Hey @ryan_meagher , I've managed to get micrortps working without the internal uart. I'm using an ftdi adapter from a uart on the voxl to a usb port on-top of the microhard adapter. This is working well, except the voxl is locking up when we are running several nodes. I suspect it to be a problem with DDS requiring more bandwidth and potentially a race condition occurring. I'm interested in trying your voxl_io version if that is working, and I can provide some help to get the ftdi to usb version working if needed.

@Eric-Katzfey I was referring to the documentation for the specific registers that would need to be modified to enable and configure it since I'm familiar with embedded systems that allow that functionality. Another possibility is to add the /dev/watchdog kernel module, however that would require an update to the operating system. If this is possible, it would greatly improve the robustness since we are encountering many cpu lockups that require human intervention to perform hard reboots. For remote applications this is potentially a critical feature

@Eric-Katzfey I'm looking for documentation on the hardware watchdog timers onboard the voxl's snapdragon microcontroller

@Eric-Katzfey Could you point me to how I can setup watchdog timers on the voxl?

@Eric-Katzfey We're having trouble identifying the errors in dmesg. Is there a watchdog timer that could automatically restart the voxl? This will help debugging uas in a remote location without needing a hard reset.

Hi @Chad-Sweet We have a fan and the cpu doesn't appear to be overloaded. Is there any system log capabilities to help identify why the system is locking up and requiring a hard reboot?

@Chad-Sweet how do you recommend debugging this? Is there a system log I can view or any way to identify what is causing the lockup? Also what "release" has voxl-cpu-monitor? I don't think it's included in the latest image.

I wasn't able to run voxl-cpu-monitor but I made a simple bash script that blinks the voxl led every second and it stops blinking once the voxl stops responding. Also I tried tweaking the settings mentioned here https://docs.ros.org/en/ros2_documentation/dashing/Guides/DDS-tuning.html#cross-vendor-tuning, but that didn't help

voxl-cpu-monitor doesn't appear to output anything other than "Init complete, entering main loop"