30.4C ^M
WARNING, voxl-fan utility missing, can't turn off fan

============================================================================
We're now starting the HOT stage of the calibration. We just turned off
the fan, and started stressing the CPU to heat up the PCB.
This will run automatically for a while collecting data points until enough
data has been collected, something gets too hot, or the timeout is reached.

CPU: 57.1C IMU0: 34.9C all imus reached steady state, finishing test
taking sample #2
not enough samples, need at least 3

Dawid Mościcki

@tom i created backup from /data folder on my pc, but i don't know if this could be helpful

Dawid Mościcki

@Dawid-Mościcki after importing parameters for vio-indoor without gps from https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/blob/master/params/v1.14/EKF2_helpers/indoor_vio_missing_gps.params

i only armed vehicle to see vibrations : https://review.px4.io/plot_app?log=c70ab712-72c1-4abf-b954-edda6316bf05

What could I do next ?

Dawid Mościcki

@tom this is my second try https://review.px4.io/plot_app?log=cba05321-9bb5-42f2-a766-ecfa6ee01f80

Dawid Mościcki

@tom this is my dump from /data folder : https://drive.google.com/drive/folders/1ZJXCvCcAg81zJolngtlS-Y_re2BjY2pz?usp=sharing

Alex Kushleyev

@Dawid-Mościcki , the gyro / accel noise in your logs is very high.

This looks like the flight board is loose something is causing it to vibrate during flight (any wires or anything connected to VOXL2 that might be flopping around?).

Actuator controls FFT shows

shows noise at about 80 hz (4800rpm) whch maches the average commanded / actual rpm:

This confirms that the oscillations are coming from propeller vibrations and not oscillations due to high attitude control gains (which would be much lower frequency in the range of 15-20hz).

Dawid Mościcki

@Alex-Kushleyev Thanks for help, after changing propellers everything seems to work normal, but somehow RC apparatus stopped working. When i'm trying to set up bind mode nothing happens. I was following this guide :
https://docs.modalai.com/sentinel-user-guide-pre-flight-setup/

Led is blinking always slowly on blue....

What can i do about it ?

Dawid Mościcki

@Alex-Kushleyev for some reason CPU load on qvio-server is very high. We also have problem with Alfa wifi modem - every few minutes it's turning off and restarting ... Led isnt blinking for few seconds then network start working again . While this is happening Qgroundcontrol is crashing (as every time when drone is reconnected)

Output from voxl-inspect-services

Service Name | Enabled | Running | CPU Usage

Dawid Mościcki

this is output from journalctl :

Mar 02 13:11:37 m0054 dhcpcd[1694]: wlan0: carrier acquired
Mar 02 13:11:37 m0054 dhcpcd[1694]: wlan0: IAID ca:b5:ab:b9
Mar 02 13:11:37 m0054 dhcpcd[1694]: wlan0: adding address fe80::76d9:b52b:91ff:9629
Mar 02 13:11:37 m0054 dhcpcd[1694]: wlan0: rebinding lease of 192.168.88.243
Mar 02 13:11:38 m0054 dhcpcd[1694]: wlan0: soliciting an IPv6 router
Mar 02 13:11:41 m0054 dhcpcd[1694]: wlan0: probing address 192.168.88.243/24
Mar 02 13:11:46 m0054 dhcpcd[1694]: wlan0: leased 192.168.88.243 for 600 seconds
Mar 02 13:11:46 m0054 dhcpcd[1694]: wlan0: adding route to 192.168.88.0/24
Mar 02 13:11:46 m0054 dhcpcd[1694]: wlan0: adding default route via 192.168.88.1
Mar 02 13:11:51 m0054 dhcpcd[1694]: wlan0: no IPv6 Routers available
Mar 02 13:12:28 m0054 wpa_supplicant[2278]: wlan0: CTRL-EVENT-DISCONNECTED bssid=18:fd:74:f3:01:e1 reason=0 locally_generated=1
Mar 02 13:12:28 m0054 wpa_supplicant[2278]: wlan0: CTRL-EVENT-ASSOC-REJECT status_code=1
Mar 02 13:12:28 m0054 wpa_supplicant[2278]: wlan0: CTRL-EVENT-REGDOM-CHANGE init=CORE type=WORLD
Mar 02 13:12:28 m0054 dhcpcd[1694]: wlan0: carrier lost
Mar 02 13:12:29 m0054 dhcpcd[1694]: wlan0: deleting address fe80::76d9:b52b:91ff:9629
Mar 02 13:12:29 m0054 dhcpcd[1694]: wlan0: deleting default route via 192.168.88.1
Mar 02 13:12:29 m0054 dhcpcd[1694]: wlan0: deleting route to 192.168.88.0/24
Mar 02 13:12:32 m0054 wpa_supplicant[2278]: wlan0: Trying to associate with 18:fd:74:f3:01:e1 (SSID='autonomy_lab' freq=2452 MHz)
Mar 02 13:12:32 m0054 wpa_supplicant[2278]: wlan0: Associated with 18:fd:74:f3:01:e1
Mar 02 13:12:32 m0054 wpa_supplicant[2278]: wlan0: CTRL-EVENT-SUBNET-STATUS-UPDATE status=0
Mar 02 13:12:33 m0054 wpa_supplicant[2278]: wlan0: WPA: Key negotiation completed with 18:fd:74:f3:01:e1 [PTK=CCMP GTK=CCMP]
Mar 02 13:12:33 m0054 wpa_supplicant[2278]: wlan0: CTRL-EVENT-CONNECTED - Connection to 18:fd:74:f3:01:e1 completed [id=0 id_str=]
Mar 02 13:12:33 m0054 dhcpcd[1694]: wlan0: carrier acquired
Mar 02 13:12:33 m0054 dhcpcd[1694]: wlan0: IAID ca:b5:ab:b9
Mar 02 13:12:33 m0054 dhcpcd[1694]: wlan0: adding address fe80::76d9:b52b:91ff:9629
Mar 02 13:12:33 m0054 dhcpcd[1694]: wlan0: soliciting an IPv6 router
Mar 02 13:12:34 m0054 dhcpcd[1694]: wlan0: rebinding lease of 192.168.88.243
Mar 02 13:12:39 m0054 dhcpcd[1694]: wlan0: probing address 192.168.88.243/24
Mar 02 13:12:44 m0054 dhcpcd[1694]: wlan0: leased 192.168.88.243 for 600 seconds
Mar 02 13:12:44 m0054 dhcpcd[1694]: wlan0: adding route to 192.168.88.0/24
Mar 02 13:12:44 m0054 dhcpcd[1694]: wlan0: adding default route via 192.168.88.1
Mar 02 13:12:46 m0054 dhcpcd[1694]: wlan0: no IPv6 Routers available
Mar 02 13:13:34 m0054 dhcpcd[1694]: wlan0: carrier lost
Mar 02 13:13:34 m0054 wpa_supplicant[2278]: wlan0: CTRL-EVENT-DISCONNECTED bssid=18:fd:74:f3:01:e1 reason=0 locally_generated=1
Mar 02 13:13:34 m0054 wpa_supplicant[2278]: wlan0: CTRL-EVENT-ASSOC-REJECT status_code=1
Mar 02 13:13:34 m0054 wpa_supplicant[2278]: wlan0: CTRL-EVENT-REGDOM-CHANGE init=CORE type=WORLD
Mar 02 13:13:34 m0054 dhcpcd[1694]: wlan0: deleting address fe80::76d9:b52b:91ff:9629
Mar 02 13:13:34 m0054 dhcpcd[1694]: wlan0: deleting default route via 192.168.88.1
Mar 02 13:13:34 m0054 dhcpcd[1694]: wlan0: deleting route to 192.168.88.0/24
Mar 02 13:13:38 m0054 wpa_supplicant[2278]: wlan0: Trying to associate with 18:fd:74:f3:01:e1 (SSID='autonomy_lab' freq=2452 MHz)
Mar 02 13:13:38 m0054 wpa_supplicant[2278]: wlan0: Associated with 18:fd:74:f3:01:e1
Mar 02 13:13:38 m0054 wpa_supplicant[2278]: wlan0: CTRL-EVENT-SUBNET-STATUS-UPDATE status=0
Mar 02 13:13:39 m0054 wpa_supplicant[2278]: wlan0: WPA: Key negotiation completed with 18:fd:74:f3:01:e1 [PTK=CCMP GTK=CCMP]
Mar 02 13:13:39 m0054 wpa_supplicant[2278]: wlan0: CTRL-EVENT-CONNECTED - Connection to 18:fd:74:f3:01:e1 completed [id=0 id_str=]
Mar 02 13:13:39 m0054 dhcpcd[1694]: wlan0: carrier acquired
Mar 02 13:13:39 m0054 dhcpcd[1694]: wlan0: IAID ca:b5:ab:b9
Mar 02 13:13:39 m0054 dhcpcd[1694]: wlan0: adding address fe80::76d9:b52b:91ff:9629
Mar 02 13:13:39 m0054 dhcpcd[1694]: wlan0: soliciting an IPv6 router
Mar 02 13:13:40 m0054 dhcpcd[1694]: wlan0: rebinding lease of 192.168.88.243
Mar 02 13:13:43 m0054 dhcpcd[1694]: wlan0: probing address 192.168.88.243/24
Mar 02 13:13:48 m0054 dhcpcd[1694]: wlan0: leased 192.168.88.243 for 600 seconds
Mar 02 13:13:48 m0054 dhcpcd[1694]: wlan0: adding route to 192.168.88.0/24
Mar 02 13:13:48 m0054 dhcpcd[1694]: wlan0: adding default route via 192.168.88.1
Mar 02 13:13:53 m0054 dhcpcd[1694]: wlan0: no IPv6 Routers available

Idk wifi keeps disconnecting. Could You please help me ? And every time when wifi is disconnecting and connecting again, QGC is crashing This behavior could be caused by px4 modules shipped with Your forked version of px4 ...

Position mode works, but offboard mode don't

Press ENTER to start the heating process when you are happy that the IMUs are cold enough for the lower bound. 25-35C is a reasonable goal for this.

Service Name | Enabled | Running | CPU Usage

Press ENTER to start the heating process when you are happy that the IMUs
are cold enough for the lower bound. 25-35C is a reasonable goal for this.