# GPS and VL53L1 not working

Source: https://forum.modalai.com/topic/4019/gps-and-vl53l1-not-working
Category: Development Drones (https://forum.modalai.com/category/44/development-drones)
Tags: px4-dev-kit
Posted: 2024-12-13 17:30:39 UTC by jefersonsilva
Replies: 2 · Views: 1423

## jefersonsilva · 2024-12-13 17:30:39 UTC

I recently purchased the PX4 Autonomy Developer Kit and have noticed that neither the GPS nor the distance sensor is functioning properly. I’ve conducted some outdoor flights on a sunny day with no external interference, but the GPS did not connect to any satellites. I haven’t made any modifications to the kit that could cause a malfunction. Below is the output from my terminal.

Could anyone assist me with this issue?

########################################VL53L1##########################################################
voxl2:/etc/modalai$ voxl-configure-rangefinders 1_downward_on_m0141
creating new config file for 1 downward TOF without multiplexer
DONE
enabling  voxl-rangefinder-server systemd service
Done configuring voxl-rangefinder-server
voxl2:/etc/modalai$ voxl-configure-rangefinders 1_on_m0141
creating new config file for 1 TOF without multiplexer
DONE
enabling  voxl-rangefinder-server systemd service
Done configuring voxl-rangefinder-server
voxl2:/etc/modalai$ voxl-rangefinder-server 
=================================================
i2c_bus: 1
has_nonmux_sensor: 1
n_mux_sensors:     0
n_enabled_sensors: 1
vl53l1x_timing_budget_ms: 50
id_for_mavlink:    -1
#0:
    enabled:               1
    sensor_id:             0
    type:                  TOF_VL53L1X
    fov_deg:               27.000
    range_max_m:           3.000
    location_wrt_body:     -0.025  0.020  0.008 
    direction_wrt_body:     0.000  0.000  1.000 
    is_on_mux:             0
    i2c_mux_address:       0x70
    i2c_mux_port:          0

=================================================
initializing i2c bus 1
initializing non-multiplexed tof sensor id 0
ERROR: in voxl_i2c_reg16_read_bytes, failed to write to bus
ERROR in vl53l1x_check_whoami, failed to read whoami register
ERROR in vl53l1x_init, failed to verify whoami
Error initializing sensor 0
exiting
##################################################################################################

#########################################GPS######################################################
voxl2:/$ px4-listener vehicle_gps_position

TOPIC: vehicle_gps_position
 vehicle_gps_position
    timestamp: 80789290 (892.490662 seconds ago)
    timestamp_sample: 0
    time_utc_usec: 0
    device_id: 11272245 (Type: 0xAC, SERIAL:6 (0x00))
    lat: 0
    lon: 0
    alt: -17000
    alt_ellipsoid: 0
    s_variance_m_s: 999.00006
    c_variance_rad: 3.14159
    eph: 4294967.50000
    epv: 3750866.50000
    hdop: 99.99000
    vdop: 99.99000
    noise_per_ms: 87
    jamming_indicator: 19
    vel_m_s: 0.00000
    vel_n_m_s: 0.00000
    vel_e_m_s: 0.00000
    vel_d_m_s: 0.00000
    cog_rad: 0.00000
    timestamp_time_relative: 0
    heading: nan
    heading_offset: 0.00000
    heading_accuracy: 0.00000
    rtcm_injection_rate: 0.00000
    automatic_gain_control: 0
    fix_type: 0
    jamming_state: 0
    spoofing_state: 1
    vel_ned_valid: False
    satellites_used: 0
###########################################################################################################

## Reply by tom (ModalAI staff) · 2024-12-13 20:11:15 UTC

@jefersonsilva What does `/etc/modalai/voxl-px4.conf` look like?

## Reply by Eric Katzfey (ModalAI staff) · 2024-12-13 22:32:37 UTC

@jefersonsilva If you let it sit for a long time does it eventually find satellites and get a fix?