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    Questions regarding RB5 5G drone

    Qualcomm Flight RB5 5G Drone
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    • M
      MJ
      last edited by MJ

      I would kindly ask you to provide some information:

      1. I have updated the SDK to the latest version (1.1.3), successfully (according to the online instructions, including re-enabling all the services).
        After the update, I'm not able to connect to the QCG (it was operational prior to the update). 
        Looking to the config file / script /etc/modalai/full-m0052.config, seems this file was changed after the update, and now is using the find-qgc-address command. When I try to use this command from the command line, it provides no response (NULL).

      When I executed following commands, the result is as follows:
      root@qrb5165-rb5:~# systemctl enable rb5-px4-start

      root@qrb5165-rb5:~# systemctl status rb5-px4-start
      ● rb5-px4-start.service - rb5-px4-start
         Loaded: loaded (/etc/systemd/system/rb5-px4-start.service; enabled; vendor preset: enabled)
         Active: inactive (dead)

      The same status (inactive) is also shown after the reboot.

      Could you please advise how to configure the system to connect to QCG, as current instruction do not provide updated info?

      1. How to configure output RTSP video stream from cam3? Currently we're receiving 640x480@30 fps, but would like to use full 4k.

      2. I ordered Pro Dev Kit w/ 5G. It arrived with DX 6e RC. Seems the RC is paired with the receiver, since the receiver LED is lit still orange (when the transmitter is turned on). But we're unable to arm the drone according to the online guide (https://docs.modalai.com/Qualcomm-Flight-RB5-user-guide-pre-flight-setup/  and https://docs.modalai.com/Qualcomm-Flight-RB5-user-guide-first-flight/).
        Could you please advise what is Aux2 Gov switch, since it is placed on ch7, and our transmitter has only 6 channels? Could you please provide short instructions how to configure the RC and the RX?

      c9a3b428-851c-46d9-b1d5-271d1d8f694c-image.png

      1 Reply Last reply Reply Quote 0
      • ?
        A Former User
        last edited by A Former User

        Hi @MJ ,

        I hope all is well!

        A good indicator to follow is that the ESC blue LEDs flash at the bottom of the drone when PX4 starts up. If there is an issue and rb5-px4-start service doesn't start, then we will see no blue LEDs flashing.

        If you would like to set a specific QGC IP you can set it here and PX4 picks it up at start-up:

        d353e3ba-e21e-446a-a2ce-4477eaedbe3a-image.png

        By the way, what is your console output when you run px4-versions ?

        Did you update your Wifi settings? PX4 needs a working network interface with IP address.

        Did you update the netcheck service as well for Wifi, such as wlan0, in this case it shows eth1 on 192.168 subnet:
        63083a7c-712c-4bf1-a8bd-6f9c84d64bfa-image.png

        Regarding the video stream or rb5-streamer, I believe the resolution is fixed. I'm unsure the full 4K could stream, but may only be able to saved to file at such a high resolution. 1080p should work I believe. I could look into releasing source code for modification if helpful.

        And regarding RC channels, you can get by with 6 channels. The 7th channel in the example is for the kill switch, which is helpful in some cases: https://docs.modalai.com/Qualcomm-Flight-RB5-user-guide-pre-flight-setup/
        You can have all your main flight modes on channel 5 then have the kill switch or another function on channel 6 by using this QGC menu:

        367e4621-09aa-4eaf-bca7-4d52dd25b203-image.png

        M 1 Reply Last reply Reply Quote 0
        • Chad SweetC
          Chad Sweet Dev Team
          last edited by

          The RTSP streaming capabilities will heavily depend on network capacity. The QRB5165 is capable of encoding 8k30, but that is a lot of bandwidth.

          To configure different streaming capabilities, disable the rb5-streamer service and use gstreamer on your own. The rb5-streamer app was based off of the code found here

          M 1 Reply Last reply Reply Quote 0
          • M
            MJ @Guest
            last edited by

            @RichieRich
            Thank you for your excellent advice.

            I will try to explain my current configuration. For local testing and configuration I'm using ADB and local WLAN. For final application I would like to use 5G network.
            Of course, I need VPN (and will use OpenVPN) to provide connection between the ground station and the drone. For OpenVPN server I'm using some Mikrotik appliance configured to provide fixed, predefined IP addresses to GC and the drone.
            Ground Control always receives 192.168.88.20
            Drone always receives 192.168.88.21
            Both are mutually "visible" and can communicate. This is working without issues.

            In regard to your first question, here is the result of
            sh-4.4# px4-versions
            modalai-slpi/unknown,now 1.0-6 arm64 [installed]
            px4-rb5-flight/unknown,now 1.4-6 arm64 [installed]
            px4-support/unknown,now 1.0-4 arm64 [installed]
            libfc-sensor/unknown,now 1.0-2 arm64 [installed]
            1.0.5-M0052-9.1-perf

            Here is the result of ifconfig on the drone. wwan0 is the 5G connection, tun0 is the OpenVPN connection tunnel.

            sh-4.4# ifconfig
            bond0: flags=5123<UP,BROADCAST,MASTER,MULTICAST> mtu 1500
            ether 7a:19:6d:34:23:5d txqueuelen 1000 (Ethernet)
            RX packets 0 bytes 0 (0.0 B)
            RX errors 0 dropped 0 overruns 0 frame 0
            TX packets 0 bytes 0 (0.0 B)
            TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

            dummy0: flags=195<UP,BROADCAST,RUNNING,NOARP> mtu 1500
            inet6 fe80::98d0:c594:6a01:f80a prefixlen 64 scopeid 0x20<link>
            ether d6:41:ed:11:b0:d3 txqueuelen 1000 (Ethernet)
            RX packets 0 bytes 0 (0.0 B)
            RX errors 0 dropped 0 overruns 0 frame 0
            TX packets 13 bytes 3394 (3.3 KB)
            TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

            lo: flags=73<UP,LOOPBACK,RUNNING> mtu 65536
            inet 127.0.0.1 netmask 255.0.0.0
            inet6 ::1 prefixlen 128 scopeid 0x10<host>
            loop txqueuelen 1000 (Local Loopback)
            RX packets 60750 bytes 10831838 (10.8 MB)
            RX errors 0 dropped 0 overruns 0 frame 0
            TX packets 60750 bytes 10831838 (10.8 MB)
            TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

            tun0: flags=4305<UP,POINTOPOINT,RUNNING,NOARP,MULTICAST> mtu 1500
            inet 192.168.88.21 netmask 255.255.255.0 destination 192.168.88.21
            inet6 fe80::b41d:2608:5fb4:fcc5 prefixlen 64 scopeid 0x20<link>
            unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 txqueuelen 100 (UNSPEC)
            RX packets 59 bytes 7414 (7.4 KB)
            RX errors 0 dropped 0 overruns 0 frame 0
            TX packets 96 bytes 18438 (18.4 KB)
            TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

            wlan0: flags=4099<UP,BROADCAST,MULTICAST> mtu 1500
            ether 00:03:7f:12:a2:e9 txqueuelen 3000 (Ethernet)
            RX packets 0 bytes 0 (0.0 B)
            RX errors 0 dropped 0 overruns 0 frame 0
            TX packets 0 bytes 0 (0.0 B)
            TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

            wwan0: flags=4305<UP,POINTOPOINT,RUNNING,NOARP,MULTICAST> mtu 1430
            inet 10.194.65.175 netmask 255.255.255.224 destination 10.194.65.175
            unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 txqueuelen 1000 (UNSPEC)
            RX packets 14127 bytes 18472229 (18.4 MB)
            RX errors 0 dropped 0 overruns 0 frame 0
            TX packets 1408 bytes 110804 (110.8 KB)
            TX errors 7 dropped 0 overruns 0 carrier 0 collisions 0

            I have placed following configuration in /etc/systemd/system/rb5-net-check.service
            [Unit]
            Description=rb5-net-check
            #After=sscrpcd.service ---> this is commented
            After=openvpn.service ---> I wait for openvpn to start
            Requires=sscrpcd.service

            [Service]
            Type=oneshot
            ExecStart=/usr/bin/rb5-net-check tun0 192.168
            RemainAfterExit=yes

            [Install]
            WantedBy=multi-user.target

            Also I have added the IP 192.168.88.20 to the /etc/modalai/qgc-ip.cfg.

            The result of
            sh-4.4# rb5-net-check tun0
            192.168.88.21

            is as expected, ok.

            But I have issue with PX4. I am not sure what to do here (also the blue LEDs do not blink, as it was before the update).

            sh-4.4# systemctl status rb5-px4-start
            ● rb5-px4-start.service - rb5-px4-start
            Loaded: loaded (/etc/systemd/system/rb5-px4-start.service; enabled; vendor pr
            Active: failed (Result: exit-code) since Wed 2022-03-30 18:58:41 UTC; 4min 46
            Process: 2671 ExecStart=/bin/bash -c PATH=/usr/bin m0052-px4 -d (code=exited,
            Main PID: 2671 (code=exited, status=134)

            sh-4.4# systemctl enable rb5-px4-start
            sh-4.4# systemctl status rb5-px4-start
            ● rb5-px4-start.service - rb5-px4-start
            Loaded: loaded (/etc/systemd/system/rb5-px4-start.service; enabled; vendor pr
            Active: failed (Result: exit-code) since Wed 2022-03-30 18:58:41 UTC; 5min ag
            Main PID: 2671 (code=exited, status=134)

            Mar 30 18:58:33 qrb5165-rb5 systemd[1]: Started rb5-px4-start.
            Mar 30 18:58:41 qrb5165-rb5 bash[2671]: terminate called after throwing an insta
            Mar 30 18:58:41 qrb5165-rb5 bash[2671]: what(): FATAL: could not find sensors
            Mar 30 18:58:41 qrb5165-rb5 bash[2671]: /usr/bin/m0052-px4: line 18: 2672 Abort
            Mar 30 18:58:41 qrb5165-rb5 systemd[1]: rb5-px4-start.service: Main process exit
            Mar 30 18:58:41 qrb5165-rb5 systemd[1]: rb5-px4-start.service: Failed with resul

            When I start the QGroundControl, I can receive the video from the drone without any issues (as it is independent from CC link).

            Could you provide some idea how to debug and resolve the issues with PX4? Many thanks!

            M 1 Reply Last reply Reply Quote 0
            • M
              MJ @Chad Sweet
              last edited by

              @Chad-Sweet Thank you, will try this soon.

              1 Reply Last reply Reply Quote 0
              • M
                MJ @MJ
                last edited by MJ

                Since some text was missing, I have attached the complete dump here:

                root@qrb5165-rb5:~# systemctl status rb5-px4-start
                ● rb5-px4-start.service - rb5-px4-start
                Loaded: loaded (/etc/systemd/system/rb5-px4-start.service; enabled; vendor preset: enabled)
                Active: failed (Result: exit-code) since Wed 2022-03-30 21:14:17 UTC; 11min ago
                Main PID: 2320 (code=exited, status=134)

                Mar 30 21:14:08 qrb5165-rb5 systemd[1]: Started rb5-px4-start.
                Mar 30 21:14:17 qrb5165-rb5 bash[2320]: terminate called after throwing an instance of 'std::runtime_error'
                Mar 30 21:14:17 qrb5165-rb5 bash[2320]: what(): FATAL: could not find sensors QMI service
                Mar 30 21:14:17 qrb5165-rb5 bash[2320]: /usr/bin/m0052-px4: line 18: 2321 Aborted px4 $DAEMON -s /etc/modalai/full-m0052.config
                Mar 30 21:14:17 qrb5165-rb5 systemd[1]: rb5-px4-start.service: Main process exited, code=exited, status=134/n/a
                Mar 30 21:14:17 qrb5165-rb5 systemd[1]: rb5-px4-start.service: Failed with result 'exit-code'.

                Here is the full-m0052.config (unedited, from January 2022)
                https://pastebin.com/j5WNgF5Q

                Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                • Eric KatzfeyE
                  Eric Katzfey Dev Team @MJ
                  last edited by

                  @MJ Can you disable the startup service? systemctl disable rb5-px4-start and then reboot. Then, adb into the RB5 and launch px4 from the command line m0052-px4 and paste the output of that here. That should tell us more information about what is going wrong.

                  M 1 Reply Last reply Reply Quote 0
                  • M
                    MJ @Eric Katzfey
                    last edited by MJ

                    @Eric-Katzfey

                    Please find the output here:
                    c99cb244-8078-428a-87ea-71be0c47fc45-image.png

                    root@qrb5165-rb5:~# m0052-px4
INFO  [px4] mlockall() enabled. PX4's virtual address space is locked into RAM.
INFO  [px4] assuming working directory is rootfs, no symlinks needed.

______  __   __    ___
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [px4] Calling startup script: /bin/sh /etc/modalai/full-m0052.config 0
terminate called after throwing an instance of 'std::runtime_error'
  what():  FATAL: could not find sensors QMI service
/usr/bin/m0052-px4: line 18:  5180 Aborted                 px4 $DAEMON -s /etc/modalai/full-m0052.config

                    I tried this several times, every time exact the same message.

                    Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                    • Eric KatzfeyE
                      Eric Katzfey Dev Team @MJ
                      last edited by

                      @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 Reply Quote 0
                      • M
                        MJ @Eric Katzfey
                        last edited by

                        @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#
                        Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                        • Eric KatzfeyE
                          Eric Katzfey Dev Team @MJ
                          last edited by

                          @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 Reply Quote 0
                          • M
                            MJ @Eric Katzfey
                            last edited by

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

                            Eric KatzfeyE 3 Replies Last reply Reply Quote 0
                            • Eric KatzfeyE
                              Eric Katzfey Dev Team @MJ
                              last edited by

                              @MJ We are discussing internally...

                              1 Reply Last reply Reply Quote 0
                              • Eric KatzfeyE
                                Eric Katzfey Dev Team @MJ
                                last edited by Eric Katzfey

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

                                M 1 Reply Last reply Reply Quote 0
                                • Eric KatzfeyE
                                  Eric Katzfey Dev Team @MJ
                                  last edited by

                                  @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 Reply Quote 0
                                  • M
                                    MJ @Eric Katzfey
                                    last edited by

                                    @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

                                      @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

                                        This post is deleted!
                                        1 Reply Last reply Reply Quote 0
                                        • M
                                          MJ
                                          last edited by MJ

                                          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

                                            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.

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