Hi

I have a RB5 with the following SDK version:

rb5:/$ voxl-version
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system-image: 1.7.1-M0052-14.1a-perf-nightly-20231025
kernel:       #1 SMP PREEMPT Thu Oct 26 05:24:02 UTC 2023 4.19.125
--------------------------------------------------------------------------------
hw version:   M0052
--------------------------------------------------------------------------------
voxl-suite:   1.1.2
--------------------------------------------------------------------------------
Packages:
Repo:  http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.1/binary-arm64/
Last Updated: 2025-02-27 20:41:51
List:
        libmodal-cv                 0.4.0
        libmodal-exposure           0.1.0
        libmodal-journal            0.2.2
        libmodal-json               0.4.3
        libmodal-pipe               2.9.2
        libqrb5165-io               0.4.2
        libvoxl-cci-direct          0.2.1
        libvoxl-cutils              0.1.1
        mv-voxl                     0.1-r0
        qrb5165-bind                0.1-r0
        qrb5165-dfs-server          0.2.0
        qrb5165-imu-server          1.0.1
        qrb5165-rangefinder-server  0.1.1
        qrb5165-slpi-test-sig       01-r0
        qrb5165-system-tweaks       0.2.3
        qrb5165-tflite              2.8.0-2
        voxl-bind-spektrum          0.1.0
        voxl-camera-calibration     0.5.3
        voxl-camera-server          1.8.9
        voxl-configurator           0.4.8
        voxl-cpu-monitor            0.4.7
        voxl-docker-support         1.3.0
        voxl-elrs                   0.1.3
        voxl-esc                    1.3.7
        voxl-feature-tracker        0.3.2
        voxl-flow-server            0.3.3
        voxl-gphoto2-server         0.0.10
        voxl-jpeg-turbo             2.1.3-5
        voxl-lepton-server          1.2.0
        voxl-libgphoto2             0.0.4
        voxl-libuvc                 1.0.7
        voxl-logger                 0.3.5
        voxl-mavcam-manager         0.5.3
        voxl-mavlink                0.1.1
        voxl-mavlink-server         1.3.2
        voxl-modem                  1.0.8
        voxl-mongoose               7.7.0-1
        voxl-mpa-to-ros             0.3.7
        voxl-mpa-tools              1.1.3
        voxl-neopixel-manager       0.0.3
        voxl-opencv                 4.5.5-2
        voxl-portal                 0.6.3
        voxl-px4                    1.14.0-2.0.63
        voxl-px4-imu-server         0.1.2
        voxl-px4-params             0.3.3
        voxl-qvio-server            1.0.0
        voxl-remote-id              0.0.9
        voxl-streamer               0.7.4
        voxl-suite                  1.1.2
        voxl-tag-detector           0.0.4
        voxl-tflite-server          0.3.1
        voxl-utils                  1.3.3
        voxl-uvc-server             0.1.6
        voxl-vision-hub             1.7.3
--------------------------------------------------------------------------------

I tried to use encoder parameter in voxl-streamer to record h265 encoded videos from the tracking camera but looks like it was not implemented in this SDK version.

Is there any options to record h265 encoded videos from the tracking camera? Also, is the tracking camera video only grey or it is possible to configure it as coloured?

Thanks

@Alex-Kushleyev

After running "voxl-configure-px4-params --platform MRB-D0006" to configure RB5 PX4 parameters, I could perform an outdoors flight with RB5 using Position Flight Mode without GPS or motor problems: https://youtu.be/D8zP0hOx8wc

It seems that the issue was RB5 running with Sentinel PX4 parameters after SDK upgrade.

Thank you for your help

@Eric-Katzfey @tom

After running "voxl-configure-px4-params --platform MRB-D0006" to configure RB5 PX4 parameters, I could perform an outdoors flight with RB5 using Position Flight Mode without GPS or motor problems: https://youtu.be/D8zP0hOx8wc

It seems that the issue was RB5 running with Sentinel PX4 parameters after SDK upgrade.

Thank you very much guys for your help

@Eric-Katzfey

Ok, thanks

Can I use the file:
https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/blob/master/params/v1.14/ci_helpers/ci_sentinel.params

To configure RB5 px4 parameters using QGC?

I didn't find a specific file to RB5 in the folder

Hi @Alex-Kushleyev

I used the voxl esc spin tool a few times to each motor and all of them worked fine.

Here are one of the outputs: https://www.mediafire.com/file/bw31xds0j2ohlod/motors-spin-test.txt/file

I tried some flights using Position Flight Mode and had the same problem showed in the youtube video above. Here are the logs: https://www.mediafire.com/folder/jbuu2or25tjdr/position-flight-mode-logs

I don't know if the problem really is with the motors or if it could be related to the accelerometer or magnetometer due to the https://forum.modalai.com/topic/3612/outdoor-navigation-gps-problem/11?_=1720094809242 problem, for example, or it might be a misconfiguration of any of the PX4 parameters due to the SDK upgrade...

What are your suggestions?

Thanks!

Hi @Eric-Katzfey

As you said, QGC and PX4 were receiving GPS data from M8N, however, EKF2 couldn't estimate the global and local valid positions.

After changing EKF2_MAG_TYPE, which value was as None, to Automatic, EKF2 could finished the global and local valid positions estimation and the drone became Ready to Fly with no issues from QGC.

So, now, after changing EKF2_REQ_SACC to 0.8m/s and EKF2_MAG_TYPE to Automatic, the drone became Ready to Fly and I could arm it using GPS.

Which is curious though is that here https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/blob/master/params/v1.14/EKF2_helpers/outdoor_gps_baro.params in the EKF2 helper file, which I used to first configure the drone's PX4 params after upgrading from VOXL SDK 0.9.5 to 1.1.2, it says to set EKF2_MAG_TYPE to 0, so I am not sure if setting EKF2_MAG_TYPE to Automatic is the right fix, what are your thoughts? Is 0 meaning Automatic?

After setting EKF2_MAG_TYPE to Automatic, I tried some flights in Position Flight Mode and had the same problems of when I had tried the Manual Flight Mode flights (The one showed in the youtube video above), which @Alex-Kushleyev is helping me to figure it out in the https://forum.modalai.com/topic/3634/rb5-can-t-leave-the-ground-properly-when-flying-in-manual-flight-mode/ topic. The logs can be seen here https://www.mediafire.com/folder/jbuu2or25tjdr/position-flight-mode-logs

Thanks!

Hi @Alex-Kushleyev

Here are the outputs of the voxl-esc-scan and voxl-esc-verify-params

voxl-esc-scan:

Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00)
[GCC 8.4.0]
Found voxl-esc tools bin version: 1.4
VOXL Platform: M0052
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000
Sending library name request: libslpi_qrb5165_io.so
Received standard error event 2
Sending initialization request
INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000, protocol: firmware
INFO: Verifying ESC Params..
INFO: ESC Information:
INFO:
ID : 0
Board : version 34: ModalAi 4-in-1 ESC (M0117-1)
UID : 0x203034305743570C00440044
Firmware : version 39, hash d4fe8e3d
Bootloader : version 183, hash 25317f42
Params : ../voxl-esc-params/Sentinel_V1/Sentinel_V1.xml
ID : 1
Board : version 34: ModalAi 4-in-1 ESC (M0117-1)
UID : 0x203034305743570C0037003C
Firmware : version 39, hash d4fe8e3d
Bootloader : version 183, hash 25317f42
Params : ../voxl-esc-params/Sentinel_V1/Sentinel_V1.xml
ID : 2
Board : version 34: ModalAi 4-in-1 ESC (M0117-1)
UID : 0x203034305743570C0044003D
Firmware : version 39, hash d4fe8e3d
Bootloader : version 183, hash 25317f42
Params : ../voxl-esc-params/Sentinel_V1/Sentinel_V1.xml
ID : 3
Board : version 34: ModalAi 4-in-1 ESC (M0117-1)
UID : 0x203034305743570C0037003B
Firmware : version 39, hash d4fe8e3d
Bootloader : version 183, hash 25317f42
Params : ../voxl-esc-params/Sentinel_V1/Sentinel_V1.xml

voxl-esc-verify-params:

Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00)
[GCC 8.4.0]
Found voxl-esc tools bin version: 1.4
VOXL Platform: M0052
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000
Sending library name request: libslpi_qrb5165_io.so
Received standard error event 2
Sending initialization request
INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000
INFO: Params from ID 0 match ../voxl-esc-params/Sentinel_V1/Sentinel_V1.xml
INFO: Params from ID 1 match ../voxl-esc-params/Sentinel_V1/Sentinel_V1.xml
INFO: Params from ID 2 match ../voxl-esc-params/Sentinel_V1/Sentinel_V1.xml
INFO: Params from ID 3 match ../voxl-esc-params/Sentinel_V1/Sentinel_V1.xml
INFO: Success! Params in all ESCs are valid and identical.

No, I had never used the voxl-esc tool before.

The vehicle was running with VOXL SDK 0.9.5 (not sure if it had the voxl-esc tool) and PX4 1.12beta and we did have a few successful flights, so the motors were working properly.

After upgrading to VOXL SDK 1.1.2 and PX4 1.14 the issue started happening and we could not flight fine yet.

Thanks!

Hi @Eric-Katzfey

Yeah, I will try in another open field in a different location and experiment with the various GPS thresholds you mentioned. Thanks!

We did a site survey in the open field area we tried the flights and we got the results below:

We used an AARONIA AG HyperLOG Broadband Directional antenna and a Spectrum Analyzer.

It might help.

Hi,

When I tried a few outdoor flights with manual flight mode without GPS (EKF2_GPS_CHECK=1 && COM_ARM_WO_GPS=1), one of the drone's rotors seemed to not be working properly. You can see it in this video: https://www.youtube.com/watch?v=F7ug6u2W8Yw

It happened after upgrading from VOXL SDK 0.9.5 to 1.1.2 and during testing flights to the https://forum.modalai.com/topic/3612/outdoor-navigation-gps-problem/ problem.

Here are the logs of two of the outdoor flight attempts with manual flight mode: https://www.mediafire.com/folder/qhidipn0n1xng/RB5-outdoor-flight-logs

Is there any PX4 parameter I could change in order to try to fix it?

Thanks!

@Moderator Yes, how can I do that?

@Eric-Katzfey, yes I am trying outdoors. I am even waiting more than 10 minutes too see if the GPS locks but it doesnt

Here are the logs of two of the outdoor flight attempts with manual flight mode: https://www.mediafire.com/folder/qhidipn0n1xng/RB5-outdoor-flight-logs

When I tried the outdoor flights with manual flight mode, one of the drone's rotors seemed to not be working properly. You can see it in this video: https://www.youtube.com/watch?v=F7ug6u2W8Yw

Is there any PX4 parameter I could change in order to try to fix it?

It happened after upgrading from VOXL SDK 0.9.5 to 1.1.2...

Thanks in advance!