ModalAI Forum

Yes, your understanding is correct. To see the PX4 IMU values use standard PX4 commands. For example, on voxl2 you can use the PX4 listener commands:

voxl2:/$ px4-listener sensor_accel 

TOPIC: sensor_accel
 sensor_accel
    timestamp: 30123125 (0.006725 seconds ago)
    timestamp_sample: 30122829 (296 us before timestamp)
    device_id: 2490378 (Type: 0x26, SPI:1 (0x00))
    x: -0.05360
    y: 0.01754
    z: -9.68999
    temperature: 34.62560
    error_count: 0
    clip_counter: [0, 0, 0]
    samples: 20

voxl2:/$ px4-listener sensor_gyro 

TOPIC: sensor_gyro
 sensor_gyro
    timestamp: 37716660 (0.003955 seconds ago)
    timestamp_sample: 37716405 (255 us before timestamp)
    device_id: 2490378 (Type: 0x26, SPI:1 (0x00))
    x: -0.00409
    y: 0.00796
    z: -0.01429
    temperature: 34.32669
    error_count: 0
    clip_counter: [0, 0, 0]
    samples: 20

Our downloads page was recently updated and in the process the Hexagon SDK download file sdk.tgz was locked. We'll get that fixed and let you know when it is ready.

Yes, unfortunately some of the dependencies have changed. Can you checkout tag sdk-1.6.4-1 of voxl-mpa-tools and then in the docker ./install_build_deps.sh qrb5165 sdk-1.6. That should work.

What commands did you use to start each one? I would try qshell mb12xx start -X -b 4 -a 0x66 and qshell mb12xx start -X -b 4 -a 0x70

@Samuel-Marchetti Perhaps this can help with the odometry? https://forum.modalai.com/topic/3341/odometry-message/3?_=1782862595827

@saegsali BTW, the voxl_i2c commands are only going to try to exercise apps processor mapped i2c buses, not the DSP mapped ones on J19. Stick with the PX4 commands, those should work. And when you start PX4 from the command line use the -d option so that it doesn't start in daemon mode. E.g. MINIMAL_PX4=1 voxl-px4 -d.

@saegsali When you run that test is your custom PCB attached to the lines? What if you remove the PCB and just look at the lines?

@saegsali I would attach a GPS / magnetometer to J19 (UART and I2C). Verify that PX4 is getting good GPS and magnetometer data. Then probe the I2C lines while the device(s) are still attached.

@saegsali I really need you to be specific on how you tried to access the i2c. Please provide the exact commands issued so that I can see if what you were trying to do should have caused activity on the i2c bus.

@saegsali But how were you trying to access the I2C? What software? Via PX4?

@saegsali How are you trying to access the external i2c buses on J19?

@NikosMav Yes, things will get hotter when running QVIO. But once you arm and start the props everything will cool down. When reflashing the SDK I would grab one of the official releases from our downloads page and not a nightly.

@NikosMav Also, before changing anything can you capture a PX4 log and send that? From the adb command line you can use px4-logger on, wait a few seconds, then issue px4-logger off. You should see a log file somewhere in /data/px4/log. Perhaps to make sure it's the correct log delete all current logs before running this such that there is only one log file there.

@NikosMav Can you reinstall the SDK from scratch and verify that everything works properly? Was everything working before you changed the parameters?

@NikosMav Well, try each command a few times. But I think that is enough to show that the IMU is generating the data, otherwise it would have printed "never published". When you are connected to QGC and you move the drone around do you see the horizon indicator on the main screen also moving around? That's another indication that IMU data is making it to QGC. How are you connecting to QGC? Is it over WiFi? You can do the gyro calibration directly on the drone from the command line. I would adb into the drone and disable voxl-px4 from running automatically with systemctl disable voxl-px4, then power cycling. Once that is done adb in and start voxl-px4 from the command line with voxl-px4 -d. Once it has finished the start script enter this command at the prompt: qshell commander calibrate gyro and see what it does. Don't forget when you are done with your testing to re-enable voxl-px4 with systemctl enable voxl-px4.

@ralinaresg What SDK version is loaded on the Stinger?

@Samuel-Marchetti Can you try setting MAV_TYPE to 14, then power cycle and try the stabilized flight again?

@NikosMav There are two IMUs on a VOXL2. One is accessible from the applications processor and is used by VIO and voxl-calibrate-imu. The other is accessible by the SLPI DSP and that is where PX4 runs. Are you using a ModalAI drone or a custom drone? What SDK release are you on? Which parameters are you talking about, PX4 parameters? If you adb into the drone and issue px4-listener sensor_accel or px4-listener sensor_gyro do you see values?

@voxltester As I tried to explain before, don't wait for voxl-mavlink-server to connect to your application. You need to have it initiate the connection to voxl-mavlink-server.

@voxltester You cannot use a port number that is already in use by another application. So pick a different one.