Posts made by Andre Moura

@JoshRebello I'm sorry, I don't remember the value.

@JoshRebello We solved this issue with an RMA, motherboard was damaged according to the RMA report.

@tom I tried it extensively with different cables/ports/computers during today with no result.

@tom Definitely not on the VOXL 2, I checked it beacause of the output of lsusb that I showed previously.
Add-on board? Is there another switch on the 5G board or one of the Sentinel boards? I think that is a very unlikely scenario, the drone was working one day and the next it wasn't, without any changes.

@Adrian-Hidalgo The LEDs are always solid green.
Did what you suggested, but the install script didn't work. Got this:

Installer Version: 0.8
Image Version:     1.5.5
[ERROR] No device found in adb or fastboot
[INFO] Failed to put device in fastboot mode, exiting

@Chad-Sweet Ok, thank you for clarifying!

@Adrian-Hidalgo We have been powering the drone only with batteries, never used an external power supply.
On our last tests, we were using only the services already available on the VOXL 2. With a minor modification to the voxl-tag-detector service, to use the front stereo pair, instead of the tracking camera.

Hello,

Our Sentinel drone was working yesterday when we left work, but this morning it wouldn't boot: no Wi-Fi network, no devices listed with adb devices, lights on the ESC don't stay on after the first seconds, and no lights on the GPS sensor.
The LEDs on the VOXL 2 main board and 5G board all seem to be on their normal state.

I think it is important to say that, at this point, lsusb was outputting:

Bus 004 Device 004: ID 05c6:9008 Qualcomm, Inc. Gobi Wireless Modem (QDL mode)

, and not something like Bus 004 Device 033: ID 05c6:901d Qualcomm, Inc. KONA-QRD _SN:FDF5950D as we were expecting from seeing this post. We found the QDL mode part to be a little bit odd, but please confirm if this is normal for a Sentinel drone that was unaltered (HW and SW).

After discovering this, we removed the VOXL2 board from the drone and tested fastboot.
For this, we carefully followed all the steps on this tutorial, but no devices were listed by the fastboot devices command.

Since this was also not working, we followed the VOXL 2 QDL Guide to try and flash the VOXL2 QDL Image 14.1a_1.1.2. What we got was:

andre@andre:~/1.1.2-M0054-14.1a-FLAT-V3/ufs$ sudo qdl --debug --storage ufs --include . prog_firehose_ddr.elf rawprogram_unsparse0.xml rawprogram1.xml rawprogram2.xml rawprogram3.xml rawprogram4.xml rawprogram5.xml patch0.xml patch1.xml patch2.xml patch3.xml patch4.xml patch5.xml
Waiting for EDL device
HELLO version: 0x2 compatible: 0x1 max_len: 1024 mode: 0
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DONE status: 1
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: Binary build date: Aug 17 2021 @ 23:37:37" /></data>
LOG: INFO: Binary build date: Aug 17 2021 @ 23:37:37
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: Binary build date: Aug 17 2021 @ 23:37:37
" /></data>
LOG: INFO: Binary build date: Aug 17 2021 @ 23:37:37 
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: Chip serial num: 1794324607 (0x6af3387f)" /></data>
LOG: INFO: Chip serial num: 1794324607 (0x6af3387f)
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: Supported Functions (15):" /></data>
LOG: INFO: Supported Functions (15):
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: program" /></data>
LOG: INFO: program
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: read" /></data>
LOG: INFO: read
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: nop" /></data>
LOG: INFO: nop
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: patch" /></data>
LOG: INFO: patch
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: configure" /></data>
LOG: INFO: configure
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: setbootablestoragedrive" /></data>
LOG: INFO: setbootablestoragedrive
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: erase" /></data>
LOG: INFO: erase
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: power" /></data>
LOG: INFO: power
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: firmwarewrite" /></data>
LOG: INFO: firmwarewrite
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: getstorageinfo" /></data>
LOG: INFO: getstorageinfo
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: benchmark" /></data>
LOG: INFO: benchmark
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: emmc" /></data>
LOG: INFO: emmc
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: ufs" /></data>
LOG: INFO: ufs
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: fixgpt" /></data>
LOG: INFO: fixgpt
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: getsha256digest" /></data>
LOG: INFO: getsha256digest
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: End of supported functions 15" /></data>
LOG: INFO: End of supported functions 15
qdl: firehose operation timed out
FIREHOSE WRITE: <?xml version="1.0"?>
<data><configure MemoryName="ufs" MaxPayloadSizeToTargetInBytes="1048576" verbose="0" ZLPAwareHost="1" SkipStorageInit="0"/></data>

FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: Calling handler for configure" /></data>
LOG: INFO: Calling handler for configure
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: Storage type set to value UFS" /></data>
LOG: INFO: Storage type set to value UFS
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<response value="ACK" MemoryName="UFS" MinVersionSupported="1" Version="1" MaxPayloadSizeToTargetInBytes="1048576" MaxPayloadSizeToTargetInBytesSupported="1048576" MaxXMLSizeInBytes="4096" DateTime="Aug 17 2021 - 23:37:37" /></data>
[CONFIGURE] max payload size: 1048576
FIREHOSE WRITE: <?xml version="1.0"?>
<data><program SECTOR_SIZE_IN_BYTES="4096" num_partition_sectors="32776" physical_partition_number="0" start_sector="3154440" filename="qti-ubuntu-robotics-image-qrb5165-rb5-sysfs_1.ext4"/></data>

FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: Calling handler for program" /></data>
LOG: INFO: Calling handler for program
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="ERROR: Failed to initialize (open whole lun) UFS Device slot 0 partition 0" /></data>
LOG: ERROR: Failed to initialize (open whole lun) UFS Device slot 0 partition 0
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="ERROR: Failed to open the device:3 slot:0 partition:0 error:0" /></data>
LOG: ERROR: Failed to open the device:3 slot:0 partition:0 error:0
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="ERROR: OPEN handle NULL and no error, weird 344489460" /></data>
LOG: ERROR: OPEN handle NULL and no error, weird 344489460
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="ERROR: Failed to open device, type:UFS, slot:0, lun:0 error:3" /></data>
LOG: ERROR: Failed to open device, type:UFS, slot:0, lun:0 error:3
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<response value="NAK" rawmode="false" /></data>
[PROGRAM] failed to setup programming

Or sometimes, after this, the command would run instantly but with no console output.

We are having a lot of difficulties figuring out what went wrong. Hope you can help us.

@Vinny Ok, I'm still waiting.

@JustinDev23 You can have GPS fix and not have GPS lock on the PX4. Have you checked the number of satellites on QGC? From my experience, GPS lock (required to switch to Position mode) is achieved with 12 satellites or more.
Maybe test the drone on a new location with more open space, that did the trick for me.

@Vinny Thank you for your help!

Our configuration is C11, which has 6 sensors.
However, in the technical docs (here), it says "Sentinel - A comprehensive drone reference design with (...) support for 7 image sensor concurrency".
So, is there any other configuration with 7 image sensors? Is it supported? An additional camera pointing downwards would be very helpful for our use case.

@daniel We also have experienced this, even on flat surfaces. Sometimes, one propeller will spin very slowly when the drone is armed and we cannot take-off.

I still need an answer for this, before I can make a decision on what to buy. I was asked to post these questions here when I first contacted through ModalAI email.

@Chad-Sweet I have tried this but the voxl-record-video command is not available on my VOXL 2, on the Sentinel drone. Am I missing any package or is there any configuration that needs to be done prior to this command?

I've recently acquired a Sentinel drone and would like to add to the current setup a 4k camera pointing downwards and a USB sensor, for which I have a few questions:

1. Which 4k hires camera does the Sentinel have on the front and which do you recommend from the modalai store?

2. How could I connect this additional MIPI camera, considering the default Sentinel configuration?

3. Would using an MCBL-00022 cable connected to the J11 USB3 port on the 5G modem be enough to have a USB 3 port to use USB devices on the VOXL 2?

@daniel I think that's all I did, but here is my /etc/modalai/voxl-px4.config, in case you want to look for any differences:

#!/bin/sh
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
. px4-alias.sh

# Figure out what platform we are running on.

# Eventually there will be a utility called voxl-platform that will
# return the platform tag or an error code. This utility is not yet
# ubiquitous so it may be that it isn't available. Trying to call a
# non existent program will generate an error code by the OS. If the
# program exists and doesn't return an error code then use the results.
PLATFORM=`/usr/bin/voxl-platform 2> /dev/null`
RETURNCODE=$?
if [ $RETURNCODE -ne 0 ]; then
    # If we couldn't get the platform from the voxl-platform utility then check
    # /etc/version to see if there is an M0052 substring in the version string. If so,
    # then we assume that we are on M0052. Otherwise assume M0054.
    VERSIONSTRING=$(</etc/version)
    M0052SUBSTRING="M0052"
    if [[ "$VERSIONSTRING" == *"$M0052SUBSTRING"* ]]; then
        PLATFORM="M0052"
    else
        PLATFORM="M0054"
    fi
fi

# We can only run on M0052 or M0054 so exit with error if that is not the case
if [ $PLATFORM = "M0052" ]; then
    /bin/echo "Running on M0052"
    if [ "$RC" == "CRSF" ]; then
        /bin/echo "Error, crossfire not supported on M0052!"
        exit 0
    fi
elif [ $PLATFORM = "M0054" ]; then
    /bin/echo "Running on M0054"
else
    /bin/echo "Error, cannot determine platform!"
    exit 0
fi

uorb start
muorb start

# 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

# 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

# IMU (accelerometer / gyroscope)
# Start this first because it gets the high rate interrupts coming in to the
# DSP. Without this the DSP will oversleep and miss critical timeouts.
# TODO: Why is that the case?
if [ "$IMU" == "ROTATE_IMU_YAW_180" ]; then
    /bin/echo "Starting IMU driver with yaw 180 rotation"
    qshell icm42688p start -s -R 4
else
    qshell icm42688p start -s
fi

/bin/sleep 1

# Load in all of the parameters that have been saved in the file
param load

# Start logging and use timestamps for log files when possible.
# Add the "-e" option to start logging immediately. Default is
# to log only when armed
logger start -t

# We do not change the value of SYS_AUTOCONFIG but if it does not
# show up as used then it is not reported to QGC and we get a
# missing parameter error.
param touch SYS_AUTOCONFIG

# Start all of the device drivers on DSP

# Magnetometer
if [ "$GPS" == "MATEK" ]; then
    # Use this line for the magnetometer in the Matek Systems M8Q-5883 module
    /bin/echo "Starting Mateksys M8Q-5883 magnetometer"
    qshell qmc5883l start -R 10 -X -b 1
elif [ "$GPS" == "HERE3" ]; then
    # Use this line for the magnetometer in the Here3 GPS module
    /bin/echo "Starting Here3 ak09916 magnetometer"
    qshell ak09916 start -R 2 -X
else
    # Use this line for the magnetometer in the Holybro GPS module
    /bin/echo "Starting Holybro magnetometer"
    qshell ist8310 start -R 10 -X -b 1
fi

# LED driver for the Pixhawk 4 GPS module
# Older units have i2c address 0x39 (57) and newer ones 0x38 (56)
# M0054 only supports the newer one. M0052 can support either.
if [ $PLATFORM = "M0052" ]; then
    qshell rgbled_ncp5623c start -X -b 1 -f 400 -a 57
fi
if [ "$GPS" == "HOLYBRO" ]; then
    /bin/echo "Starting Holybro LED driver"
    qshell rgbled_ncp5623c start -X -b 1 -f 400 -a 56
elif [ "$GPS" == "HERE3" ]; then
    # Use this line for the Here3 GPS module LED controller
    /bin/echo "Starting Here3 LED"
    qshell rgbled start -X -f 400
fi

# Barometer
qshell icp10100 start -I -b 5

# ESC driver
# We start this even if there is a PX4IO module. If there is
# a PX4IO (M0065) module it will be plugged into the RC port
# and so this driver will output commands on an empty port.
qshell modalai_esc start
qshell mixer load /dev/uart_esc quad_x.main.mix

# APM power monitor
qshell voxlpm start -X -b 2

# On M0052 the GPS and RC drivers run on the apps processor
if [ $PLATFORM = "M0052" ]; then
    # Pixhawk 4 GPS module
    gps start -d /dev/ttyHS2

    # RC input may be coming via either an external M0065 (aka px4io) module
    # or a directly attached Spektrum receiver. First see if the M0065 is detected.
    px4io detect
    PX4IO_STATUS=$?
    /bin/echo "PX4IO detect returned value $PX4IO_STATUS"
    if [ $PX4IO_STATUS -eq 0 ]; then
        /bin/echo "Found M0065, starting px4io"
        # On M0052 px4io only supports RC input, not PWM output
        px4io start
    else
        /bin/echo "M0065 not detected, starting Spektrum RC driver"
        spektrum_rc start -d /dev/ttyHS1
    fi
# On M0054 the GPS and RC drivers run on SLPI DSP
else
    if [ "$GPS" == "MATEK" ]; then
        # Use this gps start line instead for Matek Systems M8Q-5883 module
        /bin/echo "Starting Mateksys M8Q-5883 GPS"
        qshell gps start
    elif [ "$GPS" == "HERE3" ]; then
        # Use this line for the Here3 GPS module
        /bin/echo "Starting Here3 GPS"
        qshell gps start
    else
        # Only the newer Holybro unit is supported on M0054
        /bin/echo "Starting Holybro GPS"
        qshell gps start
    fi

    # If RC is TBS Crossfire then start its driver.
    # Otherwise, it could be either a directly connected Spektrum receiver
    # or an external M0065 (aka px4io) module.
    if [ "$RC" == "CRSF_MAV" ]; then
        /bin/echo "Starting TBS crossfire RC - MAV Mode"
        qshell tbs_crossfire start -m -p 7 -b 115200
    elif [ "$RC" == "CRSF_RAW" ]; then
        /bin/echo "Starting TBS crossfire RC - CRSF Mode"
        qshell tbs_crossfire start -c -p 7 -b 250000
    else
        qshell px4io detect
        PX4IO_STATUS=$?
        if [ $PX4IO_STATUS -eq 0 ]; then
            /bin/echo "Found M0065, starting px4io"
            # On M0054 we also support PWM output from M0065 (aka PX4IO)
            # If there are no pwm escs then that connector will be empty.
            qshell px4io start
            qshell px4io recovery
            qshell mixer load /dev/px4io quad_x_io.main.mix

            sleep 1
            qshell pwm rate -c 1234 -r 400
			qshell pwm disarmed -c 1234 -p 900
			qshell pwm min -c 1234 -p 1060
			qshell pwm max -c 1234 -p 2000
            qshell pwm failsafe -c 1234 -p -1 -d /dev/px4io
        else
            /bin/echo "M0065 not detected, starting Spektrum RC driver"
            qshell spektrum_rc start -d 8
        fi
    fi
fi

/bin/sleep 1

# Start all of the processing modules on DSP

qshell sensors start
qshell ekf2 start
qshell mc_pos_control start
qshell mc_att_control start
qshell mc_rate_control start
qshell mc_hover_thrust_estimator start
qshell land_detector start multicopter

/bin/sleep 1

# Start all of the processing modules on the applications processor

rc_update start

dataman start

navigator start

commander start
commander mode manual

# This is needed for altitude and position hold modes
flight_mode_manager start

# Start our service to update system time from GPS
modalai_gps_timer start

# As of 1.4.11 mavlink configuration has been changed!!! All communications are
# now done via the mavlink server and voxl-vision-px4!!!
param set MAV_BROADCAST 0

if [ "$RC" == "CRSF_MAV" ]; then
    # Slow everything way down if we are using TBS Crossfire
    mavlink start -a -x -u 14556 -o 14557 -r 10000 -n lo -m minimal

    /bin/sleep 1
else
    mavlink start -x -u 14556 -o 14557 -r 100000 -n lo -m onboard

    /bin/sleep 1

    # slow down some of the fastest streams in onboard mode
    mavlink stream -u 14556 -s HIGHRES_IMU -r 10
    mavlink stream -u 14556 -s ATTITUDE -r 10
    mavlink stream -u 14556 -s ATTITUDE_QUATERNION -r 10
    # speed up rc_channels
    mavlink stream -u 14556 -s RC_CHANNELS -r 50

    /bin/sleep 1
fi

if [ $PLATFORM = "M0052" ]; then
    # Start up the IMU server to support VIO. This is done differently on M0054
    imu_server start
fi

mavlink boot_complete

# For now we use a mavlink bridge for TBS Crossfire support
if [ "$RC" == "CRSF_MAV" ]; then
    mavlink_bridge start
fi

# Optional MSP OSD driver for DJI goggles
# This is only supported on M0054 (with M0125 accessory board)
if [ $PLATFORM = "M0054" ]; then
    if [ "$OSD" == "OSD" ]; then
        /bin/echo "Starting OSD driver"
        msp_osd start -d /dev/ttyHS1
    fi
fi

If your config is like this and it still doesn't work, maybe @Eric-Katzfey can help you better.

@Eric-Katzfey On the new location, we were able to get GPS lock after fixing 12 satellites, which allowed for take-off. During flight we reached 19 satellites at one point. Getting GPS lock with this sensor is a bit challenging, our previous location didn't have that many obstructions, but everything seems to be working.

@Eric-Katzfey Hello, today I tested removing -d 7 -b 115200 from /etc/modalai/voxl-px4.config and it seems like the GPS service is working correctly on startup. I'm still going to test if I can get more fixed satellites and GPS lock on a new location with more open space and then get back to this post with more information.

@Eric-Katzfey We are stopping the GPS service manually (qshell gps stop) and then starting it later manually (qshell gps start), not the voxl-px4.

Do you want us to do the same test with commenting the gps start line in /etc/modalai/voxl-px4.config?

@Eric-Katzfey Ok, new find! It seems that when voxl-px4 runs, the GPS service isn't able to start immediately, but if we wait a for a bit and start it manually, it works.

Seems like something isn't ready to start immediately after voxl-px4.