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    Voxlio board Sbus lagging

    VOXL Accessories
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    • Alex KushleyevA
      Alex Kushleyev ModalAI Team @Alex Kushleyev
      last edited by

      if you look at voxl-px4 startup log (using journalctl or you can run voxl-px4 in foreground). Please ignore my firmware hash of M0065 (i am using a custom firmware, so it won't match yours, but it should match this one: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl2-io/-/blob/master/voxl2-io-tools/firmware/modalai_m0065_firmware_v0_2_RC1_f94baad1.bin )

      voxl2:/$ journalctl -u voxl-px4 | grep VOXL2_IO
May 30 17:51:33 m0054 voxl-px4[3932]: ESC=VOXL2_IO_PWM_ESC
May 30 17:51:33 m0054 voxl-px4[3932]: ESC: VOXL2_IO_PWM_ESC
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Driver starting
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_BAUD  : 921600
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC1 : 0
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC2 : 0
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC3 : 0
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC4 : 0
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC5 : 0
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC6 : 0
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC7 : 0
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC8 : 0
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_DIS   : 1000
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_MIN   : 1100
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_MAX   : 2000
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_CMIN  : 1050
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_CMAX  : 2000
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO:
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Opening UART device 2, baud rate 921600
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Successfully opened UART device
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Detecting M0065 board...
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO:         VOXL2_IO ID: 0
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO:         Board Type : 35: ModalAi I/O Expander (M0065)
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO:         Unique ID  : 0x4304296039364B560671FF36
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO:         Firmware   : version    2, hash f94baad1*
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO:         Bootloader : verINFO  [qshell] Send cmd: 'voxl2_io start'
May 30 17:51:37 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO:         Reply time : 524us
May 30 17:51:37 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Driver initialization succeeded
May 30 17:51:37 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Detected VOXL2 IO SBUS RC
      Jeffrey MaoJ 1 Reply Last reply Reply Quote 0
      • Jeffrey MaoJ
        Jeffrey Mao @Alex Kushleyev
        last edited by Jeffrey Mao

        @Alex-Kushleyev We have the current thing

        Attempting to start M0065 SBUS RC driver for original M0065 FW
        INFO [muorb] SLPI: qshell gotten: dsp_sbus start
        INFO [muorb] SLPI: arg0 = 'dsp_sbus'
        INFO [muorb] SLPI: arg1 = 'start'
        INFO [qshell] Send cmd: 'dsp_sbus start'
        ERROR [muorb] SLPI: Failed to execute command: dsp_sbus start
        Starting M0065 SBUS RC driver for original M0065 FW failed
        Attempting to start M0065 SBUS RC driver for new M0065 FW
        INFO [qshell] Send cmd: 'voxl2_io start -d -p 7'
        INFO [muorb] SLPI: Ok executing command: voxl2_io start -d -p 7

        We will try updating the firmware and let you know how ti goes based on what you say

        Alex KushleyevA 1 Reply Last reply Reply Quote 0
        • Alex KushleyevA
          Alex Kushleyev ModalAI Team @Jeffrey Mao
          last edited by Alex Kushleyev

          @Jeffrey-Mao , which version of px4 are you using?

          BTW, i figured out the issue. When VOXL2_IO is not used for motor outputs (VOXL2_IO_FUNCx are all set to zero), the module updates at a very low rate (every 200-300ms) because the schedule thinks the mixer module is unused. This causes the data from M0065 board coming into VOXL2 (and voxl2_io driver) to be dropped and delayed.

          I am looking at a temporary workaround for this and a fix. As a workaround, setting param set VOXL2_IO_FUNC8 108 makes the module update at full rate (800hz) but i need to check to see what happens if you have a quad and what happens to motor 8 in that case.

          What are you using as motor outputs? voxl esc or also planning to use voxl2_io ?

          Meanwhile, please update the PX4 from sdk 1.3.0 , and you will also need to update M0065 firmware. Old M0065 firmware (V1) and old voxl2_io driver had some issues.

          • https://docs.modalai.com/voxl2-io-user-guide/#voxl-px4-configuration
          • https://docs.modalai.com/voxl2-io-firmware/
          Alex KushleyevA 1 Reply Last reply Reply Quote 0
          • Alex KushleyevA
            Alex Kushleyev ModalAI Team @Alex Kushleyev
            last edited by Alex Kushleyev

            OK, it seems the workaround (not affecting motor output) is to set any of the VOXL2_IO_FUNCx to values 402-422, which forces the module to update at 250hz, which is enough to solve this issue without changing code. Note that this will output the value of the function to VOXL2_IO board, but if you don't have anything connected to the corresponding pwm output, it should be fine (i suggest doing something like this param set VOXL2_IO_FUNC8 408 since PWM channel 8 is rarely used anyway.

            You could try doing the same with your old M0065 firmware (which only supports 4 channels, however), so you would set param set VOXL2_IO_FUNC4 408 . However, i strongly recommend using the latest M0065 firmware and modal2_io drivers. see changelog: https://docs.modalai.com/voxl2-io-firmware/#voxl-sdk-12x-wip

            1 Reply Last reply Reply Quote 0
            • Jeffrey MaoJ
              Jeffrey Mao
              last edited by

              Oh glad to hear something from your end.

              Currently we are using VoxlESC and the Px4 from SDK 1.1.1. Recently I flashed the board but the remote control is no longer detected. Also how do we set the parameter of the voxl2_io_func8 is this in the start up /usr/bin/voxl-px4-start?

              Thanks again for the help,

              Jeff

              Alex KushleyevA 1 Reply Last reply Reply Quote 0
              • Alex KushleyevA
                Alex Kushleyev ModalAI Team @Jeffrey Mao
                last edited by

                @Jeffrey-Mao , you can use QGC to update the param or from voxl2, “px4-qshell param set VOXL2_IO_FUNC8 …..” . This is standard px4 param setting.

                Rishabh VermaR Jeffrey MaoJ 2 Replies Last reply Reply Quote 0
                • Rishabh VermaR
                  Rishabh Verma @Alex Kushleyev
                  last edited by

                  @Alex-Kushleyev
                  Hey Alex, I am working with Jeffrey. I can't seem to find the VOXL2_IO_FUNCx parameters. Is it on the VOXL2_IO board or the VOXL2 main board? Because while running px4 on foreground this was not listed and its not listed even at QGC

                  1 Reply Last reply Reply Quote 0
                  • Jeffrey MaoJ
                    Jeffrey Mao @Alex Kushleyev
                    last edited by

                    @Alex-Kushleyev hi Alex thank you so much for the help. We figured it out after updating some of the firmware. It flies much smoother with the jeti RC now

                    Alex KushleyevA 1 Reply Last reply Reply Quote 0
                    • Alex KushleyevA
                      Alex Kushleyev ModalAI Team @Jeffrey Mao
                      last edited by

                      @Jeffrey-Mao , this issue has been properly fixed, details here : https://github.com/modalai/px4-firmware/commit/636ffefcb1a96ad2b53e988d23bf6419955b69ea . The fix is in voxl-dev branch of px4-firmware and will be included in the next nightly build and thereafter.

                      Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                      • Alex KushleyevA Alex Kushleyev referenced this topic on
                      • Eric KatzfeyE
                        Eric Katzfey ModalAI Team @Alex Kushleyev
                        last edited by

                        @Alex-Kushleyev The fix is available in this build: http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-px4_1.14.0-2.0.77-202406051703_arm64.deb

                        1 Reply Last reply Reply Quote 0
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