# Ublox zed f9p GPS not connecting

Source: https://forum.modalai.com/topic/5077/ublox-zed-f9p-gps-not-connecting
Category: VOXL SDK and Software (https://forum.modalai.com/category/47/voxl-sdk-and-software)
Posted: 2026-02-27 18:20:32 UTC by Karteek Gandiboyina
Replies: 6 · Views: 3833

## Karteek Gandiboyina · 2026-02-27 18:20:32 UTC

HI,

Im trying to connect ublox zed f9p 15b(https://www.u-blox.com/en/product/zed-f9p-module). im using voxl2 dev kit.

i connected the gps to j19 pin (uart at pin 2,3) there seems to be no issue with the connection. but im not getting any gps message published

```
tarling-px4-dev-kit (D0011):/$ journalctl -b -u voxl-px4
-- Logs begin at Mon 2025-11-17 07:25:30 UTC, end at Thu 2026-02-26 20:09:53 UTC. --
Feb 23 22:58:05 m0054 systemd[1]: Starting px4...
Feb 23 22:58:07 m0054 systemd[1]: Started px4.
Feb 23 22:58:07 m0054 voxl-px4[2203]: [INFO] Reading from /etc/modalai/voxl-px4.conf
Feb 23 22:58:07 m0054 voxl-px4[2203]: Found DSP signature file
Feb 23 22:58:07 m0054 voxl-px4[2203]: [INFO] Daemon mode enabled
Feb 23 22:58:07 m0054 voxl-px4[2203]: *************************
Feb 23 22:58:07 m0054 voxl-px4[2203]: AIRFRAME=MULTICOPTER
Feb 23 22:58:07 m0054 voxl-px4[2203]: GPS=AUTODETECT
Feb 23 22:58:07 m0054 voxl-px4[2203]: RC=SPEKTRUM
Feb 23 22:58:07 m0054 voxl-px4[2203]: ESC=VOXL_ESC
Feb 23 22:58:07 m0054 voxl-px4[2203]: POWER MANAGER=VOXLPM
Feb 23 22:58:07 m0054 voxl-px4[2203]: AIRSPEED SENSOR=NONE
Feb 23 22:58:07 m0054 voxl-px4[2203]: DISTANCE SENSOR=NONE
Feb 23 22:58:07 m0054 voxl-px4[2203]: OSD=DISABLE
Feb 23 22:58:07 m0054 voxl-px4[2203]: DAEMON_MODE=ENABLE
Feb 23 22:58:07 m0054 voxl-px4[2203]: SENSOR_CAL=ACTUAL
Feb 23 22:58:07 m0054 voxl-px4[2203]: ARTIFACT_MODE=DISABLE
Feb 23 22:58:07 m0054 voxl-px4[2203]: EXTRA STEPS:
Feb 23 22:58:07 m0054 voxl-px4[2203]: *************************
Feb 23 22:58:07 m0054 voxl-px4[2203]: INFO  [px4] mlockall() enabled. PX4's virtual address space is lock
Feb 23 22:58:07 m0054 voxl-px4[2203]: INFO  [px4] assuming working directory is rootfs, no symlinks neede
Feb 23 22:58:07 m0054 voxl-px4[2203]: INFO  [muorb] Got muorb init command
Feb 23 22:58:07 m0054 voxl-px4[2203]: Sending initialization request
Feb 23 22:58:07 m0054 voxl-px4[2203]: Got topic data before configuration complete
Feb 23 22:58:07 m0054 voxl-px4[2203]: Got topic data before configuration complete
Feb 23 22:58:07 m0054 voxl-px4[2203]: Got topic data before configuration complete
Feb 23 22:58:08 m0054 voxl-px4[2203]: *************************
Feb 23 22:58:08 m0054 voxl-px4[2203]: AIRFRAME: MULTICOPTER
Feb 23 22:58:08 m0054 voxl-px4[2203]: GPS: AUTODETECT
Feb 23 22:58:08 m0054 voxl-px4[2203]: RC: SPEKTRUM
Feb 23 22:58:08 m0054 voxl-px4[2203]: ESC: VOXL_ESC
Feb 23 22:58:08 m0054 voxl-px4[2203]: POWER MANAGER: VOXLPM
Feb 23 22:58:08 m0054 voxl-px4[2203]: AIRSPEED SENSOR: NONE
Feb 23 22:58:08 m0054 voxl-px4[2203]: DISTANCE SENSOR: NONE
Feb 23 22:58:08 m0054 voxl-px4[2203]: OSD: DISABLE
Feb 23 22:58:08 m0054 voxl-px4[2203]: ARTIFACT_MODE: DISABLE
Feb 23 22:58:08 m0054 voxl-px4[2203]: EXTRA STEPS:
Feb 23 22:58:08 m0054 voxl-px4[2203]:         
Feb 23 22:58:08 m0054 voxl-px4[2203]: *************************
Feb 23 22:58:08 m0054 voxl-px4[2203]: Running on M0054
Feb 23 22:58:09 m0054 voxl-px4[2203]: INFO  [param] selected parameter default file /data/px4/param/param
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [parameters] BSON document size 2241 bytes, decoded 2241 byte
Feb 23 22:58:10 m0054 voxl-px4[2203]: Starting IMU driver with no rotation
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [qshell] Send cmd: 'icm42688p start -s'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [qshell] qshell return value timestamp: 13807556, local time:
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [qshell] Send cmd: 'icp101xx start -I -b 5'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [qshell] qshell return value timestamp: 13847307, local time:
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [modules__muorb__slpi] muorb aggregator thread runnin
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] muorb protobuf initalize method succeeded
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] succesfully did ADVERTISE_TEST_TYPE
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [tasks] Creating pthread test_MUORB
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [tasks] Successfully created px4 task PX4_test_MUORB 
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] succesfully did SUBSCRIBE_TEST_TYPE
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [tasks] Creating pthread test_MUORB
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [tasks] Successfully created px4 task PX4_test_MUORB 
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] succesfully did TOPIC_TEST_TYPE
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [tasks] Creating pthread test_MUORB
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [tasks] Successfully created px4 task PX4_test_MUORB 
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] succesfully did UNSUBSCRIBE_TEST_TYPE
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [tasks] Creating pthread test_MUORB
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [tasks] Successfully created px4 task PX4_test_MUORB 
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] muorb test passed
Feb 23 22:58:10 m0054 voxl-px4[2203]: ______  __   __    ___
Feb 23 22:58:10 m0054 voxl-px4[2203]: | ___ \ \ \ / /   /   |
Feb 23 22:58:10 m0054 voxl-px4[2203]: | |_/ /  \ V /   / /| |
Feb 23 22:58:10 m0054 voxl-px4[2203]: |  __/   /   \  / /_| |
Feb 23 22:58:10 m0054 voxl-px4[2203]: | |     / /^\ \ \___  |
Feb 23 22:58:10 m0054 voxl-px4[2203]: \_|     \/   \/     |_/
Feb 23 22:58:10 m0054 voxl-px4[2203]: px4 starting.
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [uORB] Advertising remote topic log_message
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [px4] startup script: /bin/sh /usr/bin/voxl-px4-start 0
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [parameters] Starting param sync THREAD
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [parameters] Starting param sync THREAD
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell] before starting the qshell_entry task
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [tasks] Creating pthread qshell
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [tasks] Successfully created px4 task PX4_qshell with
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell] qshell entry.....
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell] after starting the qshell_entry task
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell] Init app map initialized
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [uORB] Marking DeviceNode(parameter_client_reset_requ
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [uORB] Marking DeviceNode(parameter_client_reset_response) as
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [uORB] Advertising remote topic parameter_update
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [uORB] Marking DeviceNode(parameter_client_set_value_
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [uORB] Marking DeviceNode(parameter_server_set_used_request) 
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [uORB] Marking DeviceNode(parameter_server_set_used_r
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [uORB] Marking DeviceNode(parameter_client_set_value_response
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised i
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell] qshell gotten: icm42688p start -s
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg0 = 'icm42688p'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg1 = 'start'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg2 = '-s'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [drivers__device] *** SPI Device ID 0x26000a 2490378
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [uORB] Advertising remote topic sensor_accel
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [uORB] Advertising remote topic sensor_gyro
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [icm42688p] ICM42688P::probe successful!
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [drivers__device] on SPI bus 1
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] icm42688p #0 on SPI bus 1
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb]
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [icm42688p] >>> ICM42688P this: b26012d8
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell] Ok executing command: icm42688p start -s
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [uORB] Advertising remote topic qshell_retval
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [icm42688p] >>> ICM42688P this: b26012d8
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [drivers__device] Register interrupt b214ec48 e61ebf5
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [uORB] Advertising remote topic sensor_gyro_fifo
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [uORB] Advertising remote topic sensor_accel_fifo
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [uORB] Advertising remote topic imu_server
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised i
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell] qshell gotten: icp101xx start -I -b 5
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg0 = 'icp101xx'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg1 = 'start'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg2 = '-I'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg3 = '-b'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg4 = '5'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [drivers__device] *** I2C Device ID 0xb76329 12018473
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [drivers__device] Set up I2C bus mutex for bus 5
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] icp101xx #0 on I2C bus 5
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb]  address 0x63
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb]
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell] Ok executing command: icp101xx start -I -b 5
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [uORB] Marking DeviceINFO  [qshell] Send cmd: 'temper
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [qshell] qshell return value timestamp: 13882130, local time:
Feb 23 22:58:10 m0054 voxl-px4[2203]: Looking for qmc5883l magnetometer
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [qshell] Send cmd: 'qmc5883l start -R 10 -X -b 1'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [qshell] cmd returned with: -1
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [qshell] qshell return value timestamp: 13922352, local time:
Feb 23 22:58:10 m0054 voxl-px4[2203]: ERROR [qshell] Command failed
Feb 23 22:58:10 m0054 voxl-px4[2203]: Looking for ist8310 magnetometer
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [qshell] Send cmd: 'ist8310 start -R 10 -X -b 1'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [qshell] cmd returned with: -1
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [qshell] qshell return value timestamp: 13958469, local time:
Feb 23 22:58:10 m0054 voxl-px4[2203]: ERROR [qshell] Command failed
Feb 23 22:58:10 m0054 voxl-px4[2203]: Looking for ist8308 magnetometer
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [qshell] Send cmd: 'ist8308 start -R 12 -X -b 1'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [qshell] cmd returned with: -1
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [qshell] qshell return value timestamp: 13998516, local time:
Feb 23 22:58:10 m0054 voxl-px4[2203]: ERROR [qshell] Command failed
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [qshell] Send cmd: 'gps start -d 6 -b 115200'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [qshell] qshell return value timestamp: 14028093, local time:
Feb 23 22:58:10 m0054 voxl-px4[2203]: Looking for ncp5623c RGB LED
Feb 23 22:58:10 m0054 voxl-px4[2203]: Node(qshell_req) as advertised in process_remote_topic
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell] qshell gotten: temperature_compensation star
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg0 = 'temperature_compensation'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg1 = 'start'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [uORB] Advertising remote topic sensor_correction
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell] Ok executing command: temperature_compensati
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised i
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell] qshell gotten: qmc5883l start -R 10 -X -b 1
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg0 = 'qmc5883l'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg1 = 'start'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg2 = '-R'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg3 = '10'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg4 = '-X'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg5 = '-b'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg6 = '1'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [drivers__device] *** I2C Device ID 0x80d09 527625
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [drivers__device] Set up I2C bus mutex for bus 1
Feb 23 22:58:10 m0054 voxl-px4[2203]: ERROR [muorb] [drivers__device] i2c probe failed
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [SPI_I2C] PX4_qshell: no instance started (no device 
Feb 23 22:58:10 m0054 voxl-px4[2203]: ERROR [muorb] [qshell] Failed to execute command: qmc5883l start -R
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [icm42688p] >>> ICM42688P this: b26012d8
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised i
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell] qshell gotten: ist8310 start -R 10 -X -b 1
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg0 = 'ist8310'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg1 = 'start'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg2 = '-R'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg3 = '10'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg4 = '-X'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg5 = '-b'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg6 = '1'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [drivers__device] *** I2C Device ID 0x60e09 396809
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [drivers__device] Set up I2C bus mutex for bus 1
Feb 23 22:58:10 m0054 voxl-px4[2203]: ERROR [muorb] [drivers__device] i2c probe failed
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [SPI_I2C] PX4_qshell: no instance started (no device 
Feb 23 22:58:10 m0054 voxl-px4[2203]: ERROR [muorb] [qshell] Failed to execute command: ist8310 start -R 
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised i
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell] qshell gotten: ist8308 start -R 12 -X -b 1
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg0 = 'ist8308'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg1 = 'start'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg2 = '-R'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg3 = '12'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg4 = '-X'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg5 = '-b'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg6 = '1'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [drivers__device] *** I2C Device ID 0xb0c09 723977
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [drivers__device] Set up I2C bus mutex for bus 1
Feb 23 22:58:10 m0054 voxl-px4[2203]: ERROR [muorb] [drivers__device] i2c probe failed
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [SPI_I2C] PX4_qshell: no instance started (no device 
Feb 23 22:58:10 m0054 voxl-px4[2203]: ERROR [muorb] [qshell] Failed to execute command: ist8308 start -R 
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised i
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell] qshell gotten: gps start -d 6 -b 115200
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg0 = 'gps'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg1 = 'start'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg2 = '-d'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg3 = '6'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg4 = '-b'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg5 = '115200'
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [tasks] Creating pthread gps
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [tasks] Successfully created px4 task PX4_gps with ti
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [qshell] Ok executing command: gps start -d 6 -b 1152
Feb 23 22:58:10 m0054 voxl-px4[2203]: INFO  [muorb] [gps] GPS UART baudrate set to 115200

.
.

Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [qshell] Ok executing command: land_detector start mu
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [uORB] Advertising remote topic vehicle_land_detected
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [gps] u-blox firmware version: HPGL1L5 1.40
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [gps] u-blox protocol version: 27.40
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [gps] u-blox module: ZED-F9P
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised i
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [qshell] qshell gotten: manual_control start
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg0 = 'manual_control'
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg1 = 'start'
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [qshell] Ok executing command: manual_control start
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [uORB] Advertising remote topic manual_control_setpoint
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised i
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [qshell] qshell gotten: control_allocator start
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg0 = 'control_allocator'
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg1 = 'start'
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [uORB] Advertising remote topic control_allocator_status
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [uORB] Marking DeviceNode(control_allocator_status) as advert
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [uORB] Advertising remote topic actuator_motors
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [uORB] Advertising remote topic actuator_servos
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [uORB] Advertising remote topic actuator_servos_trim
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [qshell] Ok executing command: control_allocator star
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised i
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [qshell] qshell gotten: load_mon start
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg0 = 'load_mon'
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg1 = 'start'
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [qshell] Ok executing command: load_mon start
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [uORB] Advertising remote topic cpuload
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised i
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [qshell] qshell gotten: rc_update start
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg0 = 'rc_update'
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg1 = 'start'
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [gps] GPS UART baudrate set to 115200
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [gps] Got ack to initial CFG_VALSET!
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [qshell] Ok executing command: rc_update start
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised i
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [qshell] qshell gotten: commander start
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg0 = 'commander'
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg1 = 'start'
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [tasks] Creating pthread commander
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [tasks] Successfully created px4 task PX4_commander w
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [gps] u-blox firmware version: HPGL1L5 1.40
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [gps] u-blox protocol version: 27.40
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [gps] u-blox module: ZED-F9P
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [uORB] Advertising remote topic led_control
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [muorb] [commaINFO  [qshell] Send cmd: 'commander start'
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [qshell] qshell return value timestamp: 16635298, local time:
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [qshell] Send cmd: 'flight_mode_manager start'
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [qshell] qshell return value timestamp: 16765888, local time:
Feb 23 22:58:13 m0054 voxl-px4[2203]: INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADC
Feb 23 22:58:19 m0054 voxl-px4[2203]: nder] LED: open /dev/led0 failed (22)
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [uORB] Advertising remote topic tune_control
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [qshell] Ok executing command: commander start
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [uORB] Advertising remote topic event
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [uORB] Advertising remote topic mavlink_log
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [health_and_arming_checks] Preflight Fail: Accel 0 un
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [health_and_arming_checks] Preflight Fail: Compass Se
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [uORB] Advertising remote topic health_report
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [uORB] Advertising remote topic failsafe_flags
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [uORB] Advertising remote topic actuator_armed
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [uORB] Advertising remote topic vehicle_control_mode
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [uORB] Advertising remote topic vehicle_status
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [uORB] Advertising remote topic failure_detector_status
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [uORB] Advertising remote topic vehicle_thrust_setpoint
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [uORB] Advertising remote topic vehicle_torque_setpoint
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [uORB] Advertising remote topic vehicle_attitude_setpoint
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [uORB] Advertising remote topic vehicle_rates_setpoint
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised i
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [qshell] qshell gotten: flight_mode_manager start
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg0 = 'flight_mode_manager'
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [qshell]   arg1 = 'start'
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [uORB] Advertising remote topic vehicle_command
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [qshell] Ok executing command: flight_mode_manager st
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [dataman] data manager file '/data/px4/dataman' size is 78666
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [uORB] Advertising remote topic transponder_report
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [uORB] Advertising remote topic rtl_time_estimate
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [uORB] Advertising remote topic position_setpoint_tri
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [mavlink] mode: Onboard, data rate: 100000 B/s on udp port 14
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [uORB] Advertising remote topic telemetry_status
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [mavlink] partner IP: 127.0.0.1
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [uORB] Advertising remote topic obstacle_distance
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [uORB] Advertising remote topic offboard_control_mode
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [uORB] Advertising remote topic timesync_status
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [gps] GPS UART baudrate set to 115200
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [uORB] Advertising remote topic actuator_controls_status_0
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [uORB] Marking DeviceNode(vehicle_command_ack) as adv
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [mavlink] mode: Normal, data rate: 100000 B/s on udp port 145
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [uORB] Marking DeviceNode(telemetry_status) as advert
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [px4] Startup script returned successfully
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [logger] logger started (mode=all)
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [gps] Got ack to initial CFG_VALSET!
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [gps] u-blox firmware version: HPGL1L5 1.40
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [gps] u-blox protocol version: 27.40
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [gps] u-blox module: ZED-F9P
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [gps] GPS UART baudrate set to 115200
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [gps] Got ack to initial CFG_VALSET!
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [gps] u-blox firmware version: HPGL1L5 1.40
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [gps] u-blox protocol version: 27.40
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [gps] u-blox module: ZED-F9P
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [health_and_arming_checks] Preflight Fail: Accel 0 un
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [health_and_arming_checks] Preflight Fail: Attitude f
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [health_and_arming_checks] Preflight Fail: Compass Se
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [gps] GPS UART baudrate set to 115200
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [gps] Got ack to initial CFG_VALSET!
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [gps] u-blox firmware version: HPGL1L5 1.40
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [gps] u-blox protocol version: 27.40
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [gps] u-blox module: ZED-F9P
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [gps] GPS UART baudrate set to 115200
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [gps] Got ack to initial CFG_VALSET!
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [gps] u-blox firmware version: HPGL1L5 1.40
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [gps] u-blox protocol version: 27.40
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [gps] u-blox module: ZED-F9P
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [gps] GPS UART baudrate set to 115200
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [gps] Got ack to initial CFG_VALSET!
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [gps] u-blox firmware version: HPGL1L5 1.40
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [gps] u-blox protocol version: 27.40
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [gps] u-blox module: ZED-F9P
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [gps] GPS UART baudrate set to 115200
Feb 23 22:58:19 m0054 voxl-px4[2203]: INFO  [muorb] [gps] Got ack to initial CFG_VALSET!
Feb 23 22:58:35 m0054 voxl-px4[2203]: INFO  [muorb] [gps] u-blox firmware version: HPGL1L5 1.40
Feb 23 22:58:35 m0054 voxl-px4[2203]: INFO  [muorb] [gps] u-blox protocol version: 27.40
Feb 23 22:58:35 m0054 voxl-px4[2203]: INFO  [muorb] [gps] u-blox module: ZED-F9P
Feb 23 22:58:35 m0054 voxl-px4[2203]: INFO  [muorb] [gps] GPS UART baudrate set to 115200
Feb 23 22:58:35 m0054 voxl-px4[2203]: INFO  [muorb] [gps] Got ack to initial CFG_VALSET!
Feb 23 22:58:35 m0054 voxl-px4[2203]: INFO  [muorb] [gps] u-blox firmware version: HPGL1L5 1.40
Feb 23 22:58:35 m0054 voxl-px4[2203]: INFO  [muorb] [gps] u-blox protocol version: 27.40
Feb 23 22:58:35 m0054 voxl-px4[2203]: INFO  [muorb] [gps] u-blox module: ZED-F9P
Feb 23 22:58:35 m0054 voxl-px4[2203]: INFO  [muorb] [gps] GPS UART baudrate set to 115200
Feb 23 22:58:35 m0054 voxl-px4[2203]: INFO  [muorb] [gps] Got ack to initial CFG_VALSET!

```

this is the log, i see that the gps is recognized by the voxl but it resets for some reason.

```

#!/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

# 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

qshell temperature_compensation start

# Auto detect the magnetometer. If one or both of these devices
# are not connected it will fail but not cause any harm.
# Rotation 10 = ROLL_180_YAW_90
/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
/bin/echo "Looking for ist8308 magnetometer"
# Rotation 12 = PITCH_180
qshell ist8308 start -R 12 -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 -b 115200
        # On M0054 and M0104 the GPS driver runs on SLPI DSP
        else
            qshell gps start -d 6 -b 115200
        fi
fi

```

```
starling-px4-dev-kit (D0011):/$ px4-listener vehicle_gps_position

TOPIC: vehicle_gps_position
starling-px4-dev-kit (D0011):/$ px4-listener sensor_gps
never published
starling-px4-dev-kit (D0011):/$ 

```

this is usr/bin/voxl-px4-start i updated the baudrate to match with my gps ublox baud rate but the problem remains same. Please help

## Reply by Karteek Gandiboyina · 2026-02-27 18:22:42 UTC

I used this "https://forum.modalai.com/topic/3257/voxl2-gps-taking-long-time-to-connect-sometimes-never-connects" but it did not help. @Alex-Kushleyev @Eric-Katzfey

## Reply by Eric Katzfey (ModalAI staff) · 2026-02-27 18:43:59 UTC (in reply to Karteek Gandiboyina)

@Karteek-Gandiboyina Unfortunately, we don't have any experience with that unit. It looks like it is hooked up correctly since you get a response from it. What baud rate did you change it to? You can try running the latest version of px4 but we have spent very little time testing it so use with extreme caution: http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-mainline-px4_1.17.0-1.0.2-202602240859_arm64.deb. Perhaps load that, remove the propellers, and just verify that it can properly see the GPS? And what if you just remove the baud rate option on the start command, does that change anything?

## Reply by Eric Katzfey (ModalAI staff) · 2026-02-27 18:45:43 UTC (in reply to Karteek Gandiboyina)

@Karteek-Gandiboyina Also, for reference: https://forum.modalai.com/topic/4403/starling-2-max-with-ublox-f9p-ultralight/7?_=1772217162290

## Reply by Karteek Gandiboyina · 2026-02-27 18:59:00 UTC (in reply to Eric Katzfey)

@Eric-Katzfey 

```
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 -d 6 
        fi
fi

```
Feb 23 22:58:15 m0054 voxl-px4[2177]: INFO  [logger] logger started (mode=all)
Feb 23 22:58:15 m0054 voxl-px4[2177]: INFO  [muorb] [gps] GPS UART baudrate set to 115200
Feb 23 22:58:15 m0054 voxl-px4[2177]: INFO  [muorb] [gps] Got ack to initial CFG_VALSET!
Feb 23 22:58:15 m0054 voxl-px4[2177]: INFO  [muorb] [gps] u-blox firmware version: HPGL1L5 1.40
Feb 23 22:58:15 m0054 voxl-px4[2177]: INFO  [muorb] [gps] u-blox protocol version: 27.40
Feb 23 22:58:15 m0054 voxl-px4[2177]: INFO  [muorb] [gps] u-blox module: ZED-F9P
Feb 23 22:58:15 m0054 voxl-px4[2177]: INFO  [muorb] [gps] GPS UART baudrate set to 115200
Feb 23 22:58:15 m0054 voxl-px4[2177]: INFO  [muorb] [gps] Got ack to initial CFG_VALSET!
Feb 23 22:58:15 m0054 voxl-px4[2177]: INFO  [muorb] [gps] u-blox firmware version: HPGL1L5 1.40
Feb 23 22:58:15 m0054 voxl-px4[2177]: INFO  [muorb] [gps] u-blox protocol version: 27.40
Feb 23 22:58:15 m0054 voxl-px4[2177]: INFO  [muorb] [gps] u-blox module: ZED-F9P
Feb 23 22:58:15 m0054 voxl-px4[2177]: INFO  [muorb] [health_and_arming_checks] Preflight Fail: Accel 
Feb 23 22:58:15 m0054 voxl-px4[2177]: INFO  [muorb] [health_and_arming_checks] Preflight Fail: Attitu
Feb 23 22:58:15 m0054 voxl-px4[2177]: INFO  [muorb] [health_and_arming_checks] Preflight Fail: Compas

```

Its the same even without the baudrate. I will try the PX4-mainline option.

```

## Reply by emarcphera · 2026-02-28 02:06:39 UTC (in reply to Karteek Gandiboyina)

@Karteek-Gandiboyina the gps drivers on px4 1.14 don't support that gps, it fails some configuration step if I remember correctly and that's why it gets stuck in a detected loop. Switching to mainline px4 worked for me.

## Reply by Karteek Gandiboyina · 2026-02-28 07:45:56 UTC (in reply to emarcphera)

@emarcphera @Eric-Katzfey  thank you so much after upgrading to voxl-mainline im getting GPS reading![Screenshot from 2026-02-28 01-45-10.png](https://forum.modalai.com/assets/uploads/files/1772264739323-screenshot-from-2026-02-28-01-45-10.png)