Andrew Martin

Andrew Martin

@tom After many attempts and reboots, it looks like it was successful in flashing the system image but got hung up on the suite.

nvidia@ubuntu:~/voxl2_SDK_1.4.5$ sudo ./install.sh 

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 ██╔████╔██║██║   ██║██║  ██║███████║██║      ▟████▀      ▗█▘▝█▖   ▐█       ▜█▀█▄ 
 ██║╚██╔╝██║██║   ██║██║  ██║██╔══██║██║      █▌ ▐█▌     ▗█▘  ▝█▖  ▐█       ▐▄ ▄█ 
 ██║ ╚═╝ ██║╚██████╔╝██████╔╝██║  ██║███████╗  ▀████    ▗█▘    ▝█▖ ▐█     ▂▄███▀  
 ╚═╝     ╚═╝ ╚═════╝ ╚═════╝ ╚═╝  ╚═╝╚══════╝    ▀▀██▄▄                ▂▆███▀     
                                                     ▀▀██▄▄ ▀▀▆▄▄▄▄▆██▀▀▀▘        

Running in Interactive mode.

Flashing the following System Image:
	Build Name: 1.8.04-M0054-14.1a-perf
	Build Date: 2025-03-24
	Platform: M0054
	System Image Version: 1.8.04

Installing the following version of voxl-suite:
	voxl-suite Version: 1.4.5


Would you like to continue with SDK install?
1) Yes, with questions along the way to configure VOXL 2
2) Yes, just update SDK keeping the same configuration
3) No
#? 1
[INFO] Continuing in interactive mode
[INFO] adb installed
[INFO] fastboot installed

----  Starting System Image Flash ----
----./flash-system-image.sh  ----
Detected OS: Linux


=======================================================================================================
BOARD IN FASTBOOT, CAN'T DETECT HARDWARE VERSION.
Please determine hardware version, -1 (QRB5165M) or -2 (QSM8250)

See docs.modalai.com/m0054-versions for more info.
=======================================================================================================

=======================================================================================================
In order to support all of VOXL's camera configurations, specific drones require differing kernel images.
Please select your drone hardware to proceed with flashing the appropriate kernel image.
=======================================================================================================

PLEASE SELECT WHICH KERNEL TO FLASH
1. M0054-1 -> QRB5165M, Starling (D0005), Sentinel (D0006), FPV V4 (D0008), D0010, PX4 Dev Kit (D0011)
2. M0054-1 -> QRB5165M w/ M0173 Camera Breakout Board, Starling 2 Max (D0012), Starling 2 (D0014), FPV V5 (D0008)
3. M0054-2 -> QSM8250, Starling (D0005), FPV V4 (D0008)
4. M0054-2 -> QSM8250 w/ M0173 Camera Breakout Board, Starling 2 Max (D0012), FPV V5 (D0008)
5. M0104-1 -> QRB5165M
6. M0104-1 -> QRB5165M, Stinger (D0013), MVX-T0001
7. M0104-2 -> QSM8250
8. M0104-2 -> QSM8250, Stinger (D0013), MVX-T0001

Select your choice from above options: 2
./flash-system-image.sh: line 434: input: command not found

Installer Version: 1.0
Image Version:     1.8.04
Board Version:     M0054-1 (var00.1)

Please power off your VOXL, connect via USB,
then power on VOXL. We will keep searching for
an ADB or Fastboot device over USB
[INFO] Found fastboot device
[WARNING] This system image flash is intended only for the following
          platform: VOXL2 (m0054) 

          Make sure that the device that will be flashed is correct.
          Flashing a device with an incorrect system image will lead
          the device to be stuck in fastboot.

Would you like to continue with the VOXL2 (m0054) system image flash?
1) Yes
2) No
#? 1
[INFO] checking if partition modalai_cal exists
[INFO] Found modalai_cal partition
[INFO] checking if partition modalai_conf exists
[INFO] Found modalai_conf partition
[INFO] Found all required files

Flashing: xbl_config_a | xbl_config.elf
[                                                                ](  0%)
Flashing: xbl_config_b | xbl_config.elf
[---                                                             ](  6%)
Flashing: xbl_a | xbl.elf
[-------                                                         ]( 12%)
Flashing: xbl_b | xbl.elf
[-----------                                                     ]( 18%)
Flashing: abl_a | abl.elf
[----------------                                                ]( 25%)
Flashing: abl_b | abl.elf
[-------------------                                             ]( 31%)
Flashing: modem_a | NON-HLOS.bin
[-----------------------                                         ]( 37%)
Flashing: modem_b | NON-HLOS.bin
[---------------------------                                     ]( 43%)
Flashing: devcfg_a | devcfg-m0054-1-v8.mbn
[--------------------------------                                ]( 50%)
Flashing: devcfg_b | devcfg-m0054-1-v8.mbn
[-----------------------------------                             ]( 56%)
Flashing: dsp_a | dspso.bin
[---------------------------------------                         ]( 62%)
Flashing: dsp_b | dspso.bin
[-------------------------------------------                     ]( 68%)
Flashing: boot_a | m0054-1-var00.1-kernel.img
[------------------------------------------------                ]( 75%)
Flashing: boot_b | m0054-1-var00.1-kernel.img
[---------------------------------------------------             ]( 81%)
Flashing: system | qti-ubuntu-robotics-image-m0054-sysfs.ext4
[-------------------------------------------------------         ]( 87%)
Flashing: modalai_conf | m0054-conf-fs.ext4
[-----------------------------------------------------------     ]( 93%)
[INFO] Kernel override specified, will flash: 
Done Flashing
[----------------------------------------------------------------](100%)
Rebooting                                          OKAY [  0.000s]
Finished. Total time: 0.151s
[INFO] Waiting for ADB, if this takes more than 1 minute power cycle VOXL
[INFO] Device ready, version:
1.8.04-M0054-14.1a-perf
[INFO] Finished flashing system image!

----Installing Suite----
[INFO] adb installed
[INFO] Waiting for device
[INFO] Pushing packages to target

[                                                                ](  0%)
libfc-sensor_1.0.7_arm64.deb: 1 file pushed. 6.6 MB/s (21996 bytes in 0.003s)
[                                                                ](  1%)
libmodal-cv_0.5.18_arm64.deb: 1 file pushed. 7.2 MB/s (3860864 bytes in 0.508s)
[-                                                               ](  2%)
libmodal-exposure_0.1.4_arm64.deb: 1 file pushed. 5.5 MB/s (7380 bytes in 0.001s)
[--                                                              ](  4%)
libmodal-journal_0.2.5_arm64.deb: 1 file pushed. 3.9 MB/s (6864 bytes in 0.002s)
[---                                                             ](  5%)
libmodal-json_0.4.7_arm64.deb: 1 file pushed. 3.2 MB/s (47800 bytes in 0.014s)
[---                                                             ](  6%)
libmodal-pipe_2.13.1_arm64.deb: 1 file pushed. 3.0 MB/s (124068 bytes in 0.039s)
[-----                                                           ](  8%)
libqrb5165-io_0.5.0_arm64.deb: 1 file pushed. 2.9 MB/s (32992 bytes in 0.011s)
[-----                                                           ](  9%)
librc-math_1.4.5_arm64.deb: 1 file pushed. 3.4 MB/s (159760 bytes in 0.045s)
[------                                                          ]( 10%)
libslpi-link_1.0.0_arm64.deb: 1 file pushed. 3.5 MB/s (19844 bytes in 0.005s)
[-------                                                         ]( 12%)
libvoxl-cci-direct_0.3.2_arm64.deb: 1 file pushed. 2.2 MB/s (11476 bytes in 0.005s)
[--------                                                        ]( 13%)
libvoxl-cutils_0.1.5_arm64.deb: 1 file pushed. 1.5 MB/s (5936 bytes in 0.004s)
[---------                                                       ]( 15%)
modalai-slpi_1.1.20_arm64.deb: 1 file pushed. 4.5 MB/s (2135416 bytes in 0.451s)
[----------                                                      ]( 16%)
qrb5165-dfs-server_0.2.0_arm64.deb: 1 file pushed. 2.1 MB/s (16908 bytes in 0.008s)
[----------                                                      ]( 17%)
qrb5165-imu-server_1.1.3_arm64.deb: 1 file pushed. 2.8 MB/s (62948 bytes in 0.022s)
[------------                                                    ]( 19%)
qrb5165-rangefinder-server_0.1.5_arm64.deb: 1 file pushed. 2.3 MB/s (22100 bytes in 0.009s)
[------------                                                    ]( 20%)
qrb5165-system-tweaks_0.3.5_arm64.deb: 1 file pushed. 1.9 MB/s (10764 bytes in 0.006s)
[-------------                                                   ]( 21%)
qrb5165-tflite_2.8.0-2_arm64.deb: 1 file pushed. 5.7 MB/s (11029804 bytes in 1.846s)
[--------------                                                  ]( 23%)
voxl2-io_0.0.3_arm64.deb: 1 file pushed. 4.8 MB/s (18248 bytes in 0.004s)
[---------------                                                 ]( 24%)
voxl-bind-spektrum_0.1.1_arm64.deb: 1 file pushed. 1.4 MB/s (5800 bytes in 0.004s)
[----------------                                                ]( 26%)
voxl-camera-calibration_0.5.9_arm64.deb: 1 file pushed. 2.8 MB/s (178076 bytes in 0.062s)
[-----------------                                               ]( 27%)
voxl-camera-server_2.2.1_arm64.deb: 1 file pushed. 3.7 MB/s (214616 bytes in 0.056s)
[-----------------                                               ]( 28%)
voxl-ceres-solver_2:1.14.0-10_arm64.deb: 1 file pushed. 5.6 MB/s (832780 bytes in 0.143s)
[-------------------                                             ]( 30%)
voxl-configurator_1.0.1_arm64.deb: 1 file pushed. 4.1 MB/s (29020 bytes in 0.007s)
[-------------------                                             ]( 31%)
voxl-cpu-monitor_0.6.0_arm64.deb: 1 file pushed. 3.1 MB/s (22996 bytes in 0.007s)
[--------------------                                            ]( 32%)
voxl-docker-support_1.3.1_arm64.deb: 1 file pushed. 2.2 MB/s (7124 bytes in 0.003s)
[---------------------                                           ]( 34%)
voxl-eigen3_3.4.0_arm64.deb: 1 file pushed. 3.8 MB/s (1013636 bytes in 0.257s)
[----------------------                                          ]( 35%)
[ 67%] /data/voxl-suite-offline-packages/voxl-elrs_0.4.7_arm64.deb^C

Thankfully, going in and using offline-install.sh after another reboot seemed to work. I'm not sure if I lost any important factory calibrations during this process. But at least I seem to be somewhat back up and running for now.

Andrew Martin

@tom The serial number is M23000008F2.

Andrew Martin

I think I've successfully unbricked our Starling 2 Max QRB5165M with the VOXL 2 QDL Image 14.1a_1.7.8 image. I can now get into it with adb shell. I then reboot it into fastboot by holding the SW1 button while plugging it into wall power and then the USB cable to an Ubuntu host. I can then see it with fastboot devices. However, I can't seem to be able to flash it with the SDK. I've so far tried 1.1.3, 1.3.5, and 1.4.5, but they all fail at the same step:

nvidia@ubuntu:~/voxl2_SDK_1.3.5/system-image$ ./flash-system-image.sh -f
Detected OS: Linux


=======================================================================================================
BOARD IN FASTBOOT, CAN'T DETECT HARDWARE VERSION.
Please determine hardware version, -1 (QRB5165M) or -2 (QSM8250)

See docs.modalai.com/m0054-versions for more info.
=======================================================================================================

=======================================================================================================
In order to support all of VOXL's camera configurations, specific drones require differing kernel images.
Please select your drone hardware to proceed with flashing the appropriate kernel image.
=======================================================================================================

PLEASE SELECT WHICH KERNEL TO FLASH
1. M0054-1 -> QRB5165M, Starling (D0005), Sentinel (D0006), FPV (D0008), D0010, PX4 Dev Kit (D0011)
2. M0054-1 -> QRB5165M w/ M0173 Camera Breakout Board, Starling 2 Max (D0012), Starling 2 (D0014)
3. M0054-2 -> QSM8250, Starling (D0005), FPV (D0008)
4. M0054-2 -> QSM8250 w/ M0173 Camera Breakout Board, Starling 2 Max (D0012)
5. M0104-1 -> QRB5165M, Stinger (D0013)
6. M0104-2 -> QSM8250

Select your choice from above options: 2

Installer Version: 1.0
Image Version:     1.7.10
Board Version:     M0054-1 (var00.1)

Please power off your VOXL, connect via USB,
then power on VOXL. We will keep searching for
an ADB or Fastboot device over USB
[INFO] Found fastboot device
[WARNING] This system image flash is intended only for the following
          platform: VOXL2 (m0054) 

          Make sure that the device that will be flashed is correct.
          Flashing a device with an incorrect system image will lead
          the device to be stuck in fastboot.

Would you like to continue with the VOXL2 (m0054) system image flash?
1) Yes
2) No
#? 1
[INFO] checking partition system::0xD3B5D7000
[INFO] {system::0xD3B5D7000} partition returned size {0xd3ddd7000}, expected {0xd3b5d7000}
[WARNING] Partition layout was found to be incorrect, this requires
          flashing the full partition table. Flashing the partition
          table will also flash every partition causing all data on
          the device to be lost.

When doing a full flash, make sure to backup any important files

Would you like to continue with the full wipe/flash now?
1) Yes
2) No
#? 1
[INFO] Found all required files

Rebooting into bootloader                          OKAY [  0.000s]
Finished. Total time: 0.754s
Flashing: xbl_config_a | xbl_config.elf
[                                                                ](  0%)
Flashing: xbl_config_b | xbl_config.elf
[---                                                             ](  5%)
Flashing: xbl_a | xbl.elf
[-------                                                         ]( 11%)
Flashing: xbl_b | xbl.elf
[----------                                                      ]( 16%)
Flashing: abl_a | abl.elf
[--------------                                                  ]( 22%)
Flashing: abl_b | abl.elf
[-----------------                                               ]( 27%)
Flashing: modem_a | NON-HLOS.bin
[---------------------                                           ]( 33%)
Flashing: modem_b | NON-HLOS.bin
[------------------------                                        ]( 38%)
Flashing: devcfg_a | devcfg-m0054-1-v8.mbn
[----------------------------                                    ]( 44%)
Flashing: devcfg_b | devcfg-m0054-1-v8.mbn
[--------------------------------                                ]( 50%)
Flashing: dsp_a | dspso.bin
[-----------------------------------                             ]( 55%)
Flashing: dsp_b | dspso.bin
[---------------------------------------                         ]( 61%)
Flashing: boot_a | m0054-1-var00.1-kernel.img
[------------------------------------------                      ]( 66%)
Flashing: boot_b | m0054-1-var00.1-kernel.img
[----------------------------------------------                  ]( 72%)
Flashing: system | qti-ubuntu-robotics-image-m0054-sysfs.ext4
[-------------------------------------------------               ]( 77%)

[ERROR] Failed to flash partition: system

Sending sparse 'system' 1/5 (785306 KB)            OKAY [ 22.969s]
Writing 'system'                                   OKAY [  0.000s]
Sending sparse 'system' 2/5 (767436 KB)            OKAY [ 27.450s]
Writing 'system'                                   FAILED (remote: 'Error: Last flash failed : Device Error')
fastboot: error: Command failed

This has been the case both with ./install.sh and ./flash-system-image.sh -f as seen above. Any further suggestions?

Andrew Martin

@modaltb This simplest fix for us was to just change the hardcoded 'C' to a hardcoded 'A' and rebuild the deb. It's not the "proper" solution, but it should let us fly legally.

Andrew Martin

On a Starling 2 Max, I'm running voxl-remote-id to get the Remote ID serial number so that we can register with the FAA and fly. However, that script produces an invalid serial number, and I'd like to know your intended behavior. The format is supposed to be your ICAO ID ("1814"), plus the length (a value 1 to F representing the length of the next part, but which is hardcoded as "C" in voxl-remote-id/src/main.c), plus the manufacturer's serial number (which is read in from /sys/devices/soc0/serial_number). However on our drone, that last bit is only 10 characters long (e.g. 0123456789). In this case, the script currently generates a value of 1814C0123456789, which is invalid. The voxl-remote-id script definitely needs fixed, but how so? Should it be something like 1814A0123456789 or 1814C012345678900?

Andrew Martin

@Andrew Martin

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