ModalAI Forum

@Alex-Kushleyev

I also replaced the voxl-mini but i get the same error on J7

[    6.548108] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base:        pK-error, M1_Q1 NACK ERROR: 0x40000000
[    6.548134] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x20:
[    6.548138] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
[    6.548141] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
[    6.548145] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x214:

the imx214 is not working on J7 upper. I doubt that both VOXl2-mini have the same hardware issues.

@Alex-Kushleyev

if i plug the connecter (imx lower, oc upper) in J6 i get both cameras working so the interposer and cameras are working properly.

@Alex-Kushleyev

if i switch the configuration:
the imx214 works but the OV7251 yields errors:

[ 6.824203] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 731 [Applying Alternative Address] : Sensor Index : 1463881908
[ 6.824208] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 732 [Applying Alternative Address] : Slave Address : 0xE2
[ 6.824210] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 733 [Applying Alternative Address] : Slave sensor id: 0x7750
[ 6.824213] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 734 [Applying Alternative Address] : cci_client sid : 0x71
[ 6.824364] CAM_ERR: CAM-CCI: cam_cci_irq: 258 Base: pK-error, M1_Q0 NACK ERROR: 0x20000000
[ 6.824384] CAM_ERR: CAM-CCI: cam_cci_wait: 270 failed rc -22
[ 6.824387] CAM_ERR: CAM-CCI: cam_cci_transfer_end: 345 failed rc -22
[ 6.824390] CAM_ERR: CAM-CCI: cam_cci_data_queue: 870 Slave: 0xe0 failed rc -22
[ 6.824393] CAM_ERR: CAM-CCI: cam_cci_i2c_write: 1450 failed rc: -22
[ 6.824396] CAM_ERR: CAM-SENSOR: cam_cci_i2c_write_table_cmd: 123 Failed rc = -22
[ 6.824399] CAM_ERR: CAM-SENSOR: cam_sensor_set_alt_id: 768 [Applying Alternative Address] : Probe : camera_io_dev_write failed: rc=-22
[ 6.824530] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base: pK-error, M1_Q1 NACK ERROR: 0x40000000
[ 6.824555] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0xe0:
[ 6.824559] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
[ 6.824561] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
[ 6.824564] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x7750:

@Alex-Kushleyev

Thanks for the quick reply. I use J7 to connect the cameras.
I'm running kernel 2.0.0 and as i said i replace camera, interposer without any success. I have another voxl running on mach. ver 2.0.2 having the tracking camera on a single interposer without an issue.
I also tried putting the imx214 on the lower slot. Which yielded different error.

However i only can mount the cameras in the shown configuration to the drone.

I will check the connectors again. And the if i can reproduce the IMX214 error on j7lower.

Hi ModalAI Team,

i trying to get the Tracking / Highres (ov7251 tracking imx214 hires) combination running on the VOXL2-mini without any succes.

Tested with SDK 1.3.5, 1.4.5, 1.5.1, swapped the camera, swapped the dual camera extender, nothing worked.
The Tracking camera works without an issues but the imx214 not.

[    9.961337] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base:        pK-error, M1_Q1 NACK ERROR: 0x40000000
[    9.961525] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x20:
[    9.961545] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22
[    9.961560] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22
[    9.961571] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x214:

Any ideas how i can fix this ?

@astro_phil with some further investigation over the weekend, i found a small fix in the px4 codebase that seems to reduce the velocity estimation error. I low pass filtered the delta time (dt) value that is used to integrate the linear acceleration to obtain the velocity estimate.

Left is without the "fix" and right is with the "fix". Flying in position hold.

I tried to induce more vibration on purpose to test the impact on position tracking.
Both flights shown in the plot where done with the system shown in the picture.

@Moderator

as written above we use a Qualysis system as external VIO. Which is calibrated and achieves a precision of sub 1mm. With all none voxel based drones it does work without any issue, even when vibration are present we achieve tracking errors with position hold of ~1cm. Only the voxl based drones have a hard time. PX4's position estimate align closely with the VIO but velocity estimate randomly spikes in arbitrary directions.

@Zachary-Lowell-0

Hei there, I'm from the same team as @nikolahm
I've been investigating this issue for more then two month now. We are testing inside a motion capture system, closed hall, enough distance to ground and other object to not induce aerodynamical effects. We use a Qualysis system with 150hz update rate and an average tracking precision of ~0.5mm. The drone has been PID tuned. Attitude control works flawless.

I've seen this behaviour across different voxl2 based drones I've tested: https://youtube.com/shorts/URm6XqTt3CM?feature=share
All fly solid in attitude control. Also i tried manually tuning the Velocity and Position controller, without any improvement. LP-Filtering also yields no improvement.

I'm certain the issue lies in the velocity estimate that gets fused into px4s EKF. Hence the issue is most sensitive to linear acceleration.
A Flight log from testing.

Correct me if i get this wrong, but my assumption that the fluctuation in cycle update time - as shown in the following fig - plus noisy linear acceleration seems to cause wrong velocity estimation scince px4 assumes equally spaced samples, which is not always the case.

y-axis = micro seconds to previous update
x-axis = update cycle count

The fact that classical stm32 based flightcontroller with the same IMU handle these vibration significantlly better on similar drones leads me to the conclusion that it might be due the different way the voxl handles the data. - cycle time fluctuation.

@Eric-Katzfey

Okay, then I'm gonna do that. Thanks for the assist.

@Eric-Katzfey

I reflashed the voxl with the voxl2_SDK_1.4.1
unfortunately, without any changes.
Spinning the motors with the esc-tools does work for a couple of seconds but stops with a connection reset error aswell.
PX4 does not start at all and i still get the SLPI error in the dmesg log.

voxl2:/$ voxl-version
--------------------------------------------------------------------------------
system-image: 1.8.02-M0054-14.1a-perf
kernel:       #1 SMP PREEMPT Mon Nov 11 22:47:44 UTC 2024 4.19.125
--------------------------------------------------------------------------------
hw platform:  M0054
mach.var:     1.0.1
--------------------------------------------------------------------------------
voxl-suite:   1.4.1
--------------------------------------------------------------------------------
Packages:
Repo:  http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.4/binary-arm64/
Last Updated: 2025-04-10 07:49:18
WARNING: repo file has changed since last update,
        packages may have originated from a different repo
List:
kernel-module-voxl-fsync-mod-4.19.125     1.0-r0
kernel-module-voxl-gpio-mod-4.19.125      1.0-r0
kernel-module-voxl-platform-mod-4.19.125  1.0-r0
libfc-sensor                              1.0.7
libmodal-cv                               0.5.16
libmodal-exposure                         0.1.3
libmodal-journal                          0.2.2
libmodal-json                             0.4.3
libmodal-pipe                             2.10.6
libqrb5165-io                             0.4.9
libvoxl-cci-direct                        0.2.5
libvoxl-cutils                            0.1.1
modalai-slpi                              1.1.19
mv-voxl                                   0.1-r0
qrb5165-bind                              0.1-r0
qrb5165-dfs-server                        0.2.0
qrb5165-imu-server                        1.1.2
qrb5165-rangefinder-server                0.1.4
qrb5165-slpi-test-sig                     01-r0
qrb5165-system-tweaks                     0.3.4
qrb5165-tflite                            2.8.0-2
voxl-bind-spektrum                        0.1.1
voxl-camera-calibration                   0.5.9
voxl-camera-server                        2.1.1
voxl-ceres-solver                         2:1.14.0-10
voxl-configurator                         0.9.7
voxl-cpu-monitor                          0.5.3
voxl-docker-support                       1.3.1
voxl-elrs                                 0.4.1
voxl-esc                                  1.5.1
voxl-feature-tracker                      0.5.2
voxl-flow-server                          0.3.6
voxl-fsync-mod                            1.0-r0
voxl-gphoto2-server                       0.0.10
voxl-gpio-mod                             1.0-r0
voxl-io-server                            0.0.4
voxl-jpeg-turbo                           2.1.3-5
voxl-lepton-server                        1.3.3
voxl-lepton-tracker                       0.0.4
voxl-libgphoto2                           0.0.4
voxl-libuvc                               1.0.7
voxl-logger                               0.4.9
voxl-mavcam-manager                       0.5.7
voxl-mavlink                              0.1.1
voxl-mavlink-server                       1.4.4
voxl-modem                                1.1.5
voxl-mongoose                             7.7.0-1
voxl-mpa-to-ros                           0.3.9
voxl-mpa-tools                            1.3.7
voxl-open-vins                            0.4.16
voxl-open-vins-server                     0.3.0
voxl-opencv                               4.5.5-2
voxl-osd                                  0.1.1
voxl-platform-mod                         1.0-r0
voxl-portal                               0.7.5
voxl-px4                                  1.14.0-2.0.94
voxl-px4-imu-server                       0.1.2
voxl-px4-params                           0.6.3
voxl-qvio-server                          1.1.1
voxl-remote-id                            0.0.9
voxl-reset-slpi                           0.0.1
voxl-state-estimator                      0.0.4
voxl-streamer                             0.7.5
voxl-suite                                1.4.1
voxl-tag-detector                         0.0.4
voxl-tflite-server                        0.3.9
voxl-utils                                1.4.4
voxl-uvc-server                           0.1.7
voxl-vision-hub                           1.8.17
voxl-vtx                                  1.1.8
voxl2-io                                  0.0.3
voxl2-system-image                        1.8.02-r0
voxl2-wlan                                1.0-r0
--------------------------------------------------------------------------------

PX4 output

voxl2:~/voxl-esc/voxl-esc-tools(master)$ voxl-reset-slpi 
Sending kill slpi command!
voxl2:~/voxl-esc/voxl-esc-tools(master)$ voxl-px4
[INFO] Reading from /etc/modalai/voxl-px4.conf
Found DSP signature file
[INFO] Daemon mode enabled

*************************
AIRFRAME=MULTICOPTER
GPS=AUTODETECT
RC=CRSF_RAW
ESC=VOXL_ESC
POWER MANAGER=VOXLPM
AIRSPEED SENSOR=NONE
DISTANCE SENSOR=NONE
OSD=DISABLE
DAEMON_MODE=ENABLE
SENSOR_CAL=ACTUAL
ARTIFACT_MODE=DISABLE
EXTRA STEPS:
*************************

INFO  [px4] mlockall() enabled. PX4's virtual address space is locked into RAM.
INFO  [px4] assuming working directory is rootfs, no symlinks needed.
INFO  [muorb] Got muorb init command
Sending initialization request
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
INFO  [muorb] SLPI: muorb aggregator thread running
INFO  [muorb] muorb protobuf initalize method succeeded
INFO  [muorb] succesfully did ADVERTISE_TEST_TYPE
INFO  [muorb] SLPI: Creating pthread test_MUORB

INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097656
INFO  [muorb] succesfully did SUBSCRIBE_TEST_TYPE
INFO  [muorb] SLPI: Creating pthread test_MUORB

INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097655
INFO  [muorb] succesfully did TOPIC_TEST_TYPE
INFO  [muorb] SLPI: Creating pthread test_MUORB

INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097654
INFO  [muorb] succesfully did UNSUBSCRIBE_TEST_TYPE
INFO  [muorb] SLPI: Creating pthread test_MUORB

INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097653
INFO  [muorb] muorb test passed

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

px4 starting.

INFO  [muorb] SLPI: Advertising remote topic log_message
INFO  [px4] startup script: /bin/sh /usr/bin/voxl-px4-start 0
INFO  [parameters] Starting param sync THREAD
INFO  [muorb] SLPI: Starting param sync THREAD

*************************
AIRFRAME: MULTICOPTER
GPS: AUTODETECT
RC: CRSF_RAW
ESC: VOXL_ESC
POWER MANAGER: VOXLPM
AIRSPEED SENSOR: NONE
DISTANCE SENSOR: NONE
OSD: DISABLE
ARTIFACT_MODE: DISABLE
EXTRA STEPS:

*************************

Running on M0054
INFO  [muorb] SLPI: before starting the qshell_entry task
INFO  [muorb] SLPI: Creating pthread qshell

INFO  [muorb] SLPI: qshell entry.....
INFO  [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 2097652
INFO  [muorb] SLPI: Init app map initialized
INFO  [muorb] SLPI: after starting the qshell_entry task
INFO  [param] selected parameter default file /data/px4/param/parameters
INFO  [muorb] SLPI: Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic
INFO  [uORB] Marking DeviceNode(parameter_client_reset_response) as advertised in process_remote_topic
INFO  [muorb] SLPI: Advertising remote topic parameter_update
INFO  [muorb] SLPI: Marking DeviceNode(parameter_client_set_value_request) as advertised in process_remote_to
INFO  [uORB] Marking DeviceNode(parameter_server_set_used_request) as advertised in process_remote_topic
INFO  [muorb] SLPI: Marking DeviceNode(parameter_server_set_used_response) as advertised in process_remote_to
INFO  [uORB] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic
INFO  [parameters] BSON document size 2517 bytes, decoded 2517 bytes (INT32:35, FLOAT:81)
Starting IMU driver with no rotation
INFO  [qshell] Send cmd: 'icm42688p start -s'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: icm42688p start -s
INFO  [muorb] SLPI:   arg0 = 'icm42688p'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI:   arg2 = '-s'

INFO  [muorb] SLPI: *** SPI Device ID 0x26000a 2490378
INFO  [uORB] Advertising remote topic sensor_accel
INFO  [uORB] Advertising remote topic sensor_gyro
INFO  [muorb] SLPI: ICM42688P::probe successful!
INFO  [muorb] SLPI: on SPI bus 1
INFO  [muorb] SLPI: icm42688p #0 on SPI bus 1
INFO  [muorb] SLPI: 

INFO  [muorb] SLPI: >>> ICM42688P this: b2600328
INFO  [muorb] SLPI: Ok executing command: icm42688p start -s
INFO  [uORB] Advertising remote topic qshell_retval
INFO  [muorb] SLPI: >>> ICM42688P this: b2600328
INFO  [qshell] qshell return value timestamp: 239538233, local time: 239543342
INFO  [muorb] SLPI: >>> ICM42688P this: b2600328
INFO  [muorb] SLPI: Register interrupt b214ec48 e61eccdc b2600328
INFO  [uORB] Advertising remote topic sensor_gyro_fifo
INFO  [uORB] Advertising remote topic sensor_accel_fifo
INFO  [uORB] Advertising remote topic imu_server
INFO  [qshell] Send cmd: 'icp101xx start -I -b 5'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: icp101xx start -I -b 5
INFO  [muorb] SLPI:   arg0 = 'icp101xx'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI:   arg2 = '-I'

INFO  [muorb] SLPI:   arg3 = '-b'

INFO  [muorb] SLPI:   arg4 = '5'

INFO  [muorb] SLPI: *** I2C Device ID 0xb76329 12018473
INFO  [muorb] SLPI: Set up I2C bus mutex for bus 5
INFO  [muorb] SLPI: >>> ICM42688P this: b2600328
Connection error: connection reset
Connection error: connection reset
ERROR [qshell] command timed out
ERROR [qshell] Command failed
INFO  [qshell] Send cmd: 'temperature_compensation start'
Connection error: connection reset
Connection error: connection reset
ERROR [qshell] command timed out
ERROR [qshell] Command failed
Looking for qmc5883l magnetometer
INFO  [qshell] Send cmd: 'qmc5883l start -R 10 -X -b 1'
Connection error: connection reset
Connection error: connection reset
ERROR [qshell] command timed out
ERROR [qshell] Command failed
Looking for ist8310 magnetometer
INFO  [qshell] Send cmd: 'ist8310 start -R 10 -X -b 1'
Connection error: connection reset
Connection error: connection reset
ERROR [qshell] command timed out
ERROR [qshell] Command failed
Looking for ist8308 magnetometer
INFO  [qshell] Send cmd: 'ist8308 start -R 12 -X -b 1'
Connection error: connection reset
Connection error: connection reset
ERROR [qshell] command timed out
ERROR [qshell] Command failed
INFO  [qshell] Send cmd: 'gps start'
Connection error: connection reset
Connection error: connection reset
ERROR [qshell] command timed out
ERROR [qshell] Command failed
Looking for ncp5623c RGB LED
INFO  [qshell] Send cmd: 'rgbled_ncp5623c start -X -b 1 -f 400 -a 56'
Connection error: connection reset

dmesg ouput

[Apr10 07:58] Fatal error on slpi!
[  +0.000121] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:UTMR_CLNT_1:0x1078:sns_thread_manager.c:497:SNS_SEE_P_0 exceeded processing time limit for library 0xb25d94f8.
[  +0.000072] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  +0.001309] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  +0.000014] subsys-restart: subsystem_shutdown(): [kworker/u19:0:1866]: Shutting down slpi
[  +0.017355] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  +0.000147] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  +0.000157] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  +0.003004] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  +0.000777] subsys-restart: subsystem_powerup(): [kworker/u19:0:1866]: Powering up slpi
[  +0.001439] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  +0.069556] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  +0.062589] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  +0.000059] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  +0.000130] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30040
[  +0.002168] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  +0.000008] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:1866]: Restart sequence for slpi completed.
[  +0.001835] -1882171928:Entered
[  +0.000228] -1882171928:SMD QRTR driver probed
[  +0.001453] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  +0.000064] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  +0.002648] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  +0.012758] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[  +2.208612] Fatal error on slpi!
[  +0.000113] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:SNS_SEE_I_0:0x65:sns_stream_service.c:436:req_found.
[  +0.000061] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  +0.001144] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  +0.000016] subsys-restart: subsystem_shutdown(): [kworker/u19:0:1866]: Shutting down slpi
[  +0.013085] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  +0.002398] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  +0.000087] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  +0.000944] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  +0.001899] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  +0.001040] subsys-restart: subsystem_powerup(): [kworker/u19:0:1866]: Powering up slpi
[  +0.000247] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  +0.062107] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  +0.061462] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  +0.000067] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  +0.004727] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  +0.000007] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:1866]: Restart sequence for slpi completed.
[  +0.004439] -1882171928:Entered
[  +0.001177] -1882171928:SMD QRTR driver probed
[  +0.003823] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  +0.001216] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  +0.000035] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  +0.008403] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3

I tried flashing the ESC over my PC with a USB to UART adapter, which worked flawless.
Trying to launch px4 now yields the same error messages.

voxl2:~$ voxl-px4
[INFO] Reading from /etc/modalai/voxl-px4.conf
Found DSP signature file
[INFO] Daemon mode enabled

*************************
AIRFRAME=MULTICOPTER
GPS=AUTODETECT
RC=CRSF_RAW
ESC=VOXL_ESC
POWER MANAGER=VOXLPM
AIRSPEED SENSOR=NONE
DISTANCE SENSOR=NONE
OSD=DISABLE
DAEMON_MODE=ENABLE
SENSOR_CAL=ACTUAL
ARTIFACT_MODE=DISABLE
EXTRA STEPS:
*************************

INFO  [px4] mlockall() enabled. PX4's virtual address space is locked into RAM.
INFO  [px4] assuming working directory is rootfs, no symlinks needed.
INFO  [muorb] Got muorb init command
Sending initialization request
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
INFO  [muorb] [modules__muorb__slpi] muorb aggregator thread running
INFO  [muorb] muorb protobuf initalize method succeeded
INFO  [muorb] succesfully did ADVERTISE_TEST_TYPE
INFO  [muorb] [tasks] Creating pthread test_MUORB
INFO  [muorb] [tasks] Successfully created px4 task PX4_test_MUORB with tid 2097656
INFO  [muorb] succesfully did SUBSCRIBE_TEST_TYPE
INFO  [muorb] [tasks] Creating pthread test_MUORB
INFO  [muorb] [tasks] Successfully created px4 task PX4_test_MUORB with tid 2097655
INFO  [muorb] succesfully did TOPIC_TEST_TYPE
INFO  [muorb] [tasks] Creating pthread test_MUORB
INFO  [muorb] [tasks] Successfully created px4 task PX4_test_MUORB with tid 2097654
INFO  [muorb] succesfully did UNSUBSCRIBE_TEST_TYPE
INFO  [muorb] [tasks] Creating pthread test_MUORB
INFO  [muorb] [tasks] Successfully created px4 task PX4_test_MUORB with tid 2097653
INFO  [muorb] muorb test passed

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

px4 starting.

INFO  [px4] startup script: /bin/sh /usr/bin/voxl-px4-start 0
INFO  [muorb] [uORB] Advertising remote topic log_message
INFO  [parameters] Starting param sync THREAD
INFO  [muorb] [parameters] Starting param sync THREAD

*************************
AIRFRAME: MULTICOPTER
GPS: AUTODETECT
RC: CRSF_RAW
ESC: VOXL_ESC
POWER MANAGER: VOXLPM
AIRSPEED SENSOR: NONE
DISTANCE SENSOR: NONE
OSD: DISABLE
ARTIFACT_MODE: DISABLE
EXTRA STEPS:

*************************

Running on M0054
INFO  [muorb] [qshell] before starting the qshell_entry task
INFO  [muorb] [tasks] Creating pthread qshell
INFO  [muorb] [qshell] qshell entry.....
INFO  [muorb] [tasks] Successfully created px4 task PX4_qshell with tid 2097652
INFO  [muorb] [qshell] Init app map initialized
INFO  [muorb] [qshell] after starting the qshell_entry task
INFO  [param] selected parameter default file /data/px4/param/parameters
INFO  [muorb] [uORB] Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic
INFO  [uORB] Marking DeviceNode(parameter_client_reset_response) as advertised in process_remote_topic
INFO  [muorb] [uORB] Advertising remote topic parameter_update
INFO  [muorb] [uORB] Marking DeviceNode(parameter_client_set_value_request) as advertised in process_remote_t
INFO  [uORB] Marking DeviceNode(parameter_server_set_used_request) as advertised in process_remote_topic
INFO  [muorb] [uORB] Marking DeviceNode(parameter_server_set_used_response) as advertised in process_remote_t
INFO  [uORB] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic
>>> Got an exception from send_request <<<
>>> Send succeeded after retries <<<
Sending topic message
--- msg_id: 1033
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_XY_VEL_I_ACC
--- topic name: parameter_client_set_value_request
Sending topic message
--- msg_id: 1033
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_XY_VEL_MAX
--- topic name: parameter_client_set_value_request
Connection error: connection reset
Sending topic message
--- msg_id: 1033
--- topic name: parameter_client_set_value_request
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_XY_VEL_P_ACC
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: parameter_client_set_value_request
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_YAW_EXPO
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_Z_MAN_EXPO
Sending topic message
--- msg_id: 1033
--- topic name: parameter_client_set_value_request
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_Z_P
Sending topic message
--- msg_id: 1033
--- topic name: parameter_client_set_value_request
Got response cb 0
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_Z_VEL_MAX_DN
Sending topic message
--- msg_id: 1033
--- topic name: parameter_client_set_value_request
Got response cb 0
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_Z_VEL_MAX_UP
Sending topic message
--- msg_id: 1033
--- topic name: parameter_client_set_value_request
Got response cb 0
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_Z_VEL_P_ACC
Sending topic message
--- msg_id: 1033
--- topic name: parameter_client_set_value_request
Got response cb 0
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC5_MAX
Sending topic message
--- msg_id: 1033
--- topic name: parameter_client_set_value_request
Got response cb 0
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC5_MIN
Sending topic message
--- msg_id: 1033
--- topic name: parameter_client_set_value_request
Got response cb 0
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC6_MAX
Sending topic message
--- msg_id: 1033
--- topic name: parameter_client_set_value_request
Got response cb 0
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC6_MIN
Sending topic message
--- msg_id: 1033
--- topic name: parameter_client_set_value_request
Got response cb 0
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC7_MAX
Sending topic message
--- msg_id: 1033
--- topic name: parameter_client_set_value_request
Got response cb 0
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC7_MIN
Sending topic message
--- msg_id: 1033
--- topic name: parameter_client_set_value_request
Got response cb 0
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC8_MAX
Sending topic message
--- msg_id: 1033
--- topic name: parameter_client_set_value_request
Got response cb 0
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC8_MIN
Sending topic message
--- msg_id: 1033
--- topic name: parameter_client_set_value_request
Got response cb 0
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC_CHAN_CNT
Sending topic message
--- msg_id: 1033
--- topic name: parameter_client_set_value_request
Got response cb 0
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC_MAP_FLTMODE
Sending topic message
--- msg_id: 1033
--- topic name: parameter_client_set_value_request
Got response cb 0
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC_MAP_KILL_SW
Sending topic message
--- msg_id: 1033
--- topic name: parameter_client_set_value_request
Got response cb 0
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC_MAP_PITCH
Sending topic message
--- msg_id: 1033
--- topic name: parameter_client_set_value_request
Got response cb 0
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC_MAP_ROLL
Sending topic message
--- msg_id: 1033
--- topic name: parameter_client_set_value_request
Got response cb 0
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC_MAP_THROTTLE
Sending topic message
--- msg_id: 1033
--- topic name: parameter_client_set_value_request
Got response cb 0
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC_MAP_YAW
Sending topic message
--- msg_id: 1033
--- topic name: parameter_client_set_value_request
Got response cb 0
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for SDLOG_PROFILE
Sending topic message
--- msg_id: 1033
--- topic name: parameter_client_set_value_request
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for SYS_AUTOSTART
Sending topic message
--- msg_id: 1033
--- topic name: parameter_client_set_value_request
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for THR_MDL_FAC
Sending topic message
--- msg_id: 1033
--- topic name: parameter_client_set_value_request
Connection error: connection reset
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for VOXL_ESC_BAUD
Sending topic message
--- msg_id: 1033
--- topic name: parameter_client_set_value_request
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for VOXL_ESC_CONFIG
Sending topic message
--- msg_id: 1033
--- topic name: parameter_client_set_value_request
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for VOXL_ESC_FUNC1
Sending topic message
--- msg_id: 1033
--- topic name: parameter_client_set_value_request
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Got response cb 0
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for VOXL_ESC_FUNC2
Sending topic message
--- msg_id: 1033
--- topic name: parameter_client_set_value_request
Got response cb 0
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for VOXL_ESC_FUNC3
Sending topic message
--- msg_id: 1033
--- topic name: parameter_client_set_value_request
Got response cb 0
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for VOXL_ESC_FUNC4
Sending topic message
--- msg_id: 1033
--- topic name: parameter_client_set_value_request
Got response cb 0
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for VOXL_ESC_RPM_MIN
Sending topic message
--- msg_id: 1033
--- topic name: parameter_client_set_value_request
Got response cb 0
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for VOXL_ESC_VLOG
INFO  [parameters] BSON document size 2522 bytes, decoded 2522 bytes (INT32:34, FLOAT:82)
Starting IMU driver with no rotation
Sending topic message
--- msg_id: 1030
--- topic name: qshell_req
Sending topic message
--- msg_id: 1033
--- topic name: qshell_req
Got response cb 0
Got response cb 0
INFO  [qshell] Send cmd: 'icm42688p start -s'
Connection error: connection reset
Connection error: connection reset
ERROR [qshell] command timed out
ERROR [qshell] Command failed
Sending topic message
--- msg_id: 1030
--- topic name: qshell_req
Sending topic message
--- msg_id: 1033
--- topic name: qshell_req
Got response cb 0
INFO  [qshell] Send cmd: 'icp101xx start -I -b 5'
Got response cb 0
Connection error: connection reset

dmesg output

[  +0.007947] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[Apr 9 13:16] Fatal error on slpi!
[  +0.000121] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:SNS_SEE_I_0:0x69:sns_stream_service.c:436:req_found.
[  +0.000062] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  +0.001457] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  +0.000014] subsys-restart: subsystem_shutdown(): [kworker/u19:0:2079]: Shutting down slpi
[  +0.013438] rpmh_rsc_send_data: 3 callbacks suppressed
[  +0.000008] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  +0.000020] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  +0.003267] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  +0.000012] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  +0.001113] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  +0.003764] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  +0.001176] subsys-restart: subsystem_powerup(): [kworker/u19:0:2079]: Powering up slpi
[  +0.000494] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  +0.064541] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  +0.062698] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  +0.000048] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  +0.003001] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  +0.000014] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2079]: Restart sequence for slpi completed.
[  +0.007566] 359684328:Entered
[  +0.000623] 359684328:SMD QRTR driver probed
[  +0.002753] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  +0.000358] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  +0.007085] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  +0.001658] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[ +14.479033] Fatal error on slpi!
[  +0.000111] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:UTMR_CLNT_1:0x1078:sns_thread_manager.c:497:SNS_SEE_P_1 exceeded processing time limit for library 0xb25d9728.
[  +0.000074] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  +0.001843] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  +0.000015] subsys-restart: subsystem_shutdown(): [kworker/u19:0:2079]: Shutting down slpi
[  +0.013163] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  +0.003133] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  +0.000080] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  +0.000157] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  +0.001062] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  +0.003001] subsys-restart: subsystem_powerup(): [kworker/u19:0:2079]: Powering up slpi
[  +0.000382] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  +0.070747] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  +0.061514] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  +0.000270] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  +0.006709] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  +0.000016] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2079]: Restart sequence for slpi completed.
[  +0.000103] 359684328:Entered
[  +0.001518] 359684328:SMD QRTR driver probed
[  +0.001876] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  +0.002996] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  +0.000127] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  +0.009617] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[  +5.216763] Fatal error on slpi!
[  +0.000116] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:SNS_SEE_I_0:0x69:sns_stream_service.c:436:req_found.
[  +0.000061] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  +0.001201] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  +0.000013] subsys-restart: subsystem_shutdown(): [kworker/u19:0:2079]: Shutting down slpi
[  +0.013377] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  +0.000077] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30040
[  +0.000046] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30040
[  +0.000018] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30040
[  +0.000017] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30040
[  +0.000018] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30040
[  +0.000017] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30040
[  +0.000017] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30040
[  +0.002919] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  +0.000755] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  +0.000159] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  +0.000604] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  +0.001291] subsys-restart: subsystem_powerup(): [kworker/u19:0:2079]: Powering up slpi
[  +0.000346] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  +0.067077] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  +0.061404] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  +0.000263] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  +0.003080] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  +0.000015] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2079]: Restart sequence for slpi completed.
[  +0.008128] 359684328:Entered
[  +0.002953] 359684328:SMD QRTR driver probed
[  +0.003042] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  +0.001505] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  +0.000031] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  +0.005837] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3

@Eric-Katzfey

This time it got stuck in the flashing progress.
and i got a fatal error on slpi as seen in the dmesg log.

voxl2:~$ voxl-version
────────────────────────────────────────────────────────────────────────────────
system-image: 1.8.02-M0054-14.1a-perf
kernel:       #1 SMP PREEMPT Mon Nov 11 22:08:01 UTC 2024 4.19.125
────────────────────────────────────────────────────────────────────────────────
hw platform:  M0054
mach.var:     1.0.0
────────────────────────────────────────────────────────────────────────────────
voxl-suite:   1.4.3
────────────────────────────────────────────────────────────────────────────────
Packages:
Repo:  http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.4/binary-arm64/
Last Updated: 2025-04-09 08:14:54
List:
kernel-module-voxl-fsync-mod-4.19.125     1.0-r0
kernel-module-voxl-gpio-mod-4.19.125      1.0-r0
kernel-module-voxl-platform-mod-4.19.125  1.0-r0
libfc-sensor                              1.0.7
libmodal-cv                               0.5.16
libmodal-exposure                         0.1.3
libmodal-journal                          0.2.3
libmodal-json                             0.4.3
libmodal-pipe                             2.10.6
libqrb5165-io                             0.4.9
libvoxl-cci-direct                        0.2.5
libvoxl-cutils                            0.1.1
modalai-slpi                              1.1.19
mv-voxl                                   0.1-r0
qrb5165-bind                              0.1-r0
qrb5165-dfs-server                        0.2.0
qrb5165-imu-server                        1.1.3
qrb5165-rangefinder-server                0.1.5
qrb5165-slpi-test-sig                     01-r0
qrb5165-system-tweaks                     0.3.5
qrb5165-tflite                            2.8.0-2
voxl-bind-spektrum                        0.1.1
voxl-camera-calibration                   0.5.9
voxl-camera-server                        2.1.2
voxl-ceres-solver                         2:1.14.0-10
voxl-configurator                         1.0.0
voxl-cpu-monitor                          0.5.3
voxl-docker-support                       1.3.1
voxl-elrs                                 0.4.2
voxl-esc                                  1.5.1
voxl-feature-tracker                      0.5.2
voxl-flow-server                          0.3.6
voxl-fsync-mod                            1.0-r0
voxl-gphoto2-server                       0.0.10
voxl-gpio-mod                             1.0-r0
voxl-io-server                            0.0.5
voxl-jpeg-turbo                           2.1.3-5
voxl-lepton-server                        1.3.3
voxl-lepton-tracker                       0.0.4
voxl-libgphoto2                           0.0.4
voxl-libuvc                               1.0.7
voxl-logger                               0.5.0
voxl-mavcam-manager                       0.5.8
voxl-mavlink                              0.1.4
voxl-mavlink-server                       1.4.5
voxl-modem                                1.1.5
voxl-mongoose                             7.7.0-1
voxl-mpa-to-ros                           0.3.9
voxl-mpa-tools                            1.3.7
voxl-open-vins                            0.4.17
voxl-open-vins-server                     0.3.0
voxl-opencv                               4.5.5-2
voxl-osd                                  0.1.3
voxl-platform-mod                         1.0-r0
voxl-portal                               0.7.9
voxl-px4                                  1.14.0-2.0.98
voxl-px4-imu-server                       0.1.2
voxl-px4-params                           0.6.7
voxl-qvio-server                          1.1.1
voxl-remote-id                            0.0.9
voxl-reset-slpi                           0.0.1
voxl-ros2-foxy                            0.0.1
voxl-state-estimator                      0.0.4
voxl-streamer                             0.7.5
voxl-suite                                1.4.3
voxl-tag-detector                         0.0.4
voxl-tflite-server                        0.3.9
voxl-utils                                1.4.6
voxl-uvc-server                           0.1.7
voxl-vision-hub                           1.8.20
voxl-vtx                                  1.2.2
voxl2-io                                  0.0.3
voxl2-system-image                        1.8.02-r0
voxl2-wlan                                1.0-r0
────────────────────────────────────────────────────────────────────────────────

Running the commands

voxl2:~/voxl-tools/voxl-esc/voxl-esc-tools(master)$ systemctl stop voxl-px4
voxl2:~/voxl-tools/voxl-esc/voxl-esc-tools(master)$ voxl-reset-slpi
Sending kill slpi command!
voxl2:~/voxl-tools/voxl-esc/voxl-esc-tools(master)$ ./voxl-esc-upload-firmware.py --firmware-baud-rate 250000 -f firmware/modalai_esc_firmware_m0129_3_v39_20_9c6233d6.bin --id 0
Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00)
[GCC 8.4.0]
Found voxl-esc tools bin version: 1.9

INFO: Firmware file name : firmware/modalai_esc_firmware_m0129_3_v39_20_9c6233d6.bin
INFO: Firmware file size : 23776 bytes


VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 250000
Sending library name request: libslpi_qrb5165_io.so
Sending initialization request
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Couldn't configure flight_controller sensor
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400

and the dmsg output

[ +14.486977] Fatal error on slpi!
[  +0.000114] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:UTMR_CLNT_1:0x1078:sns_thread_manager.c:497:SNS_SEE_P_0 exceeded processing time limit for library 0xb25d9728.
[  +0.000073] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  +0.002289] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  +0.000021] subsys-restart: subsystem_shutdown(): [kworker/u19:0:2087]: Shutting down slpi
[  +0.013036] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  +0.000076] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30040
[  +0.000018] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30040
[  +0.003508] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  +0.000298] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  +0.000830] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  +0.000869] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  +0.001171] subsys-restart: subsystem_powerup(): [kworker/u19:0:2087]: Powering up slpi
[  +0.000498] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  +0.071421] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  +0.063029] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  +0.000067] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  +0.002257] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  +0.000008] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2087]: Restart sequence for slpi completed.
[  +0.000187] -139437848:Entered
[  +0.000449] -139437848:SMD QRTR driver probed
[  +0.010916] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  +0.002408] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  +0.001058] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[  +0.001283] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[ +14.493230] Fatal error on slpi!
[  +0.000113] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:UTMR_CLNT_1:0x1078:sns_thread_manager.c:497:SNS_SEE_P_0 exceeded processing time limit for library 0xb25d94f8.
[  +0.000070] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  +0.001215] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  +0.000014] subsys-restart: subsystem_shutdown(): [kworker/u19:0:2087]: Shutting down slpi
[  +0.013131] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  +0.003115] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  +0.000243] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  +0.001668] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  +0.000832] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  +0.001114] subsys-restart: subsystem_powerup(): [kworker/u19:0:2087]: Powering up slpi
[  +0.000403] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  +0.070834] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  +0.062804] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  +0.000058] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  +0.008549] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  +0.000007] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2087]: Restart sequence for slpi completed.
[  +0.002205] -139437848:Entered
[  +0.002883] -139437848:SMD QRTR driver probed
[  +0.004222] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  +0.002885] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  +0.000020] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  +0.004621] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[Apr 9 08:44] Fatal error on slpi!

@tom

That's the first thing i disabled/stopped.
I also ensured px4 is not running in voxl-inspect-services.
Even the voxl-esc wizard does run into the same issues.

I also removed any uart device from the connectors. Before testing the previous steps.

Tried to manual install the firmware but it loses connection after ish 30% of upload

./voxl-esc-upload-firmware.py --firmware-baud-rate 250000 -f firmware/modalai_esc_firmware_m0129_3_v39_20_9c6233d6.bin --id 0


Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) 
[GCC 8.4.0]
Found voxl-esc tools bin version: 1.9

INFO: Firmware file name : firmware/modalai_esc_firmware_m0129_3_v39_20_9c6233d6.bin 
INFO: Firmware file size : 23776 bytes


VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 250000
Sending library name request: libslpi_qrb5165_io.so
Sending initialization request
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
Updated baud rate to 230400
INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 230400
INFO: ESC(s) detected: []
WARNING: Specified ESC ID not detected; perform manual power cycle now
Updated baud rate to 230400
INFO: Installing firmware to ESC ID 0 : firmware/modalai_esc_firmware_m0129_3_v39_20_9c6233d6.bin
        Progress:  36% [##################                                ]
>>> Got an exception from send_request <<<
>>> Send succeeded after retries <<<
Connection error: connection reset
ERROR: An error occured during the write process.

As stated in the headline, after running some spin tests I wanted to update the firmware of the esc with the

voxl-esc-upload-firmware-all.sh

the script failed after uploading the firmware at 30% for each motor. Now the motors rapidly blinks.
I'm using a voxl2 together with the voxl2 mini esc.
Voxl2 has the newest SDK 1.4.3 version

output of the voxl-esc-scan.py

Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) 
[GCC 8.4.0]
Found voxl-esc tools bin version: 1.9
VOXL Platform: M0054
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
Sending initialization request
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
Updated baud rate to 230400
INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 230400, protocol: bootloader


INFO: ESC Information:
INFO: ---------------------
---------------------
Connection error: connection reset
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 250000
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
Connection error: connection reset
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Updated baud rate to 230400
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
WARNING: No ESC(s) detected
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 921600
Connection error: connection reset
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
Updated baud rate to 230400
>>> Got an exception from send_request <<<
>>> Send succeeded after retries <<<
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Connection error: connection reset
WARNING: No ESC(s) detected
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 57600
Sending topic message
--- msg_id: 1033
--- topic name: uart_config
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
Sending topic message
--- msg_id: 1033
--- topic name: uart_config
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Connection error: connection reset
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Sending topic message
--- msg_id: 1033
--- topic name: uart_config
Got response cb 0
Updated baud rate to 230400
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
WARNING: No ESC(s) detected

ERROR: not all ESCs found

If i follow the recovery.md and try to rerun the firmware flash it just this is what i get:

Usage:
- Autodetect board and upload latest firmware to all ESCs:
    ./voxl-esc-upload-firmware-all.sh
- Autodetect board and upload latest firmware to a single ESC ID <esc_id>:
    ./voxl-esc-upload-firmware-all.sh <esc_id>

Detecting ESCs...
ERROR: No ESC boards detected..
Here is output of 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: 1.9
VOXL Platform: M0054
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
Sending initialization request
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
Connection error: connection reset
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Updated baud rate to 230400
WARNING: No ESC(s) detected
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 250000
>>> Got an exception from send_request <<<
>>> Got an exception from send_request <<<
>>> Send failed after retries <<<
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Connection error: connection reset
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
Sending topic message
--- msg_id: 1033
--- topic name: uart_config
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_config
Updated baud rate to 230400
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Connection error: connection reset
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
WARNING: No ESC(s) detected
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 921600
Sending topic message
--- msg_id: 1033
--- topic name: uart_config
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
Sending topic message
--- msg_id: 1033
--- topic name: uart_config
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Connection error: connection reset
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_config
Updated baud rate to 230400
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
WARNING: No ESC(s) detected
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 57600
Sending topic message
--- msg_id: 1033
--- topic name: uart_config
>>> Got an exception from send_request <<<
>>> Got an exception from send_request <<<
>>> Send failed after retries <<<
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
>>> Got an exception from send_request <<<
>>> Got an exception from send_request <<<
>>> Send failed after retries <<<
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Connection error: connection reset
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
Sending topic message
--- msg_id: 1033
--- topic name: uart_config
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_config
Updated baud rate to 230400
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Connection error: connection reset
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 5
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
WARNING: No ESC(s) detected

ERROR: not all ESCs found

Any help how i can unbrick the ESC? this is the second time that happens, while other esc had no issues with the firmware flashing procedure.

Thanks in advance

Phil

Hi Team,

I am running a VOXL2 and trying to connect wifi with this LM843 module. It works with my ubuntu 22.04 System so I can confirm the module is working.
However, using the USB breakoutboard and connecting the wifi module yields no result. It's also not showing up in ifconfig, lsusb or dmesg.

According to the vendor it supports linux kernel 2.6.24 - 5.18.
The drivers provided by the vendor don't compile either due to missing kernel headers (4.19.125). I only find 4.15.xx installed.

Any hint how i can get this running?
Thanks in advance

Phil

@astro_phil
px4 version: 1.14.0-2.0.68

@Alex-Kushleyev
Thanks for the quick reply

system-image: 1.7.8-M0104-14.1a-perf
kernel: #1 SMP PREEMPT Sat May 18 03:34:36 UTC 2024 4.19.125
hw platform: M0104
mach.var: 2.0.0
voxl-suite: 1.3.3

and using px4 1.14.0

both ESCs are running with a 2M baud rate

Hi Team,

I've bought 2 voxl mini ecs, but both have issue spinning up a motor connected on port 0. It seems to be stuck in the synchronisation phase when motor ist jumping back and forth.
However the motor works fine on every other port. I also used the script to set params to the esc and the spin script to check. Also tested with different firmware versions of the voxl2-mini computer with no change.

Any idea what the issue could be ?

Thanks in advance

Phil

@Alex-Kushleyev, Hi Alex

I recently setup a Hexarotor with 2 voxl-mini esc and created the second esc driver as described above. I know that this use case is not officially supported.
But i was hoping you still can help me out on the following issue.

As flying the drone inside a motion capture setup with position tracking, px4 has tough time holding it's position. A similar (in size and weight) quadrotor with the same firmware and setup works flawless.
Flying in stabilized mode / attitude control both drones are fine.

Looking into PX4 uorb rates I noticed running both esc drives reduces the update rate from 800 to 500hz in rate control. Also, some messages as the actuator_output and esc_status get published twice, once per esc, overwriting or setting the others esc status in the message to zero.
Inside the driver itself sometimes the write-read to the esc spikes up to ~2ms of execution time.

Any idea if some of these observations might lead to the bad tracking performance of px4?

Besides that, both escs i use have one bad port that is not able to spin up any motor, it just gets stuck in the synchronization phase and motor is jumping back and forth but that's a different issue.

Thanks, in advance

Phil