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    Questions regarding RB5 5G drone

    Qualcomm Flight RB5 5G Drone
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    • E
      Eric Katzfey ModalAI Team @MJ
      last edited by 31 Mar 2022, 16:47

      @MJ There should be a program called ssc_sensor_info. Can you run that and paste the output of that here? Also the output of ls -l /usr/lib/libs*?

      M 1 Reply Last reply 31 Mar 2022, 16:56 Reply Quote 0
      • M
        MJ @Eric Katzfey
        last edited by 31 Mar 2022, 16:56

        @Eric-Katzfey

        sh-4.4# ls -l /usr/lib/libs*
        -rw-r--r-- 1 root root     4010 Oct 27  2015 /usr/lib/libsafe_iop.a
        lrwxrwxrwx 1 root root       18 Oct 27  2015 /usr/lib/libsafe_iop.so -> libsafe_iop.so.0.3
        lrwxrwxrwx 1 root root       18 Oct 27  2015 /usr/lib/libsafe_iop.so.0 -> libsafe_iop.so.0.3
        -rw-r--r-- 1 root root     9976 Oct 27  2015 /usr/lib/libsafe_iop.so.0.3
        -rwxr-xr-x 1 root root   231664 Dec  6 21:46 /usr/lib/libsdsprpc.so
        lrwxrwxrwx 1 root root       22 Dec  6 21:59 /usr/lib/libsensorslog.so -> libsensorslog.so.1.0.0
        lrwxrwxrwx 1 root root       22 Dec  6 21:59 /usr/lib/libsensorslog.so.1 -> libsensorslog.so.1.0.0
        -rwxr-xr-x 1 root root     5648 Dec  6 21:47 /usr/lib/libsensorslog.so.1.0.0
        -rwxr-xr-x 1 root root    42840 Dec  6 21:49 /usr/lib/libsimple_selectors.so
        lrwxrwxrwx 1 root root       19 Dec  6 21:59 /usr/lib/libsns_api.so -> libsns_api.so.0.0.0
        lrwxrwxrwx 1 root root       19 Dec  6 21:59 /usr/lib/libsns_api.so.0 -> libsns_api.so.0.0.0
        -rwxr-xr-x 1 root root    22104 Dec  6 21:47 /usr/lib/libsns_api.so.0.0.0
        lrwxrwxrwx 1 root root       35 Dec  6 21:59 /usr/lib/libsns_direct_channel_stub.so -> libsns_direct_channel_stub.so.1.0.0
        lrwxrwxrwx 1 root root       35 Dec  6 21:59 /usr/lib/libsns_direct_channel_stub.so.1 -> libsns_direct_channel_stub.so.1.0.0
        -rwxr-xr-x 1 root root     9880 Dec  6 21:47 /usr/lib/libsns_direct_channel_stub.so.1.0.0
        lrwxrwxrwx 1 root root       28 Dec  6 21:59 /usr/lib/libsns_fastRPC_util.so -> libsns_fastRPC_util.so.1.0.0
        lrwxrwxrwx 1 root root       28 Dec  6 21:59 /usr/lib/libsns_fastRPC_util.so.1 -> libsns_fastRPC_util.so.1.0.0
        -rwxr-xr-x 1 root root     9880 Dec  6 21:47 /usr/lib/libsns_fastRPC_util.so.1.0.0
        lrwxrwxrwx 1 root root       29 Dec  6 21:59 /usr/lib/libsns_registry_skel.so -> libsns_registry_skel.so.1.0.0
        lrwxrwxrwx 1 root root       29 Dec  6 21:59 /usr/lib/libsns_registry_skel.so.1 -> libsns_registry_skel.so.1.0.0
        -rwxr-xr-x 1 root root     9952 Dec  6 21:47 /usr/lib/libsns_registry_skel.so.1.0.0
        lrwxrwxrwx 1 root root       18 Dec  6 21:59 /usr/lib/libsnsapi.so -> libsnsapi.so.1.0.0
        lrwxrwxrwx 1 root root       18 Dec  6 21:59 /usr/lib/libsnsapi.so.1 -> libsnsapi.so.1.0.0
        -rw-r--r-- 1 root root 12163280 Sep 28  2021 /usr/lib/libsnsapi.so.1.0.0
        lrwxrwxrwx 1 root root       22 Dec  6 21:59 /usr/lib/libsnsdiaglog.so -> libsnsdiaglog.so.1.0.0
        lrwxrwxrwx 1 root root       22 Dec  6 21:59 /usr/lib/libsnsdiaglog.so.1 -> libsnsdiaglog.so.1.0.0
        -rwxr-xr-x 1 root root    22256 Dec  6 21:47 /usr/lib/libsnsdiaglog.so.1.0.0
        lrwxrwxrwx 1 root root       18 Dec  6 21:59 /usr/lib/libsparse.so.0 -> libsparse.so.0.0.0
        -rwxr-xr-x 1 root root    30584 Dec  6 21:46 /usr/lib/libsparse.so.0.0.0
        lrwxrwxrwx 1 root root       15 Dec  6 21:59 /usr/lib/libssc.so -> libssc.so.1.0.0
        lrwxrwxrwx 1 root root       15 Dec  6 21:59 /usr/lib/libssc.so.1 -> libssc.so.1.0.0
        -rwxr-xr-x 1 root root    91992 Dec  6 21:47 /usr/lib/libssc.so.1.0.0
        -rwxr-xr-x 1 root root     9992 Dec  6 21:46 /usr/lib/libssc_default_listener.so
        lrwxrwxrwx 1 root root       15 Dec  6 22:00 /usr/lib/libssd.so -> libssd.so.1.0.0
        lrwxrwxrwx 1 root root       15 Dec  6 22:00 /usr/lib/libssd.so.1 -> libssd.so.1.0.0
        -rwxr-xr-x 1 root root     9896 Dec  6 21:47 /usr/lib/libssd.so.1.0.0
        -rwxr-xr-x 1 root root    46864 Dec  6 21:49 /usr/lib/libstats_calculator_portable.so
        lrwxrwxrwx 1 root root       19 Feb 28  2018 /usr/lib/libstonith.so.1 -> libstonith.so.1.0.0
        -rw-r--r-- 1 root root    26480 Feb 28  2018 /usr/lib/libstonith.so.1.0.0
        -rwxr-xr-x 1 root root    51240 Dec  6 21:47 /usr/lib/libstreamparser.so
        lrwxrwxrwx 1 root root       16 Dec  6 21:59 /usr/lib/libsync.so.0 -> libsync.so.0.0.0
        -rwxr-xr-x 1 root root     9904 Dec  6 21:46 /usr/lib/libsync.so.0.0.0
        -rwxr-xr-x 1 root root    26456 Dec  6 21:46 /usr/lib/libsynx.so
        lrwxrwxrwx 1 root root       20 Dec  6 21:59 /usr/lib/libsysutils.so.0 -> libsysutils.so.0.0.0
        -rwxr-xr-x 1 root root    34728 Dec  6 21:46 /usr/lib/libsysutils.so.0.0.0
        
        sh-4.4# ssc_sensor_info
        ssc_sensor_info v1.7
        sh-4.4#
        
        E 1 Reply Last reply 31 Mar 2022, 18:01 Reply Quote 0
        • E
          Eric Katzfey ModalAI Team @MJ
          last edited by 31 Mar 2022, 18:01

          @MJ Your library listing looks reasonable. But ssc_sensor_info should dump a bunch of information about all of the sensors it sees so there is definitely something wrong there.

          M 1 Reply Last reply 31 Mar 2022, 18:29 Reply Quote 0
          • M
            MJ @Eric Katzfey
            last edited by 31 Mar 2022, 18:29

            @Eric-Katzfey
            Yes...any ideas what to do now? Thanks!

            E 3 Replies Last reply 31 Mar 2022, 18:32 Reply Quote 0
            • E
              Eric Katzfey ModalAI Team @MJ
              last edited by 31 Mar 2022, 18:32

              @MJ We are discussing internally...

              1 Reply Last reply Reply Quote 0
              • E
                Eric Katzfey ModalAI Team @MJ
                last edited by Eric Katzfey 31 Mar 2022, 18:45 31 Mar 2022, 18:36

                @MJ What do you get when you enter ps aux | grep ssc or ps aux | grep sensor?

                M 1 Reply Last reply 31 Mar 2022, 20:22 Reply Quote 0
                • E
                  Eric Katzfey ModalAI Team @MJ
                  last edited by 31 Mar 2022, 18:52

                  @MJ Can your reflash the system image? https://docs.modalai.com/Qualcomm-Flight-RB5-system-image/. It will delete everything on your board so backup any important data before doing this. If ssc_sensor_info doesn't report all of the sensors then px4 will never work as it relies on that ability.

                  M 2 Replies Last reply 31 Mar 2022, 20:26 Reply Quote 0
                  • M
                    MJ @Eric Katzfey
                    last edited by 31 Mar 2022, 20:22

                    @Eric-Katzfey

                    sh-4.4# ps aux | grep ssc
                    system    1273  1.0  0.0   2068  1260 ?        Ss   20:16   0:02 /usr/bin/sscrpcd sensorspd
                    root      3764  0.0  0.0   2708   648 pts/0    S<+  20:20   0:00 grep ssc
                    sh-4.4#
                    
                    sh-4.4# ps aux | grep sensor
                    system    1273  0.9  0.0   2068  1260 ?        Ss   20:16   0:02 /usr/bin/sscrpcd sensorspd
                    sensors   1281  0.0  0.0 186552  5896 ?        Ssl  20:16   0:00 /usr/bin/sensors.qti
                    root      4196  0.0  0.0   2708   620 pts/0    S<+  20:21   0:00 grep sensor
                    sh-4.4#
                    
                    1 Reply Last reply Reply Quote 0
                    • M
                      MJ @Eric Katzfey
                      last edited by 31 Mar 2022, 20:26

                      @Eric-Katzfey
                      Will try to re-flash within a day or two, so I'll get back to you with the updates.

                      1 Reply Last reply Reply Quote 0
                      • M
                        MJ @Eric Katzfey
                        last edited by 31 Mar 2022, 21:43

                        This post is deleted!
                        1 Reply Last reply Reply Quote 0
                        • M
                          MJ
                          last edited by MJ 3 Apr 2022, 22:20 3 Apr 2022, 22:18

                          Re-flash solved all the previous issues.

                          But still I'm unable to arm the unit.

                          Following instruction provided here
                          https://docs.modalai.com/Qualcomm-Flight-RB5-user-guide-first-flight/
                          doesn't help as I receive GPS and AHRS errors (while the unit is placed under open and clear sky).
                          68ed5d99-1a09-4798-8b49-bcba121393ed-image.png
                          Regarding the GPS, I receive the "GPS accuracy too low" (while receiving 10-12 satellites).
                          18064c99-d797-45e3-86d3-720e7288c998-image.png

                          ef1077df-6697-4dc1-87aa-c5753a7b021f-image.png

                          What could be the cause of these errors?
                          Also is the GPS necessary to at least test the motors?
                          Is it possible to fly without the GPS?

                          1 Reply Last reply Reply Quote 0
                          • ?
                            A Former User
                            last edited by 5 Apr 2022, 00:31

                            Hi @MJ ,

                            Check to see if you have your outdoor parameters correctly set: https://gitlab.com/voxl-public/flight-core-px4/px4-parameters/-/tree/master/helpers/rb5

                            Sometimes the ekf2 aid mask is still set to 280.

                            You can arm the drone without GPS by setting COM_ARM_WO_GPS to 1.

                            1 Reply Last reply Reply Quote 1
                            • ?
                              A Former User
                              last edited by 5 Apr 2022, 00:33

                              Also, are the GPS LEDs illuminating? There should be the main one which should go from blue to green when it's ready. And a small one flashing on the side that shows a GPS lock.

                              M 2 Replies Last reply 5 Apr 2022, 20:08 Reply Quote 0
                              • M
                                MJ @Guest
                                last edited by MJ 5 Apr 2022, 20:39 5 Apr 2022, 20:08

                                @RichieRich

                                I have made following changes (WO_GPS to 1 and EFK2_AID_MASK to 1 and to 0)
                                3c5c6c98-2bb7-4852-a561-61679657daba-image.png

                                but now I receive following error:
                                6630e46e-496a-4edf-9c39-b8ffc2d2fdeb-image.png

                                The main GPS LED (blue) slowly blinks, but only in blue color.
                                The FIX LED has short blinks in blue color.

                                Could you please advise what to do?

                                1 Reply Last reply Reply Quote 0
                                • M
                                  MJ
                                  last edited by MJ 6 Apr 2022, 07:31 6 Apr 2022, 07:31

                                  Also when I go to QGC - Vehicle setup - Safety, I get this error
                                  0b7a46dc-eaae-48cf-9587-cca3c59f5fac-image.png

                                  1 Reply Last reply Reply Quote 0
                                  • M
                                    MJ
                                    last edited by 6 Apr 2022, 07:42

                                    When EFK2_AID_MASK is set to 1, following errors occur:

                                    eb9e5812-78b0-4aab-9dd8-256195f54c9d-image.png

                                    I emphasize that drone is under clear and sunny sky
                                    5d749c53-9845-40f2-a181-09578526d535-image.png

                                    1 Reply Last reply Reply Quote 0
                                    • M
                                      MJ @Guest
                                      last edited by 7 Apr 2022, 12:25

                                      @RichieRich
                                      Are there any updates or suggestions regarding above mentioned issues? Thanks!

                                      1 Reply Last reply Reply Quote 0
                                      • ?
                                        A Former User
                                        last edited by A Former User 7 Apr 2022, 17:47 7 Apr 2022, 17:46

                                        EKF2_AID_MASK should be set to 1 for GPS.

                                        Have you set CP_DIST > 0? From the warning, it looks like you have the avoidance system on and it may be seeing something. d5e4c765-1797-4451-bee6-abf63c356689-image.png

                                        How are you mounting the GPS unit? Just an un-modified RB5 with mast? I assume you're outdoors with a clear view of the sky. In some cases, interference will throw that error. Setting COM_ARM_WO_GPS will always allow you to arm despite GPS errors. If you still can't arm, there's usualy another issue, maybe as stated above that the obstacle avoidance system is enabled. Another place to check is in QGC under safeties to ensure the avoidance system is disabled.

                                        Againg for the GPS< Flashing blue, means it's still waiting for the GPS to be fully ready. Small blue LED on the side will flash blue showing a lock.

                                        You can also try opening up the GPS check values or disabling some checks. For instance you can open up ekf2_req_sacc from 0.5 to about 0.75.
                                        4f31c84e-bc33-4668-affc-21723162fc03-image.png

                                        There's also the GPS check you can experiment with to see what exactly the error is to get to ready (most likely interference). You can try turning off bit 4 for instance. Your mask is currently set to the default 245 or 11110101.
                                        f7e4a823-9fb9-4d98-ba03-7aa0eb71d6ef-image.png

                                        6e6e897e-5915-4891-9861-c0b5a7855682-image.png

                                        M 1 Reply Last reply 8 Apr 2022, 17:14 Reply Quote 1
                                        • M
                                          MJ @Guest
                                          last edited by MJ 8 Apr 2022, 17:25 8 Apr 2022, 17:14

                                          @RichieRich
                                          GPS unit is mounted by default (as it comes with RB5 5G drone), mast is locked in vertical postion.
                                          Turning EKF2_REQ_SACC to 0,75 provided no errors from GPS.
                                          Obstacle avoidance was also disabled, so we managed to fly.

                                          But I'm still a bit confused why the obstacle avoidance gives error, since the drone was placed on the ground (concrete pavement), no obstacles within few meters, while the minimum distance was set to only 1 m. But this is current setup that works:
                                          0de5d598-3401-4512-9e7b-3ef8202ef635-image.png

                                          Many thanks for your help. We'll try to figure this out and provide info in a few days.

                                          1 Reply Last reply Reply Quote 0
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