The drone was untouched between the first and the next flight. To me the ESC looks clean and I detached and reattached the UART cable.
The 4 leds on the ESC first flash at high frequency then the come the sounds, then those leds flash another 4 times then they remain off. I see the same behavior and sound on our healthy drone.
The drone will be sent back for inspection today!
Thanks for the reply!
I have the starling 2 drone with voxl2 and sdk 1.5. I have the imx412 sensor mounted. The EIS requires a config file that unfortunately does not match the available resolutions for my hires sensor: 4056x3040. Is there a way around this?
Another valid configuration exists for 1024x768
We had an initial successful testing of our brand new starling 2 drone. By the next flight we were unable to arm. After some debugging it was clear the esc is unresponsive. How should we proceed?
voxl-esc spin logs:
Welcome to Ubuntu 18.04.5 LTS (GNU/Linux 4.19.125 aarch64)
* Documentation: https://help.ubuntu.com
* Management: https://landscape.canonical.com
* Support: https://ubuntu.com/advantage
* Strictly confined Kubernetes makes edge and IoT secure. Learn how MicroK8s
just raised the bar for easy, resilient and secure K8s cluster deployment.
https://ubuntu.com/engage/secure-kubernetes-at-the-edge
This system has been minimized by removing packages and content that are
not required on a system that users do not log into.
To restore this content, you can run the 'unminimize' command.
Last login: Fri Aug 15 14:53:00 2025 from 192.168.5.14
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────────────────────────────────────────────────────────────────────────────────
system-image: 1.8.04-M0054-14.1a-perf
kernel: #1 SMP PREEMPT Mon Mar 24 22:31:58 UTC 2025 4.19.125
────────────────────────────────────────────────────────────────────────────────
hw platform: M0054
mach.var: 1.0.1
SKU: MRB-D0014-4-V1-C27-T7-M22-X0
────────────────────────────────────────────────────────────────────────────────
voxl-suite: 1.5.0
────────────────────────────────────────────────────────────────────────────────
current IP: wlan0: ***
────────────────────────────────────────────────────────────────────────────────
voxl2:~$ voxl-esc spin
enabling bridge
detected voxl-px4 is enabled
Removed /etc/systemd/system/multi-user.target.wants/voxl-px4.service.
detected voxl-px4 is running, stopping it now
Sending kill slpi command!
bridge enabled
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
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
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
ERROR: voxl_uart_read_bytes: Bus '12' is not initialized
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: 921600
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
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: 57600
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
Updated baud rate to 230400
WARNING: No ESC(s) detected
ERROR: not all ESCs found
FAILED to ping ESCs when calling spin script
disabling bridge
Sending kill slpi command!
re-enabling voxl-px4
Created symlink /etc/systemd/system/multi-user.target.wants/voxl-px4.service → /etc/systemd/system/voxl-px4.service.
restarting voxl-px4
bridge disabled
EXITING VOXL-ESC WITH ERROR
voxl-mpa logs:
voxl2:~$ voxl-configure-mpa
------------------------------------------------------------------
Welcome to voxl-configure-mpa!
VOXL is currently thinks it is in the following hardware:
family code: MRB-D0014 (starling-2 (D0014))
compute board: 4 (voxl2)
hw version: 1
cam config: 27
modem config: 22 (M0141 w/ Alfa Networks WiFi Dongle AWUS036EACS)
tx config: 7 (elrs_beta_fpv)
extras config: 0 (none)
SKU: MRB-D0014-4-V1-C27-T7-M22-X0
If this doesn't look right, quit and run voxl-configure-sku to
set it correctly. Then run voxl-configure-mpa again.
Continue? y/n: y
Continuing
No handling specified for Modem Num: 22
No handling specified for Misc Num: 0
No custom voxl-streamer mods for: 27
No custom modem mods for: 22
No handling specified for Misc Num: 0
About to Execute:
systemctl enable voxl-wait-for-fs
systemctl start voxl-wait-for-fs
systemctl disable voxl-static-ip
voxl-configure-extrinsics D0014_Starling_2
voxl-configure-vio-cams tracking_front_down_rear
voxl-configure-cameras 27
voxl-configure-cpu-monitor factory_enable
voxl-configure-qvio disable
voxl-configure-dfs factory_disable
voxl-configure-tag-detector factory_disable
voxl-configure-tflite factory_disable
voxl-configure-vision-hub factory_enable
voxl-configure-mavlink-server factory_enable
voxl-configure-portal enable
voxl-configure-lepton disable
voxl-configure-lepton-tracker disable
voxl-configure-uvc disable
voxl-configure-streamer factory_enable
voxl-configure-modem disable
voxl-configure-mavcam factory_enable
voxl-configure-rangefinders 1_downward_on_m0173
voxl-configure-vtx --disable
voxl-configure-vrx --disable
voxl-configure-state-estimator disable
voxl-configure-osd disable
voxl-configure-imu factory_enable
voxl-configure-flow-server disable
voxl-configure-feature-tracker disable
voxl-configure-open-vins factory_enable
systemctl stop voxl-px4
systemctl disable voxl-px4
sleep 3
voxl-esc setup_d0014_starling_2
voxl-elrs configure
systemctl stop voxl-px4
rm -f /data/px4/param/parameters
voxl-configure-px4 crsf_gps_noapm
systemctl stop voxl-mavlink-server
sleep 1
voxl-configure-px4-params --non-interactive --platform MRB-D0014
set_px4_conf_param RC CRSF_RAW
executing: systemctl enable voxl-wait-for-fs
Success!
executing: systemctl start voxl-wait-for-fs
Success!
executing: systemctl disable voxl-static-ip
Success!
executing: voxl-configure-extrinsics D0014_Starling_2
wiping old extrinsic config file
copying /usr/share/modalai/extrinsic_configs/D0014_Starling_2.conf to /etc/modalai/extrinsics.conf
done configuring extrinsics
you can check what was set by running voxl-inspect-extrinsics --all
Success!
executing: voxl-configure-vio-cams tracking_front_down_rear
wiping old vio-cam config file
copying /usr/share/modalai/vio_cam_configs/tracking_front_down_rear.conf to /etc/modalai/vio_cams.conf
done configuring vio-cams
you can check what was set by running voxl-inspect-vio-cams
Success!
executing: voxl-configure-cameras 27
Camera Configuration: 27
camera server config helper list:
tracking_front:ar0144:0:rotate:
hires:imx412:1:
tracking_rear:ar0144:2:rotate:
tof:pmd-tof-liow2:3:
tracking_down:ar0144:4:
driver binary list:
/usr/share/modalai/chi-cdk/ar0144-combo/com.qti.sensormodule.ar0144_combo_0.bin
/usr/share/modalai/chi-cdk/imx412-fpv/com.qti.sensormodule.imx412_fpv_1.bin
/usr/share/modalai/chi-cdk/ar0144-fsin/com.qti.sensormodule.ar0144_fsin_2.bin
/usr/share/modalai/chi-cdk/irs2975c/com.qti.sensormodule.irs2975c_3.bin
/usr/share/modalai/chi-cdk/ar0144-combo/com.qti.sensormodule.ar0144_combo_6.bin
calling camera-server-config-helper tracking_front:ar0144:0:rotate: hires:imx412:1: tracking_rear:ar0144:2:rotate: tof:pmd-tof-liow2:3: tracking_down:ar0144:4:
detected system image 1.8.4
using new imx412 defaults
MISP awb str: auto
Setting MISP AWB to Auto
MISP channels enabled in defaults : 0
ERROR: object missing misp_channels
ERROR: Reading config file: multiple cameras with id: 0
FAILED TO WRITE CONFIG TO DISK
camera-server-config-helper failed on attempt 1
detected system image 1.8.4
using new imx412 defaults
MISP awb str: auto
Setting MISP AWB to Auto
MISP channels enabled in defaults : 0
ERROR: object missing misp_channels
MISP awb str: auto
Setting MISP AWB to Auto
MISP channels enabled in defaults : 0
ERROR: object missing misp_channels
MISP awb str: auto
Setting MISP AWB to Auto
MISP channels enabled in defaults : 0
ERROR: object missing misp_channels
successfully wrote this camera config to disk:
=================================================================
configuration for 5 cameras:
cam #0
name: tracking_front
sensor type: ar0144
isEnabled: 1
camId: 0
camId2: -1
fps: 30
en_rotate: 1
en_rotate2: 1
en_preview: 1
pre_width: 1280
pre_height: 800
en_raw_preview: 1
en_small_video: 0
small_video_width: -1
small_video_height: -1
en_large_video: 0
large_video_width: -1
large_video_height: -1
en_misp: 1
misp_width: 1280
misp_height: 800
en_snapshot: 0
snap_width: -1
snap_height: -1
exif_focal_length: 0.000000
exif_focal_len_35mm_format:0
exif_fnumber: 0.000000
ae_mode: lme_msv
msv_exposure_min_us: 20
msv_exposure_max_us: 12000
gain_min : 54
gain_max : 8000
standby_enabled: 0
decimator: 1
independent_exposure:0
cam #1
name: hires
sensor type: imx412
isEnabled: 1
camId: 1
camId2: -1
fps: 30
en_rotate: 0
en_rotate2: 0
en_preview: 0
pre_width: 640
pre_height: 480
en_raw_preview: 0
en_small_video: 1
small_video_width: 1024
small_video_height: 768
en_large_video: 1
large_video_width: 4056
large_video_height: 3040
en_misp: 0
misp_width: -1
misp_height: -1
en_snapshot: 1
snap_width: 4056
snap_height: 3040
exif_focal_length: 3.100000
exif_focal_len_35mm_format:17
exif_fnumber: 1.240000
ae_mode: isp
msv_exposure_min_us: 20
msv_exposure_max_us: 33000
gain_min : 54
gain_max : 8000
standby_enabled: 0
decimator: 1
independent_exposure:0
cam #2
name: tracking_rear
sensor type: ar0144
isEnabled: 1
camId: 2
camId2: -1
fps: 30
en_rotate: 1
en_rotate2: 1
en_preview: 1
pre_width: 1280
pre_height: 800
en_raw_preview: 1
en_small_video: 0
small_video_width: -1
small_video_height: -1
en_large_video: 0
large_video_width: -1
large_video_height: -1
en_misp: 1
misp_width: 1280
misp_height: 800
en_snapshot: 0
snap_width: -1
snap_height: -1
exif_focal_length: 0.000000
exif_focal_len_35mm_format:0
exif_fnumber: 0.000000
ae_mode: lme_msv
msv_exposure_min_us: 20
msv_exposure_max_us: 12000
gain_min : 54
gain_max : 8000
standby_enabled: 0
decimator: 1
independent_exposure:0
cam #3
name: tof
sensor type: pmd-tof-liow2
isEnabled: 1
camId: 3
camId2: -1
fps: 10
en_rotate: 1
en_rotate2: 0
en_preview: 1
pre_width: 240
pre_height: 1629
en_raw_preview: 1
en_small_video: 0
small_video_width: -1
small_video_height: -1
en_large_video: 0
large_video_width: -1
large_video_height: -1
en_misp: 0
misp_width: -1
misp_height: -1
en_snapshot: 0
snap_width: -1
snap_height: -1
exif_focal_length: 0.000000
exif_focal_len_35mm_format:0
exif_fnumber: 0.000000
ae_mode: off
msv_exposure_min_us: 0
msv_exposure_max_us: 6000
gain_min : 0
gain_max : 0
standby_enabled: 0
decimator: 5
independent_exposure:0
cam #4
name: tracking_down
sensor type: ar0144
isEnabled: 1
camId: 4
camId2: -1
fps: 30
en_rotate: 0
en_rotate2: 0
en_preview: 1
pre_width: 1280
pre_height: 800
en_raw_preview: 1
en_small_video: 0
small_video_width: -1
small_video_height: -1
en_large_video: 0
large_video_width: -1
large_video_height: -1
en_misp: 1
misp_width: 1280
misp_height: 800
en_snapshot: 0
snap_width: -1
snap_height: -1
exif_focal_length: 0.000000
exif_focal_len_35mm_format:0
exif_fnumber: 0.000000
ae_mode: lme_msv
msv_exposure_min_us: 20
msv_exposure_max_us: 12000
gain_min : 54
gain_max : 8000
standby_enabled: 0
decimator: 1
independent_exposure:0
fsync_en: 0
fsync_gpio: 109
=================================================================
camera_server_config_helper is done
camera-server-config-helper succeeded on attempt 2
setting gpio pin 109 for fsync
enabling fsync pin
copying required camera drivers in place
/usr/share/modalai/chi-cdk/ar0144-combo/com.qti.sensormodule.ar0144_combo_0.bin
/usr/share/modalai/chi-cdk/imx412-fpv/com.qti.sensormodule.imx412_fpv_1.bin
/usr/share/modalai/chi-cdk/ar0144-fsin/com.qti.sensormodule.ar0144_fsin_2.bin
/usr/share/modalai/chi-cdk/irs2975c/com.qti.sensormodule.irs2975c_3.bin
/usr/share/modalai/chi-cdk/ar0144-combo/com.qti.sensormodule.ar0144_combo_6.bin
enabling voxl-camera-server
------------------------------------------------------------------
Done Configuring Cameras
Please power cycle VOXL to load new drivers
camera server will start on next reboot
------------------------------------------------------------------
Success!
executing: voxl-configure-cpu-monitor factory_enable
wiping old config file
Creating new config file: /etc/modalai/voxl-cpu-monitor.conf
enabling voxl-cpu-monitor systemd service
Done configuring voxl-cpu-monitor
Success!
executing: voxl-configure-qvio disable
disabling voxl-qvio-server systemd service
stopping voxl-qvio-server systemd service
Done configuring voxl-qvio-server
Success!
executing: voxl-configure-dfs factory_disable
wiping old config file
Creating new config file: /etc/modalai/voxl-dfs-server.conf
disabling voxl-dfs-server systemd service
stopping voxl-dfs-server systemd service
Done configuring voxl-dfs-server
Success!
executing: voxl-configure-tag-detector factory_disable
wiping old config file
Creating new config file: /etc/modalai/voxl-tag-detector.conf
disabling voxl-tag-detector systemd service
stopping voxl-tag-detector systemd service
Done configuring voxl-tag-detector
Success!
executing: voxl-configure-tflite factory_disable
wiping old config file
Creating new config file: /etc/modalai/voxl-tflite-server.conf
The config file was modified during parsing, saving the changes to disk
disabling voxl-tflite-server systemd service
stopping voxl-tflite-server systemd service
Done configuring voxl-tflite-server
Success!
executing: voxl-configure-vision-hub factory_enable
wiping old config file
Created new json file: /etc/modalai/voxl-vision-hub.conf
The JSON config file data was modified during parsing, saving the changes to disk
enabling voxl-vision-hub systemd service
Done configuring voxl-vision-hub
service will start on next reboot
Success!
executing: voxl-configure-mavlink-server factory_enable
wiping old config file
Created new json file: /etc/modalai/voxl-mavlink-server.conf
enabling voxl-mavlink-server systemd service
Done configuring voxl-mavlink-server
Success!
executing: voxl-configure-portal enable
enabling voxl-portal systemd service
Done configuring voxl-portal
Success!
executing: voxl-configure-lepton disable
disabling voxl-lepton-server systemd service
stopping voxl-lepton-server systemd service
Done configuring voxl-lepton-server
Success!
executing: voxl-configure-lepton-tracker disable
disabling voxl-lepton-tracker systemd service
stopping voxl-lepton-tracker systemd service
Done configuring voxl-lepton-tracker
Success!
executing: voxl-configure-uvc disable
disabling voxl-uvc-server systemd service
stopping voxl-uvc-server systemd service
Done configuring voxl-uvc-server
Success!
executing: voxl-configure-streamer factory_enable
wiping old config file
Creating new config file: /etc/modalai/voxl-streamer.conf
writing /etc/modalai/voxl-streamer.conf to disk
parsed config file
enabling voxl-streamer systemd service
Done configuring voxl-streamer, it will start on next reboot
Success!
executing: voxl-configure-modem disable
disabling voxl-modem systemd service
stopping voxl-modem systemd service
Done configuring voxl-modem
Success!
executing: voxl-configure-mavcam factory_enable
Creating new config file: /etc/modalai/voxl-mavcam-manager.conf
writing /etc/modalai/voxl-mavcam-manager.conf to disk
enabling voxl-mavcam-manager systemd service
Done configuring voxl-mavcam-manager
It will start automatically on the next reboot
Success!
executing: voxl-configure-rangefinders 1_downward_on_m0173
creating new config file for 1 downward TOF without multiplexer
DONE
enabling voxl-rangefinder-server systemd service
Done configuring voxl-rangefinder-server
Success!
executing: voxl-configure-vtx --disable
Disabling voxl-vtx systemd service
Detected kernel version: 4.19.125
Default 88XXau kernel module already loaded
Success!
executing: voxl-configure-vrx --disable
Success!
executing: voxl-configure-state-estimator disable
disabling voxl-state-estimator systemd service
stopping voxl-state-estimator systemd service
Done configuring voxl-state-estimator
Success!
executing: voxl-configure-osd disable
disabling voxl-osd systemd service
stopping voxl-osd systemd service
Done configuring voxl-osd
Success!
executing: voxl-configure-imu factory_enable
wiping old config file
Creating new config file: /etc/modalai/voxl-imu-server.conf
enabling voxl-imu-server systemd service
Done configuring voxl-imu-server
Success!
executing: voxl-configure-flow-server disable
disabling voxl-flow-server systemd service
stopping voxl-flow-server systemd service
Done configuring voxl-flow-server
Success!
executing: voxl-configure-feature-tracker disable
disabling voxl-feature-tracker systemd service
stopping voxl-feature-tracker systemd service
Done configuring voxl-feature-tracker
Success!
executing: voxl-configure-open-vins factory_enable
/usr/bin/voxl-configure-open-vins: line 1: #!/bin/bash: No such file or directory
wiping old config file
Setting printing level to: SILENT
Creating new config file: /etc/modalai/voxl-open-vins-server.conf
The config file was modified during parsing, saving the changes to disk
QUIT REQUESTED
Exiting Cleanly
enabling voxl-open-vins-server systemd service
Please recycle power to reflect changes
Done configuring voxl-open-vins-server
Success!
executing: systemctl stop voxl-px4
Success!
executing: systemctl disable voxl-px4
Removed /etc/systemd/system/multi-user.target.wants/voxl-px4.service.
Success!
executing: sleep 3
Success!
executing: voxl-esc setup_d0014_starling_2
enabling bridge
bridge enabled
[INFO] Setting CPU to performance mode
Sending kill slpi command!
[INFO] Scanning for ESC...
successfully pinged ESCs
[ERROR] Unknown board detected:
disabling bridge
Sending kill slpi command!
bridge disabled
EXITING VOXL-ESC WITH ERROR
first try failed, executing a second time: voxl-esc setup_d0014_starling_2
enabling bridge
bridge enabled
[INFO] Setting CPU to performance mode
Sending kill slpi command!
[INFO] Scanning for ESC...
successfully pinged ESCs
[ERROR] Unknown board detected:
disabling bridge
Sending kill slpi command!
bridge disabled
EXITING VOXL-ESC WITH ERROR
FAILED TO EXECUTE: voxl-esc setup_d0014_starling_2
executing: voxl-elrs configure
Uploading config!
Sending library name request: libslpi_qrb5165_io.so
Sending initialization request
Selected firmware image:
BETAFPV 900MHz RX | v3.2.1.2
ELRS Receiver "BETAFPV 900RX" already up to date!
Setting pwm channels...
Success!
executing: systemctl stop voxl-px4
Success!
executing: rm -f /data/px4/param/parameters
Success!
executing: voxl-configure-px4 crsf_gps_noapm
wiping old config file
enabling voxl-px4 systemd service
Created symlink /etc/systemd/system/multi-user.target.wants/voxl-px4.service → /etc/systemd/system/voxl-px4.service.
Done configuring voxl-px4
Success!
executing: systemctl stop voxl-mavlink-server
Success!
executing: sleep 1
Success!
executing: voxl-configure-px4-params --non-interactive --platform MRB-D0014
[INFO] Voxl-px4 not currently running.
[INFO] Starting voxl-px4 service...
[INFO] Voxl-px4 started successfully!
This process will do the following:
1. Load the following param files:
platforms/VOXL_2_defaults.params
platforms/D0014_Starling_2.params
EKF2_helpers/vio_gps_baro.params
EKF2_helpers/exposed_baro.params
battery_helpers/Amprius_18650_2s.params
other_helpers/starling_2_indoor_position.params
radio_helpers/Commando_8.params
2. Restore calibration params
[INFO] Loading file: /usr/share/modalai/px4_params/v1.14/platforms/VOXL_2_defaults.params
[INFO] Scanning currently loaded parameters...
The following parameters about to be loaded differ from those currently loaded:
NAME CURRENT NEW
[1] IMU_GYRO_RATEMAX 400.0 800.0
[2] CBRK_SUPPLY_CHK 0.0 894281.0
[3] COM_ARM_SDCARD 1.0 0.0
[4] COM_CPU_MAX 95.0 -1.0
[5] MAV_TYPE 0.0 2.0
[6] SYS_AUTOSTART 0.0 4001.0
[7] SDLOG_PROFILE 1.0 129.0
[8] EKF2_REQ_SACC 0.5 1.5
[9] EKF2_REQ_GPS_H 10.0 5.0
[10] COM_KILL_DISARM 5.0 0.0
[INFO] Setting params...
[INFO] PX4 parameter configuration successful!
[INFO] Loading file: /usr/share/modalai/px4_params/v1.14/platforms/D0014_Starling_2.params
[INFO] Scanning currently loaded parameters...
The following parameters about to be loaded differ from those currently loaded:
NAME CURRENT NEW
[1] BAT_AVRG_CURRENT 15.0 4.3
[2] MPC_THR_HOVER 0.5 0.34
[3] THR_MDL_FAC 0.0 0.9
[4] VOXL_ESC_RPM_MIN 5500.0 2000.0
[5] MPC_THR_MAX 1.0 0.6
[6] MPC_THR_MIN 0.12 0.07
[7] MPC_MANTHR_MIN 0.08 0.07
[8] VOXL_ESC_FUNC1 0.0 102.0
[9] VOXL_ESC_FUNC2 0.0 103.0
[10] VOXL_ESC_FUNC3 0.0 101.0
[11] VOXL_ESC_FUNC4 0.0 104.0
[12] VOXL_ESC_BAUD 250000.0 2000000.0
[13] VOXL_ESC_CONFIG 0.0 1.0
[14] VOXL_ESC_VLOG 0.0 1.0
[15] EKF2_IMU_POS_X 0.0 0.0043
[16] EKF2_IMU_POS_Y 0.0 0.0073
[17] EKF2_IMU_POS_Z 0.0 -0.016
[18] CA_ROTOR_COUNT 0.0 4.0
[19] CA_ROTOR0_PX 0.0 0.085
[20] CA_ROTOR0_PY 0.0 0.0625
[21] CA_ROTOR1_PX 0.0 -0.085
[22] CA_ROTOR1_PY 0.0 -0.0625
[23] CA_ROTOR2_PX 0.0 0.085
[24] CA_ROTOR2_PY 0.0 -0.0625
[25] CA_ROTOR3_PX 0.0 -0.085
[26] CA_ROTOR3_PY 0.0 0.0625
[27] CA_ROTOR2_KM 0.05 -0.05
[28] CA_ROTOR3_KM 0.05 -0.05
[29] IMU_DGYRO_CUTOFF 30.0 60.0
[30] IMU_ACCEL_CUTOFF 30.0 80.0
[31] IMU_GYRO_CUTOFF 40.0 80.0
[32] IMU_GYRO_DNF_EN 0.0 1.0
[33] MC_ROLL_CUTOFF 0.0 30.0
[34] MC_PITCH_CUTOFF 0.0 30.0
[35] MC_YAW_CUTOFF 0.0 10.0
[36] MC_ROLL_P 6.5 16.0
[37] MC_ROLLRATE_P 0.15 0.072
[38] MC_ROLLRATE_I 0.2 0.171
[39] MC_ROLLRATE_D 0.003 0.0009
[40] MC_PITCH_P 6.5 16.0
[41] MC_PITCHRATE_P 0.15 0.097
[42] MC_PITCHRATE_I 0.2 0.228
[43] MC_PITCHRATE_D 0.003 0.0011
[44] MC_YAWRATE_P 0.2 0.15
[45] MC_YAWRATE_I 0.1 0.5
[46] MC_ROLLRATE_MAX 220.0 130.0
[47] MC_PITCHRATE_MAX 220.0 130.0
[48] MC_YAWRATE_MAX 200.0 150.0
[49] MPC_TKO_RAMP_T 3.0 1.0
[50] COM_SPOOLUP_TIME 1.0 2.0
[51] LNDMC_ROT_MAX 20.0 30.0
[52] LNDMC_TRIG_TIME 1.0 0.5
[53] COM_DISARM_LAND 2.0 0.1
[54] COM_DISARM_PRFLT 10.0 20.0
[INFO] Setting params...
[INFO] PX4 parameter configuration successful!
[INFO] Loading file: /usr/share/modalai/px4_params/v1.14/EKF2_helpers/vio_gps_baro.params
[INFO] Scanning currently loaded parameters...
The following parameters about to be loaded differ from those currently loaded:
NAME CURRENT NEW
[1] EKF2_RNG_DELAY 5.0 50.0
[2] EKF2_HGT_REF 1.0 0.0
[3] EKF2_EV_QMIN 0.0 1.0
[INFO] Setting params...
[INFO] PX4 parameter configuration successful!
[INFO] Loading file: /usr/share/modalai/px4_params/v1.14/EKF2_helpers/exposed_baro.params
[INFO] Scanning currently loaded parameters...
The following parameters about to be loaded differ from those currently loaded:
NAME CURRENT NEW
[1] EKF2_BARO_NOISE 3.5 3.0
[INFO] Setting params...
[INFO] PX4 parameter configuration successful!
[INFO] Loading file: /usr/share/modalai/px4_params/v1.14/battery_helpers/Amprius_18650_2s.params
[INFO] Scanning currently loaded parameters...
The following parameters about to be loaded differ from those currently loaded:
NAME CURRENT NEW
[1] BAT1_N_CELLS 0.0 2.0
[2] BAT1_R_INTERNAL 0.005 0.022
[3] BAT1_CAPACITY -1.0 3950.0
[4] BAT1_V_CHARGED 4.05 4.1
[5] BAT1_V_EMPTY 3.6 2.8
[6] BAT_CRIT_THR 0.07 0.1
[INFO] Setting params...
[INFO] PX4 parameter configuration successful!
[INFO] Loading file: /usr/share/modalai/px4_params/v1.14/other_helpers/starling_2_indoor_position.params
[INFO] Scanning currently loaded parameters...
The following parameters about to be loaded differ from those currently loaded:
NAME CURRENT NEW
[1] MPC_YAW_EXPO 0.6 0.3
[2] MPC_XY_MAN_EXPO 0.6 0.45
[3] MPC_Z_MAN_EXPO 0.6 0.1
[4] MPC_JERK_MAX 8.0 40.0
[5] MPC_TILTMAX_AIR 45.0 30.0
[6] MPC_ACC_HOR_MAX 5.0 1000.0
[7] MPC_ACC_UP_MAX 4.0 3.0
[8] MPC_HOLD_MAX_XY 0.8 0.0
[9] MPC_HOLD_MAX_Z 0.6 0.0
[10] MPC_VEL_MANUAL 10.0 3.0
[11] MPC_XY_VEL_MAX 12.0 3.0
[12] MPC_XY_CRUISE 5.0 3.0
[13] MPC_Z_VEL_MAX_DN 1.5 1.0
[14] MPC_Z_V_AUTO_DN 1.5 1.0
[15] MPC_Z_VEL_MAX_UP 3.0 1.0
[16] MPC_Z_V_AUTO_UP 3.0 1.0
[17] MPC_LAND_SPEED 0.7 1.0
[18] MPC_XY_P 0.95 3.5
[19] MPC_XY_VEL_P_ACC 1.8 3.0
[20] MPC_XY_VEL_I_ACC 0.4 0.1
[21] MPC_XY_VEL_D_ACC 0.2 0.0
[22] MPC_Z_P 1.0 5.0
[23] MPC_Z_VEL_P_ACC 4.0 8.0
[INFO] Setting params...
[INFO] PX4 parameter configuration successful!
[INFO] Loading file: /usr/share/modalai/px4_params/v1.14/radio_helpers/Commando_8.params
[INFO] Scanning currently loaded parameters...
The following parameters about to be loaded differ from those currently loaded:
NAME CURRENT NEW
[1] RC_CHAN_CNT 0.0 16.0
[2] RC_MAP_ROLL 0.0 1.0
[3] RC_MAP_PITCH 0.0 2.0
[4] RC_MAP_THROTTLE 0.0 3.0
[5] RC_MAP_YAW 0.0 4.0
[6] RC_MAP_KILL_SW 0.0 5.0
[7] RC_MAP_FLTMODE 0.0 6.0
[8] COM_FLTMODE1 -1.0 0.0
[9] COM_FLTMODE2 -1.0 0.0
[10] COM_FLTMODE3 -1.0 2.0
[11] COM_FLTMODE4 -1.0 2.0
[12] COM_FLTMODE5 -1.0 7.0
[13] COM_FLTMODE6 -1.0 7.0
[14] RC5_MAX 2000.0 1988.0
[15] RC5_MIN 1000.0 1011.0
[16] RC6_MAX 2000.0 1988.0
[17] RC6_MIN 1000.0 1011.0
[18] RC7_MAX 2000.0 1988.0
[19] RC7_MIN 1000.0 1011.0
[20] RC8_MAX 2000.0 1988.0
[21] RC8_MIN 1000.0 1011.0
[INFO] Setting params...
[INFO] PX4 parameter configuration successful!
[INFO] Loading file: /data/px4/param/parameters_gyro.cal
[INFO] Scanning currently loaded parameters...
The following parameters about to be loaded differ from those currently loaded:
NAME CURRENT NEW
[1] CAL_GYRO0_ID 0.0 2490378.0
[2] CAL_GYRO0_PRIO -1.0 50.0
[3] CAL_GYRO0_XOFF 0.0 0.0005
[4] CAL_GYRO0_YOFF 0.0 0.0129
[5] CAL_GYRO0_ZOFF 0.0 0.0078
[INFO] Setting params...
[INFO] PX4 parameter configuration successful!
[INFO] Trimming duplicate parameters...
[INFO] Loading file: /data/px4/param/parameters_acc.cal
[INFO] Scanning currently loaded parameters...
The following parameters about to be loaded differ from those currently loaded:
NAME CURRENT NEW
[1] CAL_ACC0_ID 0.0 2490378.0
[2] CAL_ACC0_PRIO -1.0 50.0
[3] CAL_ACC0_XOFF 0.0 0.0067
[4] CAL_ACC0_YOFF 0.0 0.0747
[5] CAL_ACC0_ZOFF 0.0 0.0884
[INFO] Setting params...
[INFO] PX4 parameter configuration successful!
[INFO] Trimming duplicate parameters...
[INFO] Loading file: /data/px4/param/parameters_level.cal
[INFO] Scanning currently loaded parameters...
The following parameters about to be loaded differ from those currently loaded:
NAME CURRENT NEW
[1] SENS_BOARD_X_OFF 0.0 -0.3481
[2] SENS_BOARD_Y_OFF 0.0 0.087
[INFO] Setting params...
[INFO] PX4 parameter configuration successful!
[INFO] Trimming duplicate parameters...
[INFO] Loading file: /data/px4/param/parameters_mag.cal
[INFO] Scanning currently loaded parameters...
The following parameters about to be loaded differ from those currently loaded:
NAME CURRENT NEW
[1] CAL_MAG0_ID 0.0 527625.0
[2] CAL_MAG0_PRIO -1.0 75.0
[3] CAL_MAG0_XOFF 0.0 0.0741
[4] CAL_MAG0_YOFF 0.0 0.0822
[5] CAL_MAG0_ZOFF 0.0 0.1073
[6] CAL_MAG0_XSCALE 1.0 1.0064
[7] CAL_MAG0_YSCALE 1.0 1.0357
[8] CAL_MAG0_ZSCALE 1.0 0.9691
[9] CAL_MAG0_XODIAG 0.0 -0.0151
[10] CAL_MAG0_YODIAG 0.0 -0.0273
[11] CAL_MAG0_ZODIAG 0.0 0.0054
[12] CAL_MAG0_ROT -1.0 0.0
[INFO] Setting params...
[INFO] PX4 parameter configuration successful!
[INFO] Trimming duplicate parameters...
[INFO] Loading file: /data/px4/param/parameters_rc.cal
[INFO] Trimming duplicate parameters...
[INFO] Scanning currently loaded parameters...
[INFO] No difference in parameters was detected.
[INFO] Loading file: /data/px4/param/parameters_baro_tc.cal
[INFO] Scanning currently loaded parameters...
The following parameters about to be loaded differ from those currently loaded:
NAME CURRENT NEW
[1] TC_B_ENABLE 0.0 1.0
[2] TC_B0_ID 0.0 12018473.0
[3] TC_B0_TREF 40.0 62.77
[4] TC_B0_TMIN 5.0 55.48
[5] TC_B0_TMAX 75.0 70.07
[6] TC_B0_X0 0.0 0.0957
[7] TC_B0_X1 0.0 -2.9135
[INFO] Setting params...
[INFO] PX4 parameter configuration successful!
[INFO] Done configuring for platform MRB-D0014
[INFO] make sure to fully power cycle VOXL before flying.
Success!
executing: set_px4_conf_param RC CRSF_RAW
Success!
------------------------------------------------------------------
FAILED TO EXECUTE the following steps:
voxl-esc setup_d0014_starling_2
Encountered Problems Configuring MPA Services :-/
Some Services may not start up on next reboot
Calibration File Status:
Present /data/modalai/voxl-imu-server.cal
Present /data/modalai/opencv_tracking_front_intrinsics.yml
Present /data/modalai/opencv_tracking_down_intrinsics.yml
Present /data/modalai/opencv_tracking_rear_intrinsics.yml
Present /data/px4/param/parameters_gyro.cal
Present /data/px4/param/parameters_acc.cal
Present /data/px4/param/parameters_level.cal
Present /data/px4/param/parameters_baro_tc.cal
Present /data/px4/param/parameters_mag.cal
All Required Calibration Files Present
PLEASE POWER CYCLE YOUR VOXL
------------------------------------------------------------------