Hello,
We are interested in purchasing a 3D Lidar scanner and would appreciate any recommendations you may have that are compatible with our drones.

Drone Model: RB5 5G
Hardware Version: M0052
VOXL-Suite Version: 1.1.2
PX4 Version: 1.14.0dev

@Eric-Katzfey ok, Thanks, we tested GPS M10 and the problem solved.

@Eric-Katzfey

@Eric-Katzfey i got this error
rb5:~$ px4-qshell ist8310 start -R 10 -X -b 1
INFO [qshell] Send cmd: 'ist8310 start -R 10 -X -b 1'
INFO [qshell] cmd returned with: -1
INFO [qshell] qshell return value timestamp: 670686689, local time: 670688462
ERROR [qshell] Command failed
rb5:~$ px4-qshell ist8310 start

also qshell ist8310 start -R 10 -X -b 1. same error

@Eric-Katzfey I changed, but it seems the problem is the GPS device, because when we change the GPS drone can go to position mode, but we still have a problem with MAG, we have to turn off the MAG, The drone can not go to position mode, and also we have too much drift.

when we set EKF2_GPS_CHECK to 1:
rb5:~$ journalctl -b --no-pager -u voxl-px4
-- Logs begin at Thu 2023-03-02 12:58:05 UTC, end at Mon 2024-05-27 13:54:15 UTC. --
May 27 13:54:15 m0052 voxl-px4[1896]: ta rate: 100000 B/s on udp port 14556 remote port 14557
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Advertising remote topic telemetry_status
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [mavlink] partner IP: 127.0.0.1
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Advertising remote topic obstacle_distance
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Advertising remote topic vehicle_visual_odometry
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Advertising remote topic timesync_status
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Advertising remote topic actuator_controls_status_0
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Advertising remote topic estimator_aid_src_ev_hgt
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Advertising remote topic estimator_aid_src_ev_pos
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Advertising remote topic estimator_aid_src_ev_vel
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Advertising remote topic estimator_aid_src_ev_yaw
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [mavlink] mode: Normal, data rate: 100000 B/s on udp port 14558 remote port 14559
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Marking DeviceNode(telemetry_status) as advertised in process_remote_topic
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [px4] Startup script returned successfully
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [gps] Sending initial CFG_VALSET. Attempt: 2
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Marking DeviceNode(vehicle_command_ack) as advertised in process_remote_topic
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Preflight Fail: Found 0 compass (required: 1)
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [gps] Sending initial CFG_VALSET. Attempt: 3
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Advertising remote topic vehicle_rates_setpoint
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Preflight Fail: Found 0 compass (required: 1)
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [gps] u-blox firmware version: SPG 3.01
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [gps] u-blox protocol version: 18.00
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [gps] u-blox module: NEO-M8N-0
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [mavlink] partner IP: 127.0.0.1
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Marking DeviceNode(sensor_gps) as advertised in process_remote_topic
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Advertising remote topic home_position
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Advertising remote topic estimator_gps_status
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Advertising remote topic estimator_aid_src_gnss_hgt
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Advertising remote topic estimator_aid_src_gnss_pos
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Advertising remote topic estimator_aid_src_gnss_vel
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Advertising remote topic mission_result
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Preflight Fail: Found 0 compass (required: 1)
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Advertising remote topic ping
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Advertising remote topic vehicle_global_position
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Advertising remote topic estimator_baro_bias
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Preflight Fail: Found 0 compass (required: 1)
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Preflight Fail: horizontal velocity unstable
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Preflight Fail: Found 0 compass (required: 1)
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Preflight Fail: horizontal velocity unstable
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Preflight Fail: Found 0 compass (required: 1)
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Advertising remote topic estimator_ev_pos_bias
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Preflight Fail: height estimate not stable
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Preflight Fail: Found 0 compass (required: 1)
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Preflight Fail: height estimate not stable
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Marking DeviceNode(mavlink_log) as advertised in process_remote_topic
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Armed by RC
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [logger] Start file log (type: full)
May 27 13:54:15 m0052 voxl-px4[1896]: WARN [uORB] orb_advertise_multi: failed to set queue size
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [logger] [logger] /data/px4/log/2024-05-27/13_52_37.ulg
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [logger] Opened full log file: /data/px4/log/2024-05-27/13_52_37.ulg
May 27 13:54:15 m0052 voxl-px4[1896]: WARN [mavlink] Event dropped (80, 65526)
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Advertising remote topic logger_status
May 27 13:54:15 m0052 voxl-px4[1896]: WARN [mavlink] Dropped 65446 events (seq=65526)
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Takeoff detected
May 27 13:54:15 m0052 voxl-px4[1896]: WARN [mavlink] Event dropped (65527, 80)
May 27 13:54:15 m0052 voxl-px4[1896]: WARN [mavlink] Dropped 71 events (seq=80)
May 27 13:54:15 m0052 voxl-px4[1896]: WARN [mavlink] Event dropped (65527, 80)
May 27 13:54:15 m0052 voxl-px4[1896]: WARN [mavlink] Dropped 71 events (seq=80)
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Advertising remote topic yaw_estimator_status
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Advertising remote topic hover_thrust_estimate
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Landing detected
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Disarmed by RC
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [uORB] Marking DeviceNode(parameter_server_set_value_request) as advertised in process_remote_topic
May 27 13:54:15 m0052 voxl-px4[1896]: INFO [muorb] SLPI: Marking DeviceNode(parameter_server_set_value_response) as advertised in process_remote_topic

@Eric-Katzfey
journalctl -b --no-pager -u voxl-px4
-- Logs begin at Tue 2024-03-26 14:30:53 UTC, end at Fri 2024-05-24 08:11:43 UTC. --
May 24 08:05:33 m0052 voxl-px4[1924]: remote topic estimator_aid_src_ev_hgt
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic estimator_aid_src_ev_pos
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic estimator_aid_src_ev_vel
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic estimator_aid_src_ev_yaw
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [mavlink] mode: Normal, data rate: 100000 B/s on udp port 14558 remote port 14559
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Marking DeviceNode(telemetry_status) as advertised in process_remote_topic
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [px4] Startup script returned successfully
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [gps] Sending initial CFG_VALSET. Attempt: 2
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Marking DeviceNode(vehicle_command_ack) as advertised in process_remote_topic
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [gps] Sending initial CFG_VALSET. Attempt: 3
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [gps] u-blox firmware version: SPG 3.01
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [gps] u-blox protocol version: 18.00
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [gps] u-blox module: NEO-M8N-0
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Marking DeviceNode(sensor_gps) as advertised in process_remote_topic
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Horizontal Pos Error too high
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic estimator_gps_status
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic estimator_aid_src_gnss_hgt
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic estimator_aid_src_gnss_pos
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic estimator_aid_src_gnss_vel
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic home_position
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Horizontal Pos Error too high
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Advertising remote topic mission_result
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Horizontal Pos Error too high
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Horizontal Pos Drift too high
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Horizontal Pos Drift too high
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Horizontal Pos Drift too high
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Horizontal Pos Drift too high
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Vertical Pos Drift too high
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Vertical Pos Drift too high
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Vertical Pos Drift too high
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Vertical Pos Drift too high
May 24 08:05:33 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:08:38 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:08:38 m0052 voxl-px4[1924]: INFO [mavlink] partner IP: 127.0.0.1
May 24 08:08:38 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Marking DeviceNode(vehicle_command_ack) as advertised in process_remote_topic
May 24 08:08:38 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:08:38 m0052 voxl-px4[1924]: INFO [muorb] SLPI: orb_advertise_multi: failed to set queue size
May 24 08:08:38 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Advertising remote topic ping
May 24 08:08:38 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:08:38 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:08:38 m0052 voxl-px4[1924]: INFO [rc_input] RC scan: DSM RC input locked
May 24 08:08:38 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Marking DeviceNode(input_rc) as advertised in process_remote_topic
May 24 08:08:38 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic rc_channels
May 24 08:08:38 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic manual_control_input
May 24 08:08:38 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic manual_control_switches
May 24 08:08:38 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic action_request
May 24 08:08:38 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic vehicle_local_position_setpoint
May 24 08:08:38 m0052 voxl-px4[1924]: INFO [uORB] Marking DeviceNode(vehicle_attitude_setpoint) as advertised in process_remote_topic
May 24 08:08:38 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic trajectory_setpoint
May 24 08:08:38 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic vehicle_constraints
May 24 08:08:38 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:08:38 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:08:38 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:08:38 m0052 voxl-px4[1924]: INFO [uORB] Marking DeviceNode(mavlink_log) as advertised in process_remote_topic
May 24 08:08:38 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Armed by RC
May 24 08:08:38 m0052 voxl-px4[1924]: INFO [logger] Start file log (type: full)
May 24 08:08:38 m0052 voxl-px4[1924]: WARN [uORB] orb_advertise_multi: failed to set queue size
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [logger] [logger] /data/px4/log/2024-05-24/08_08_38.ulg
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [logger] Opened full log file: /data/px4/log/2024-05-24/08_08_38.ulg
May 24 08:10:12 m0052 voxl-px4[1924]: WARN [mavlink] Event dropped (1017, 65526)
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Advertising remote topic logger_status
May 24 08:10:12 m0052 voxl-px4[1924]: WARN [mavlink] Dropped 64509 events (seq=65526)
May 24 08:10:12 m0052 voxl-px4[1924]: WARN [mavlink] Event dropped (65527, 1021)
May 24 08:10:12 m0052 voxl-px4[1924]: WARN [mavlink] Dropped 1012 events (seq=1021)
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Takeoff detected
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic yaw_estimator_status
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [uORB] Advertising remote topic hover_thrust_estimate
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [uORB] Marking DeviceNode(mavlink_log) as advertised in process_remote_topic
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Failsafe activated
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Landing detected
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Disarmed by landing
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [uORB] Marking DeviceNode(parameter_server_set_value_request) as advertised in process_remote_topic
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Marking DeviceNode(parameter_server_set_value_response) as advertised in process_remote_topic
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [logger] closed logfile, bytes written: 7440215
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Kill-switch engaged
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [uORB] Marking DeviceNode(vehicle_command) as advertised in process_remote_topic
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:10:12 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight: GPS Speed Accuracy too low
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Kill switch engaged
May 24 08:11:09 m0052 voxl-px4[1924]: INFO [muorb] SLPI: Preflight Fail: Flight termination active
rb5:~$

@Eric-Katzfey We tested all seven drones and only two of them are working. However, when we swapped the GPS devices, the working drones also failed to work. This suggests that the issue might be with the GPS devices themselves.
Specifically, two GPS devices work with different drones, but the remaining five GPS devices do not work with any of the drones.
Also when we set the SYS_HAS_MAG to 1, the drones can not fly, so we set it to 0 (all the drones)
it seems we have the hardware problem
What we should do now?

@Eric-Katzfey Yesterday I tested seven drones with outdoor parameters. One of them could fly in position mode, and another could fly in position mode but was drifting. The remaining five drones couldn't enter position mode.

The same drones, the same parameters, and the same environment, but different behaviour.

@Eric-Katzfey Yes, manual and altitude modes work well,

1. I started with GPS+Mag+baro but drones couldn't find the mag, sometimes finding the mag but suddenly losing it.
2. I used VIO but sometimes lost the figures and lost the position.
3. Yes, I loaded the specific parameters file for outdoor, and indoor, I tested all of them and checked all the scenarios, but drones outdoors can't fly in position mode without VIO, and with VIO is not stable.

When I turned on the Mag, I had an error: No valid data from Compass 0

@Amin-Bassiri here is the log file:

https://review.px4.io/plot_app?log=c211415b-7b67-44e6-bf0b-ec5f963f5c85