# PX4 stops running

Source: https://forum.modalai.com/topic/4260/px4-stops-running
Category: Development Drones (https://forum.modalai.com/category/44/development-drones)
Tags: starling
Posted: 2025-03-14 14:18:39 UTC by kestrelsystemsbp
Replies: 15 · Views: 2234

## kestrelsystemsbp · 2025-03-14 14:18:39 UTC

We are using two starling 2 drones for our project. On the first drone voxl-px4 starts automatically at boot and runs without problems, but on the second drone px4 needs to be manually set to run. This would not be a huge problem in itself, but px4 always end up stopping after a few minutes. I have looked into the logfile of px4 and it shows that on February 27th px4 was stopped, but what was done that day in particular is difficult to remember in hinsight

![stopped px4.png](https://forum.modalai.com/assets/uploads/files/1741961759079-stopped-px4.png)

## Reply by Eric Katzfey (ModalAI staff) · 2025-03-14 15:34:44 UTC

@kestrelsystemsbp Can you disable the px4 autostart (e.g. `systemctl disable voxl-px4`) and then reboot the drone? Then start voxl-px4 from the command line and capture it's output (e.g. `voxl-px4 -d`)?

## Reply by kestrelsystemsbp · 2025-03-20 10:13:38 UTC (in reply to Eric Katzfey)

@Eric-Katzfey ![px4 output.png](https://forum.modalai.com/assets/uploads/files/1742465597001-px4-output.png) 
This is what I get when I try to start PX4 back up again.

## Reply by Eric Katzfey (ModalAI staff) · 2025-03-20 15:44:59 UTC (in reply to kestrelsystemsbp)

@kestrelsystemsbp That's the entire output from `voxl-px4 -d`? What version of the VOXL SDK is installed? Have you made any modifications to `/usr/bin/voxl-px4-start` or `/etc/modalai/voxl-px4.conf`? Have you made any modifications to the software on the Starling 2?

## Reply by tom (ModalAI staff) · 2025-03-21 19:32:56 UTC (in reply to kestrelsystemsbp)

@kestrelsystemsbp Can you post the contents of `/etc/modalai/voxl-px4.conf`

## Reply by kestrelsystemsbp · 2025-03-24 15:11:26 UTC (in reply to tom)

@tom ![Screenshot 2025-03-24 161036.png](https://forum.modalai.com/assets/uploads/files/1742829082898-screenshot-2025-03-24-161036.png) ![Screenshot 2025-03-24 161001.png](https://forum.modalai.com/assets/uploads/files/1742829082988-screenshot-2025-03-24-161001.png)

## Reply by kestrelsystemsbp · 2025-03-24 15:12:07 UTC (in reply to Eric Katzfey)

@Eric-Katzfey Have not done any modifications to the software other than basic setup stuff for QGC.

## Reply by Eric Katzfey (ModalAI staff) · 2025-03-24 16:09:27 UTC (in reply to Eric Katzfey)

@Eric-Katzfey said in [PX4 stops running](/post/21430):
> What version of the VOXL SDK is installed?

## Reply by Eric Katzfey (ModalAI staff) · 2025-03-24 16:11:35 UTC (in reply to kestrelsystemsbp)

@kestrelsystemsbp said in [PX4 stops running](/post/21472):
> basic setup stuff for QGC

What changes were made for that?

## Reply by tom (ModalAI staff) · 2025-03-24 17:04:17 UTC (in reply to kestrelsystemsbp)

@kestrelsystemsbp Would also be helpful to see the contents of `/usr/bin/voxl-px4-start`

## Reply by kestrelsystemsbp · 2025-03-25 11:06:00 UTC (in reply to tom)

@tom 
#!/bin/sh
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
. px4-alias.sh

echo -e "\n*************************"
echo "AIRFRAME: $AIRFRAME"
echo "GPS: $GPS"
echo "RC: $RC"
echo "ESC: $ESC"
echo "POWER MANAGER: $POWER_MANAGER"
echo "AIRSPEED SENSOR: $AIRSPEED_SENSOR"
echo "DISTANCE SENSOR: $DISTANCE_SENSOR"
echo "OSD: $OSD"
echo "ARTIFACT_MODE: $ARTIFACT_MODE"
echo "EXTRA STEPS:"
for i in "${EXTRA_STEPS[@]}"
do
	echo -e "\t$i"
done
echo -e "*************************\n"

# In order to just exit after starting the uorb / muorb modules define
# the environment variable MINIMAL_PX4. (e.g. export MINIMAL_PX4=1)
# This is useful for testing / debug where you may want to start drivers
# and modules manually from the px4 command shell
if [ ! -z $MINIMAL_PX4 ]; then
    /bin/echo "Running minimal script"
    exit 0
fi

# Figure out what platform we are running on.
PLATFORM=`/usr/bin/voxl-platform 2> /dev/null`
RETURNCODE=$?
if [ $RETURNCODE -ne 0 ]; then
    # If we couldn't get the platform from the voxl-platform utility then check
    # /etc/version to see if there is an M0052 substring in the version string. If so,
    # then we assume that we are on M0052.
    VERSIONSTRING=$(</etc/version)
    M0052SUBSTRING="M0052"
    if [[ "$VERSIONSTRING" == *"$M0052SUBSTRING"* ]]; then
        PLATFORM="M0052"
    fi
fi

# We can only run on M0052, M0054, or M0104 so exit with error if that is not the case
if [ $PLATFORM = "M0052" ]; then
    /bin/echo "Running on M0052"
elif [ $PLATFORM = "M0054" ]; then
    /bin/echo "Running on M0054"
elif [ $PLATFORM = "M0104" ]; then
    /bin/echo "Running on M0104"
else
    /bin/echo "Error, cannot determine platform!"
    exit 0
fi

# Sleep a little here. A lot happens when the uorb and muorb start
# and we need to make sure that it all completes successfully to avoid
# any possible race conditions.
/bin/sleep 1

param select /data/px4/param/parameters

# Load in all of the parameters that have been saved in the file
param load

if [ "$ARTIFACT_MODE" == "ENABLE" ]; then
	# Do not start the logger module if we are in artifact mode. Logging
	# produces a log artifact. If there are currently any saved logs make
	# sure to delete them now.
	# Also remove the data manager file that may have saved GPS waypoint information
	# in it.
	# Use shred to remove all files so that they cannot be recovered.
	# shred should be effective on the /data partition since it has this configuration:
	# /dev/sda8 /data ext4 rw,nosuid,nodev,noatime,discard,noauto_da_alloc,data=ordered 0 0
	/usr/bin/find /data/px4/log -name "*.ulg" -exec /usr/bin/shred -u -n 7 {} \;
	/bin/rm -fR /data/px4/log
	/usr/bin/shred -u -n 7 /data/px4/dataman
    /bin/echo "Artifact mode has been enabled"
else
	# Start logging and use timestamps for log files when possible.
	# Add the "-e" option to start logging immediately. Default is
	# to log only when armed. Caution must be used with the "-e" option
	# because if power is removed without stopping the logger gracefully then
	# the log file may be corrupted.
	logger start -t
fi

# IMU (accelerometer / gyroscope)
if [ "$PLATFORM" == "M0104" ]; then
    /bin/echo "Starting IMU driver with rotation 12"
    qshell icm42688p start -s -R 12
else
    /bin/echo "Starting IMU driver with no rotation"
    qshell icm42688p start -s
fi

# Start Invensense ICP 101xx barometer built on to VOXL 2
qshell icp101xx start -I -b 5

# Auto detect the magnetometer. If one or both of these devices
# are not connected it will fail but not cause any harm.
/bin/echo "Looking for qmc5883l magnetometer"
qshell qmc5883l start -R 10 -X -b 1
/bin/echo "Looking for ist8310 magnetometer"
qshell ist8310 start -R 10 -X -b 1

# GPS and magnetometer
if [ "$GPS" != "NONE" ]; then
	# On M0052 the GPS driver runs on the apps processor
	if [ $PLATFORM = "M0052" ]; then
	    gps start -d /dev/ttyHS2
	# On M0054 and M0104 the GPS driver runs on SLPI DSP
	else
	    qshell gps start
	fi
fi

# Auto detect an ncp5623c i2c RGB LED. If one isn't connected this will
# fail but not cause any harm.
/bin/echo "Looking for ncp5623c RGB LED"
qshell rgbled_ncp5623c start -X -b 1 -f 400 -a 56

# We do not change the following parameters but QGC will complain if they aren't
# being reported as "used" by px4. "Touching" them accomplishes that.
param touch SYS_AUTOCONFIG
param touch SDLOG_MODE

# ESC driver
if [ "$ESC" == "VOXL_ESC" ]; then
    /bin/echo "Starting VOXL ESC driver"
	qshell voxl_esc start
elif [ "$ESC" == "VOXL2_IO_PWM_ESC" ]; then
	if [ "$RC" == "M0065_SBUS" ]; then
		/bin/echo "Starting VOXL IO for PWM ESC with SBUS RC"
		qshell voxl2_io start
	else
		/bin/echo "Starting VOXL IO for PWM ESC without SBUS RC"
		qshell voxl2_io start -e
	fi
else
	/bin/echo "No ESC type specified, not starting an ESC driver"
fi

# RC driver
if [ "$RC" == "FAKE_RC_INPUT" ]; then
    /bin/echo "Starting fake RC driver"
    qshell rc_controller start
elif [ "$RC" == "CRSF_RAW" ]; then
    /bin/echo "Starting CRSF RC driver"
    qshell crsf_rc start -d 7
elif [ "$RC" == "CRSF_MAV" ]; then
    /bin/echo "Starting TBS crossfire RC - MAV Mode"
    qshell mavlink_rc_in start -m -p 7 -b 115200
elif [ "$RC" == "SPEKTRUM" ]; then
    /bin/echo "Starting Spektrum RC"
	# On M0052 the RC driver runs on the apps processor
	if [ $PLATFORM = "M0052" ]; then
        rc_input start -d /dev/ttyHS1
	# On M0054 and M0104 the RC driver runs on SLPI DSP
	else
        qshell spektrum_rc start
	fi
elif [ "$RC" == "GHST" ]; then
    /bin/echo "Starting GHST RC driver"
    qshell ghst_rc start -d 7
elif [ "$RC" == "M0065_SBUS" ]; then
	if [ $PLATFORM = "M0052" ]; then
		apps_sbus start
	elif [ "$ESC" != "VOXL2_IO_PWM_ESC" ]; then
    	/bin/echo "Attempting to start M0065 SBUS RC driver for original M0065 FW"
    	qshell dsp_sbus start
		retVal=$?
		if [ $retVal -ne 0 ]; then
	    	/bin/echo "Starting M0065 SBUS RC driver for original M0065 FW failed"
	    	/bin/echo "Attempting to start M0065 SBUS RC driver for new M0065 FW"
			qshell voxl2_io start -d -p 7
		fi
	else
    	/bin/echo "M0065 SBUS RC driver already started with PWM ESC start"
	fi
fi

if [ "$DISTANCE_SENSOR" == "LIGHTWARE_SF000" ]; then
	# Make sure to set the parameter SENS_EN_SF0X to 8 for sf000/b sensor
	qshell lightware_laser_serial start -d 7
fi

if [ "$POWER_MANAGER" == "VOXLPM" ]; then
	# APM power monitor
	qshell voxlpm start -X -b 2
fi

if [ "$AIRSPEED_SENSOR" == "MS4525DO" ]; then
	qshell ms4525do start -X -b 4
fi

# Optional distance sensor on spare i2c
# qshell vl53l0x start -X -b 4
# qshell vl53l1x start -X -b 4

# Start all of the processing modules on DSP
qshell sensors start
qshell ekf2 start

if [ "$AIRFRAME" == "FIXED_WING" ]; then
	qshell fw_pos_control start
	qshell fw_att_control start
	qshell fw_rate_control start
	qshell airspeed_selector start
	qshell fw_autotune_attitude_control start
	qshell land_detector start fixedwing
elif [ $AIRFRAME = "MULTICOPTER" ]; then
	qshell mc_pos_control start
	qshell mc_att_control start
	qshell mc_rate_control start
	qshell mc_hover_thrust_estimator start
	qshell mc_autotune_attitude_control start
	qshell land_detector start multicopter
fi

qshell manual_control start
qshell control_allocator start
qshell load_mon start

# Only start the rc_update module if an actual RC driver
# is publishing input_rc topics. Otherwise for external RC
# over Mavlink this isn't needed.
if [ "$RC" != "EXTERNAL" ]; then
	qshell rc_update start
fi

qshell commander start

# This is needed for altitude and position hold modes
qshell flight_mode_manager start

# Start all of the processing modules on the applications processor
dataman start
navigator start
load_mon start

# This bridge allows raw data packets to be sent over UART to the ESC
modal_io_bridge start

# Start microdds_client for ros2 offboard messages from agent over localhost
microdds_client start -t udp -h 127.0.0.1 -p 8888

# On M0052 there is only one IMU. So, PX4 needs to
# publish IMU samples externally for VIO to use.
if [ $PLATFORM = "M0052" ]; then
	imu_server start
fi

# start the onboard fast link to connect to voxl-mavlink-server
mavlink start -x -u 14556 -o 14557 -r 100000 -n lo -m onboard

# slow down some of the fastest streams
mavlink stream -u 14556 -s HIGHRES_IMU -r 10
mavlink stream -u 14556 -s ATTITUDE -r 10
mavlink stream -u 14556 -s ATTITUDE_QUATERNION -r 10
mavlink stream -u 14556 -s GLOBAL_POSITION_INT -r 30
mavlink stream -u 14556 -s SCALED_PRESSURE -r 10

# start the slow normal mode for voxl-mavlink-server to forward to GCS
mavlink start -x -u 14558 -o 14559 -r 100000 -n lo

mavlink boot_complete

# Optional MSP OSD driver for DJI or HDZero goggles
# This is only supported on M0054 (with M0125 accessory board)
if [ "$OSD" == "ENABLE" ] || [ "$OSD" == "DJI" ]; then
    /bin/echo "Starting DJI OSD driver"
    msp_osd start -d /dev/ttyHS1
elif [ "$PLATFORM" == "M0054" ] && [ "$OSD" == "HDZERO" ] || [ "$OSD" == "DJI_MSP_DP" ]; then 
    /bin/echo "Starting $OSD OSD driver for $PLATFORM"
    msp_dp_osd start -d /dev/ttyHS1
elif [ "$PLATFORM" == "M0104" ] && [ "$OSD" == "HDZERO" ] || [ "$OSD" == "DJI_MSP_DP" ] ; then
	/bin/echo "Starting $OSD OSD driver for $PLATFORM"
	msp_dp_osd start -d /dev/ttyHS0
fi

# Start optional EXTRA_STEPS
for i in "${EXTRA_STEPS[@]}"
do
	$i
done

## Reply by kestrelsystemsbp · 2025-03-25 11:11:47 UTC (in reply to Eric Katzfey)

@Eric-Katzfey ![sdk.png](https://forum.modalai.com/assets/uploads/files/1742901102390-sdk.png)

## Reply by Eric Katzfey (ModalAI staff) · 2025-03-25 16:41:22 UTC (in reply to kestrelsystemsbp)

@kestrelsystemsbp Perhaps you can do a fresh installation on 1.3.5 and see if the problem goes away? v1.3.5 has a lot of test time on it and nothing like the issue you are seeing has been encountered by us or any of our customers so this is a bit of a mystery. I would try the fresh install and, without making any modifications at all, see if it comes up and stays up. If so you can start introducing any configuration changes you need one by one to see if any of them are causing the issue.

## Reply by kestrelsystemsbp · 2025-03-31 07:54:42 UTC (in reply to Eric Katzfey)

@Eric-Katzfey How do I do that?

## Reply by tom (ModalAI staff) · 2025-03-31 16:56:29 UTC (in reply to kestrelsystemsbp)

@kestrelsystemsbp You can download the SDK from downloads.modalai.com, 

Untar it with `tar -xzvf voxl2_SDK_1.3.5.tar.gz`

`cd voxl2_SDK_1.3.5`

Install it with `./install.sh`

Although if there isn't a specific reason you're on 1.3.5, I would recommend updating to 1.4.1

## Reply by kestrelsystemsbp · 2025-04-02 10:50:23 UTC (in reply to tom)

@tom That did the trick, thanks for the help!