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
Latest posts made by Federico Wyrwal
-
RE: EIS mergeposted in VOXL 2
-
ESC issue: rotors not spinningposted in Support Request Format for Best Results
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 ▂▂▂▂▂▂▂▂▂▂▂▂▂ ▂▄▆▆██▛▀▀▀▀▀▀▀▀▜████▆▆▄▂ ███╗ ███╗ ██████╗ ██████╗ █████╗ ██╗ ▗▆████▀▔ ▔▔▀▀▀▀▚▄ ████╗ ████║██╔═══██╗██╔══██╗██╔══██╗██║ ▗▟████▀ ▗██▖ ▐█ ▝▀▆▄▄▄ ██╔████╔██║██║ ██║██║ ██║███████║██║ ▟████▀ ▗█▘▝█▖ ▐█ ▜█▀ ██║╚██╔╝██║██║ ██║██║ ██║██╔══██║██║ █▌ ▐█▌ ▗█▘ ▝█▖ ▐█ ▐▄ ██║ ╚═╝ ██║╚██████╔╝██████╔╝██║ ██║███████╗ ▀████ ▗█▘ ▝█▖ ▐█ ▂▄███ ╚═╝ ╚═╝ ╚═════╝ ╚═════╝ ╚═╝ ╚═╝╚══════╝ ▀▀██▄▄ ▂▆███▀ ▀▀██▄▄ ▀▀▆▄▄▄▄▆██▀▀▀▘ ──────────────────────────────────────────────────────────────────────────────── 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 ERRORvoxl-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 ------------------------------------------------------------------