Thank you for reverting back. I am trying to proceed with the same approach.
I am facing some errors while going with this approach , I am trying to debug them.
Another approach :-
I am also thinking to hardcode the joystick based turtle mode to the voxl_esc.cpp.
The manual control values will be monitored and once the value of the assigned button is clicked, the turtle mode will be enabled.
Do you think it is a good approach?
I am sorry for the confusion , I started the thread for another ESC, that is cleared.
Now I am asking with respect to modal ai FPV ESC.
The issue I am facing now is, the VOXL-FPV-DEV fork of px4 has turtle mode for joystick and button.
The Main fork of the PX4 do not carry this feature.
I would like to incorporate this feature in the Main fork.
The reason I switched from fpv-dev to main, was collision prevention error. The VOXL-FPV-DEV do not have collision prevention working properly.
I hope my questions are clear now.
@tom I am using the Modalai Main fork of PX4 which already have the turtle mode, I just want the turtle mode to be enabled through joystick.
@zauberflote1 @Cliff-Wong @Alex-Kushleyev @Eric-Katzfey
Hey guys, I am using voxl-open-vins-server.
I facing an issue of constant drift, the drone is drifting while takeoff itself. Once I take off itself the vins values varies from 1 m to 80 m. I take off in stabilised for safety. The drone once changed to position mode, constantly moves in one direction, until pilot gives different command, again it will continue in the direction of the pilot command.
I am mentioning my config file here, please guide me to achieve strong position hold.
/**
* This file contains configuration that's specific to voxl-open-vins-server.
*
* *NOTE*: all time variables are measured in seconds
*
* OpenVins param breakdown:
*
* do_fej: whether or not to do first estimate Jacobians
* imu_avg: whether or not use imu message averaging
* use_rk4_integration: if we should use Rk4 imu integration.
* cam_to_imu_refinement: whether or not to refine the imu-to-camera pose
* cam_intrins_refinement: whether or not to refine camera intrinsics
* cam_imu_ts_refinement: whether or not to calibrate cam to IMU time offset
* max_clone_size: max clone size of sliding window
* max_slam_features: max number of estimated SLAM features
* max_slam_in_update: max number of SLAM features in a single EKF update
* max_msckf_in_update: max number of MSCKF features used at an image timestep
*
* Feature Reps can be any of the following:
* 0 - GLOBAL_3D
* 1 - GLOBAL_FULL_INVERSE_DEPTH
* 2 - ANCHORED_3D
* 3 - ANCHORED_FULL_INVERSE_DEPTH
* 4 - ANCHORED_MSCKF_INVERSE_DEPTH
* 5 - ANCHORED_INVERSE_DEPTH_SINGLE
* feat_rep_msckf: (int) what representation our msckf features are in
* feat_rep_slam: (int) what representation our slam features are in
* cam_imu_time_offset: time offset between camera and IMU
* slam_delay: delay that we should wait from init before estimating SLAM features
* gravity_mag: gravity magnitude in the global frame
* init_window_time: amount of time to initialize over
* init_imu_thresh: variance threshold on our accel to be classified as moving
*
* imu_sigma_w: gyroscope white noise (rad/s/sqrt(hz))
* imu_sigma_wb: gyroscope random walk (rad/s^2/sqrt(hz))
* imu_sigma_a: accelerometer white noise (m/s^2/sqrt(hz))
* imu_sigma_ab: accelerometer random walk (m/s^3/sqrt(hz))
* imu_sigma_w_2: gyroscope white noise covariance
* imu_sigma_wb_2: gyroscope random walk covariance
* imu_sigma_a_2: accelerometer white noise covariance
* imu_sigma_ab_2: accelerometer random walk covariance
*
* ****_chi2_multiplier: what chi-squared multipler we should apply
* ****_sigma_px: noise sigma for our raw pixel measurements
* ****_sigma_px_sq: covariance for our raw pixel measurements
* use_stereo: if feed_measurement_camera is called with more than one
* image, this determines behavior. if true, they are treated as a stereo
* pair, otherwise treated as binocular system
* if you enable a camera with stereo in the name, this will be set to true
* automatically
*
* try_zupt: if we should try to use zero velocity update
* zupt_max_velocity: max velocity we will consider to try to do a zupt
* zupt_only_at_beginning: if we should only use the zupt at the very beginning
* zupt_noise_multiplier: multiplier of our zupt measurement IMU noise matrix
* zupt_max_disparity: max disparity we will consider to try to do a zupt
* *NOTE*: set zupt_max_disparity to 0 for only imu based zupt, and
* zupt_chi2_multipler to 0 for only display based zupt
*
* num_pts: number of points we should extract and track in each image frame
* fast_threshold: fast extraction threshold
* grid_x: number of column-wise grids to do feature extraction in
* grid_y: number of row-wise grids to do feature extraction in
* min_px_dist: after doing KLT track will remove any features closer than this
* knn_ratio: KNN ration between top two descriptor matchers for good match
* downsample_cams: will half image resolution
* use_nultithreading: if we should use multi-threading for stereo matching
* use_mask: if we should load a mask and use it to reject invalid features
*/
{
"en_auto_reset": true,
"auto_reset_max_velocity": 20,
"auto_reset_max_v_cov_instant": 0.10000000149011612,
"auto_reset_max_v_cov": 0.10000000149011612,
"auto_reset_max_v_cov_timeout_s": 0.5,
"auto_reset_min_features": 1,
"auto_reset_min_feature_timeout_s": 3,
"auto_fallback_timeout_s": 3,
"auto_fallback_min_v": 0.600000023841858,
"en_cont_yaw_checks": false,
"fast_yaw_thresh": 5,
"fast_yaw_timeout_s": 1.75,
"do_fej": true,
"imu_avg": true,
"use_rk4_integration": true,
"cam_to_imu_refinement": true,
"cam_intrins_refinement": true,
"cam_imu_ts_refinement": true,
"max_clone_size": 8,
"max_slam_features": 35,
"max_slam_in_update": 10,
"max_msckf_in_update": 10,
"feat_rep_msckf": 4,
"feat_rep_slam": 4,
"cam_imu_time_offset": 0,
"slam_delay": 1,
"gravity_mag": 9.80665,
"init_window_time": 1,
"init_imu_thresh": 1,
"imu_sigma_w": 0.00013990944749616306,
"imu_sigma_wb": 4.1189724174615527e-07,
"imu_sigma_a": 0.0038947538150776763,
"imu_sigma_ab": 5.538346201712153e-05,
"msckf_chi2_multiplier": 1,
"slam_chi2_multiplier": 40,
"zupt_chi2_multiplier": 1,
"msckf_sigma_px": 4,
"slam_sigma_px": 4,
"zupt_sigma_px": 4,
"try_zupt": true,
"zupt_max_velocity": 0.02,
"zupt_only_at_beginning": true,
"zupt_noise_multiplier": 1.5,
"zupt_max_disparity": 8,
"init_dyn_use": true,
"triangulate_1d": false,
"refine_features": true,
"max_runs": 5,
"init_lamda": 0.001,
"max_lamda": 10000000000,
"min_dx": 1e-06,
"min_dcost": 1e-06,
"lam_mult": 10,
"min_dist": 0.1,
"max_dist": 60,
"max_baseline": 40,
"max_cond_number": 600000,
"use_mask": false,
"use_multithreading": true,
"use_stereo": true,
"use_baro": false,
"num_opencv_threads": 4,
"fast_threshold": 30,
"histogram_method": 1,
"knn_ratio": 0.7,
"takeoff_accel_threshold": 0.80,
"takeoff_threshold": 0.3,
"use_stats": false,
"max_allowable_cep": 1,
"en_force_init": false,
"en_force_ned_2_flu": false,
"track_frequency": 40,
"publish_frequency": 15,
"en_vio_always_on": false,
"en_ext_feature_tracker": false,
"en_gpu_for_tracking": true,
"num_features_to_track": 40
}
@Eric-Katzfey
hey,
I observed something while the above behaviour still persists.
The modem and the camera server is showing not running while checking through the inspect services command.
I do not know whether this is related to this issue, but the voxl 2 is rebooting after sometime, the reboot is not constant and I am not able to able to find the reason for the reboot. Can everything be related to each other.
I am using the Microhard modem
@Eric-Katzfey Hey, could you please help me with this issue?
@Eric-Katzfey hey, if I would like to implement the same in the main px4 fork (modalai) what all would i have to change.
@Eric-Katzfey Thank you for reverting back, why does collision prevention not working with this px4 version.
The obstacle_distance topic is not showing in any mpc_pos_mod
These mentioned errors were only observed while using microhard unit
voxl2:/$ voxl-mavlink-server -z
Enabling UDP to slpi recv debugging
Enabling qrb5165 external AP recv debugging
Enabling UDP to slpi send debugging
Enabling qrb5165 external AP send debugging
Enabling UDP GCS recv debugging
Enabling UDP GCS send debugging
loading our own config file
=================================================================
Parameters as loaded from config file:
primary_static_gcs_ip: 192.168.168.200
primary_static_gcs_ip_port: 14550
secondary_static_gcs_ip: 192.169.168.2
secondary_static_gcs_ip_port: 14550
onboard_port_to_autopilot: 14556
onboard_port_from_autopilot: 14557
gcs_port_to_autopilot: 14558
gcs_port_from_autopilot: 14559
en_external_uart_ap: 1
autopilot_uart_bus: 12
autopilot_uart_baudrate: 921600
autopilot_mission_delay_start: -1
autopilot_mission_delay_sound: 0
autopilot_mission_force_restart: 0
autopilot_mission_notif_dur: 0.10
udp_mtu: 200
gcs_timeout_s 1.00
en_external_ap_timesync: 1
en_external_ap_heartbeat: 1
=================================================================
Sending library name request: libslpi_qrb5165_io.so
Sending initialization request
Successfully opened bus 12 at baudrate 921600
starting qrb5165 external AP receive thread
RECV msg ID: 74 sysid: 1 from bus: 12
RECV msg ID: 30 sysid: 1 from bus: 12
RECV msg ID: 31 sysid: 1 from bus: 12
RECV msg ID: 30 sysid: 1 from bus: 12
RECV msg ID: 105 sysid: 1 from bus: 12
RECV msg ID: 31 sysid: 1 from bus: 12
RECV msg ID: 32 sysid: 1 from bus: 12
RECV msg ID: 30 sysid: 1 from bus: 12
RECV msg ID: 331 sysid: 1 from bus: 12
RECV msg ID: 1 sysid: 1 from bus: 12
RECV msg ID: 30 sysid: 1 from bus: 12
RECV msg ID: 105 sysid: 1 from bus: 12
RECV msg ID: 30 sysid: 1 from bus: 12
RECV msg ID: 31 sysid: 1 from bus: 12
RECV msg ID: 105 sysid: 1 from bus: 12
RECV msg ID: 30 sysid: 1 from bus: 12
RECV msg ID: 32 sysid: 1 from bus: 12
RECV msg ID: 331 sysid: 1 from bus: 12
RECV msg ID: 411 sysid: 1 from bus: 12
RECV msg ID: 30 sysid: 1 from bus: 12
RECV msg ID: 31 sysid: 1 from bus: 12
RECV msg ID: 30 sysid: 1 from bus: 12
RECV msg ID: 105 sysid: 1 from bus: 12
RECV msg ID: 132 sysid: 1 from bus: 12
RECV msg ID: 31 sysid: 1 from bus: 12
RECV msg ID: 30 sysid: 1 from bus: 12
RECV msg ID: 32 sysid: 1 from bus: 12
RECV msg ID: 331 sysid: 1 from bus: 12
RECV msg ID: 30 sysid: 1 from bus: 12
RECV msg ID: 111 sysid: 1 from bus: 12
RECV msg ID: 105 sysid: 1 from bus: 12
RECV msg ID: 141 sysid: 1 from bus: 12
RECV msg ID: 83 sysid: 1 from bus: 12
RECV msg ID: 245 sysid: 1 from bus: 12
RECV msg ID: 85 sysid: 1 from bus: 12
RECV msg ID: 36 sysid: 1 from bus: 12
RECV msg ID: 74 sysid: 1 from bus: 12
RECV msg ID: 106 sysid: 1 from bus: 12
RECV msg ID: 30 sysid: 1 from bus: 12
RECV msg ID: 31 sysid: 1 from bus: 12
RECV msg ID: 30 sysid: 1 from bus: 12
Adding primary GCS IP address from conf file to list: 192.168.168.200:14550
Added new UDP connection to 192.168.168.200:14550
Adding secondary manual gcs IP address to udp connection list: 192.169.168.2:14550
Added new UDP connection to 192.169.168.2:14550
RECV msg ID: 105 sysid: 1 from bus: 12
to GCS msgid: 105 compid 1
RECV msg ID: 32 sysid: 1 from bus: 12
to GCS msgid: 32 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to GCS msgid: 30 compid 1
Init complete, entering main loop
RECV msg ID: 331 sysid: 1 from bus: 12
to ob pipe ID: 331 compid: 1
to gcs pipe ID: 331 compid: 1
to GCS msgid: 331 compid 1
RECV msg ID: 31 sysid: 1 from bus: 12
to ob pipe ID: 31 compid: 1
to gcs pipe ID: 31 compid: 1
to GCS msgid: 31 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 105 sysid: 1 from bus: 12
to ob pipe ID: 105 compid: 1
to gcs pipe ID: 105 compid: 1
to GCS msgid: 105 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 31 sysid: 1 from bus: 12
to ob pipe ID: 31 compid: 1
to gcs pipe ID: 31 compid: 1
to GCS msgid: 31 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 105 sysid: 1 from bus: 12
to ob pipe ID: 105 compid: 1
to gcs pipe ID: 105 compid: 1
to GCS msgid: 105 compid 1
RECV msg ID: 32 sysid: 1 from bus: 12
to ob pipe ID: 32 compid: 1
to gcs pipe ID: 32 compid: 1
to GCS msgid: 32 compid 1
RECV msg ID: 331 sysid: 1 from bus: 12
to ob pipe ID: 331 compid: 1
to gcs pipe ID: 331 compid: 1
to GCS msgid: 331 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 31 sysid: 1 from bus: 12
to ob pipe ID: 31 compid: 1
to gcs pipe ID: 31 compid: 1
to GCS msgid: 31 compid 1
RECV msg ID: 105 sysid: 1 from bus: 12
to ob pipe ID: 105 compid: 1
to gcs pipe ID: 105 compid: 1
to GCS msgid: 105 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 132 sysid: 1 from bus: 12
to ob pipe ID: 132 compid: 1
to gcs pipe ID: 132 compid: 1
to GCS msgid: 132 compid 1
RECV msg ID: 31 sysid: 1 from bus: 12
to ob pipe ID: 31 compid: 1
to gcs pipe ID: 31 compid: 1
to GCS msgid: 31 compid 1
RECV msg ID: 32 sysid: 1 from bus: 12
to ob pipe ID: 32 compid: 1
to gcs pipe ID: 32 compid: 1
to GCS msgid: 32 compid 1
RECV msg ID: 331 sysid: 1 from bus: 12
to ob pipe ID: 331 compid: 1
to gcs pipe ID: 331 compid: 1
to GCS msgid: 331 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 111 sysid: 1 from bus: 12
to AP msg ID: 111 sysid: 1 to bus: 12
to AP msg ID: 111 sysid: 1 to bus: 12
to gcs pipe ID: 111 compid: 1
to GCS msgid: 111 compid 1
RECV msg ID: 105 sysid: 1 from bus: 12
to ob pipe ID: 105 compid: 1
to gcs pipe ID: 105 compid: 1
to GCS msgid: 105 compid 1
RECV msg ID: 141 sysid: 1 from bus: 12
to ob pipe ID: 141 compid: 1
to gcs pipe ID: 141 compid: 1
to GCS msgid: 141 compid 1
RECV msg ID: 83 sysid: 1 from bus: 12
to ob pipe ID: 83 compid: 1
to gcs pipe ID: 83 compid: 1
to GCS msgid: 83 compid 1
RECV msg ID: 85 sysid: 1 from bus: 12
to ob pipe ID: 85 compid: 1
to gcs pipe ID: 85 compid: 1
to GCS msgid: 85 compid 1
RECV msg ID: 36 sysid: 1 from bus: 12
to ob pipe ID: 36 compid: 1
to gcs pipe ID: 36 compid: 1
to GCS msgid: 36 compid 1
RECV msg ID: 74 sysid: 1 from bus: 12
to ob pipe ID: 74 compid: 1
to gcs pipe ID: 74 compid: 1
to GCS msgid: 74 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 31 sysid: 1 from bus: 12
to ob pipe ID: 31 compid: 1
to gcs pipe ID: 31 compid: 1
to GCS msgid: 31 compid 1
RECV msg ID: 111 sysid: 1 from bus: 12
to gcs pipe ID: 111 compid: 1
to GCS msgid: 111 compid 1
RECV msg ID: 106 sysid: 1 from bus: 12
to ob pipe ID: 106 compid: 1
to gcs pipe ID: 106 compid: 1
to GCS msgid: 106 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 105 sysid: 1 from bus: 12
to ob pipe ID: 105 compid: 1
to gcs pipe ID: 105 compid: 1
to GCS msgid: 105 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 105 sysid: 1 from bus: 12
to ob pipe ID: 105 compid: 1
to gcs pipe ID: 105 compid: 1
to GCS msgid: 105 compid 1
RECV msg ID: 32 sysid: 1 from bus: 12
to ob pipe ID: 32 compid: 1
to gcs pipe ID: 32 compid: 1
to GCS msgid: 32 compid 1
RECV msg ID: 331 sysid: 1 from bus: 12
to ob pipe ID: 331 compid: 1
to gcs pipe ID: 331 compid: 1
to GCS msgid: 331 compid 1
RECV msg ID: 31 sysid: 1 from bus: 12
to ob pipe ID: 31 compid: 1
to gcs pipe ID: 31 compid: 1
to GCS msgid: 31 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 105 sysid: 1 from bus: 12
to ob pipe ID: 105 compid: 1
to gcs pipe ID: 105 compid: 1
to GCS msgid: 105 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 132 sysid: 1 from bus: 12
to ob pipe ID: 132 compid: 1
to gcs pipe ID: 132 compid: 1
to GCS msgid: 132 compid 1
RECV msg ID: 31 sysid: 1 from bus: 12
to ob pipe ID: 31 compid: 1
to gcs pipe ID: 31 compid: 1
to GCS msgid: 31 compid 1
RECV msg ID: 32 sysid: 1 from bus: 12
to ob pipe ID: 32 compid: 1
to gcs pipe ID: 32 compid: 1
to GCS msgid: 32 compid 1
RECV msg ID: 331 sysid: 1 from bus: 12
to ob pipe ID: 331 compid: 1
to gcs pipe ID: 331 compid: 1
to GCS msgid: 331 compid 1
RECV msg ID: 0 sysid: 1 from bus: 12
Detected Autopilot Mavlink SYSID 1
to ob pipe ID: 0 compid: 1
to gcs pipe ID: 0 compid: 1
to GCS msgid: 0 compid 1
RECV msg ID: 111 sysid: 1 from bus: 12
to AP msg ID: 111 sysid: 1 to bus: 12
to AP msg ID: 111 sysid: 1 to bus: 12
to gcs pipe ID: 111 compid: 1
to GCS msgid: 111 compid 1
RECV msg ID: 105 sysid: 1 from bus: 12
to ob pipe ID: 105 compid: 1
to gcs pipe ID: 105 compid: 1
to GCS msgid: 105 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 31 sysid: 1 from bus: 12
to ob pipe ID: 31 compid: 1
to gcs pipe ID: 31 compid: 1
to GCS msgid: 31 compid 1
RECV msg ID: 106 sysid: 1 from bus: 12
to ob pipe ID: 106 compid: 1
to gcs pipe ID: 106 compid: 1
to GCS msgid: 106 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 105 sysid: 1 from bus: 12
to ob pipe ID: 105 compid: 1
to gcs pipe ID: 105 compid: 1
to GCS msgid: 105 compid 1
RECV msg ID: 31 sysid: 1 from bus: 12
to ob pipe ID: 31 compid: 1
to gcs pipe ID: 31 compid: 1
to GCS msgid: 31 compid 1
RECV msg ID: 32 sysid: 1 from bus: 12
to ob pipe ID: 32 compid: 1
to gcs pipe ID: 32 compid: 1
to GCS msgid: 32 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 331 sysid: 1 from bus: 12
to ob pipe ID: 331 compid: 1
to gcs pipe ID: 331 compid: 1
to GCS msgid: 331 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid: 1 to bus: 12
RECV msg ID: 105 sysid: 1 from bus: 12
to ob pipe ID: 105 compid: 1
to gcs pipe ID: 105 compid: 1
to GCS msgid: 105 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 31 sysid: 1 from bus: 12
to ob pipe ID: 31 compid: 1
to gcs pipe ID: 31 compid: 1
to GCS msgid: 31 compid 1
RECV msg ID: 410 sysid: 1 from bus: 12
to ob pipe ID: 410 compid: 1
to gcs pipe ID: 410 compid: 1
to GCS msgid: 410 compid 1
RECV msg ID: 410 sysid: 1 from bus: 12
to ob pipe ID: 410 compid: 1
to gcs pipe ID: 410 compid: 1
to GCS msgid: 410 compid 1
RECV msg ID: 410 sysid: 1 from bus: 12
to ob pipe ID: 410 compid: 1
to gcs pipe ID: 410 compid: 1
to GCS msgid: 410 compid 1
RECV msg ID: 410 sysid: 1 from bus: 12
to ob pipe ID: 410 compid: 1
to gcs pipe ID: 410 compid: 1
to GCS msgid: 410 compid 1
RECV msg ID: 410 sysid: 1 from bus: 12
to ob pipe ID: 410 compid: 1
to gcs pipe ID: 410 compid: 1
to GCS msgid: 410 compid 1
RECV msg ID: 410 sysid: 1 from bus: 12
to ob pipe ID: 410 compid: 1
to gcs pipe ID: 410 compid: 1
to GCS msgid: 410 compid 1
RECV msg ID: 410 sysid: 1 from bus: 12
to ob pipe ID: 410 compid: 1
to gcs pipe ID: 410 compid: 1
to GCS msgid: 410 compid 1
RECV msg ID: 105 sysid: 1 from bus: 12
to ob pipe ID: 105 compid: 1
to gcs pipe ID: 105 compid: 1
to GCS msgid: 105 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 32 sysid: 1 from bus: 12
to ob pipe ID: 32 compid: 1
to gcs pipe ID: 32 compid: 1
to GCS msgid: 32 compid 1
RECV msg ID: 331 sysid: 1 from bus: 12
to ob pipe ID: 331 compid: 1
to gcs pipe ID: 331 compid: 1
to GCS msgid: 331 compid 1
onboard pipe ID: 331 compid: 197
to AP msg ID: 331 sysid: 1 to bus: 12
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 31 sysid: 1 from bus: 12
to ob pipe ID: 31 compid: 1
to gcs pipe ID: 31 compid: 1
to GCS msgid: 31 compid 1
onboard pipe ID: 330 compid: 197
to AP msg ID: 330 sysid: 1 to bus: 12
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid: 1 to bus: 12
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 105 sysid: 1 from bus: 12
to ob pipe ID: 105 compid: 1
to gcs pipe ID: 105 compid: 1
to GCS msgid: 105 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 132 sysid: 1 from bus: 12
to ob pipe ID: 132 compid: 1
to gcs pipe ID: 132 compid: 1
to GCS msgid: 132 compid 1
RECV msg ID: 31 sysid: 1 from bus: 12
to ob pipe ID: 31 compid: 1
to gcs pipe ID: 31 compid: 1
to GCS msgid: 31 compid 1
RECV msg ID: 32 sysid: 1 from bus: 12
to ob pipe ID: 32 compid: 1
to gcs pipe ID: 32 compid: 1
to GCS msgid: 32 compid 1
RECV msg ID: 331 sysid: 1 from bus: 12
to ob pipe ID: 331 compid: 1
to gcs pipe ID: 331 compid: 1
to GCS msgid: 331 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
onboard pipe ID: 331 compid: 197
to AP msg ID: 331 sysid: 1 to bus: 12
RECV msg ID: 111 sysid: 1 from bus: 12
to AP msg ID: 111 sysid: 1 to bus: 12
to AP msg ID: 111 sysid: 1 to bus: 12
to gcs pipe ID: 111 compid: 1
to GCS msgid: 111 compid 1
RECV msg ID: 105 sysid: 1 from bus: 12
to ob pipe ID: 105 compid: 1
to gcs pipe ID: 105 compid: 1
to GCS msgid: 105 compid 1
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid: 1 to bus: 12
onboard pipe ID: 330 compid: 197
to AP msg ID: 330 sysid: 1 to bus: 12
onboard pipe ID: 0 compid: 196
to AP msg ID: 0 sysid: 1 to bus: 12
RECV msg ID: 141 sysid: 1 from bus: 12
to ob pipe ID: 141 compid: 1
to gcs pipe ID: 141 compid: 1
to GCS msgid: 141 compid 1
RECV msg ID: 83 sysid: 1 from bus: 12
to ob pipe ID: 83 compid: 1
to gcs pipe ID: 83 compid: 1
to GCS msgid: 83 compid 1
RECV msg ID: 85 sysid: 1 from bus: 12
to ob pipe ID: 85 compid: 1
to gcs pipe ID: 85 compid: 1
to GCS msgid: 85 compid 1
RECV msg ID: 36 sysid: 1 from bus: 12
to ob pipe ID: 36 compid: 1
to gcs pipe ID: 36 compid: 1
to GCS msgid: 36 compid 1
RECV msg ID: 74 sysid: 1 from bus: 12
to ob pipe ID: 74 compid: 1
to gcs pipe ID: 74 compid: 1
to GCS msgid: 74 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 31 sysid: 1 from bus: 12
to ob pipe ID: 31 compid: 1
to gcs pipe ID: 31 compid: 1
to GCS msgid: 31 compid 1
RECV msg ID: 106 sysid: 1 from bus: 12
to ob pipe ID: 106 compid: 1
to gcs pipe ID: 106 compid: 1
to GCS msgid: 106 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 111 sysid: 1 from bus: 12
to gcs pipe ID: 111 compid: 1
to GCS msgid: 111 compid 1
RECV msg ID: 105 sysid: 1 from bus: 12
to ob pipe ID: 105 compid: 1
to gcs pipe ID: 105 compid: 1
to GCS msgid: 105 compid 1
onboard pipe ID: 331 compid: 197
to AP msg ID: 331 sysid: 1 to bus: 12
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid: 1 to bus: 12
RECV msg ID: 105 sysid: 1 from bus: 12
to ob pipe ID: 105 compid: 1
to gcs pipe ID: 105 compid: 1
to GCS msgid: 105 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 31 sysid: 1 from bus: 12
to ob pipe ID: 31 compid: 1
to gcs pipe ID: 31 compid: 1
to GCS msgid: 31 compid 1
RECV msg ID: 410 sysid: 1 from bus: 12
to ob pipe ID: 410 compid: 1
to gcs pipe ID: 410 compid: 1
to GCS msgid: 410 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 105 sysid: 1 from bus: 12
to ob pipe ID: 105 compid: 1
to gcs pipe ID: 105 compid: 1
to GCS msgid: 105 compid 1
RECV msg ID: 32 sysid: 1 from bus: 12
to ob pipe ID: 32 compid: 1
to gcs pipe ID: 32 compid: 1
to GCS msgid: 32 compid 1
RECV msg ID: 331 sysid: 1 from bus: 12
to ob pipe ID: 331 compid: 1
to gcs pipe ID: 331 compid: 1
to GCS msgid: 331 compid 1
RECV msg ID: 111 sysid: 1 from bus: 12
to AP msg ID: 111 sysid: 1 to bus: 12
to AP msg ID: 111 sysid: 1 to bus: 12
onboard pipe ID: 330 compid: 197
to AP msg ID: 330 sysid: 1 to bus: 12
to gcs pipe ID: 111 compid: 1
to GCS msgid: 111 compid 1
RECV msg ID: 105 sysid: 1 from bus: 12
to ob pipe ID: 105 compid: 1
to gcs pipe ID: 105 compid: 1
to GCS msgid: 105 compid 1
RECV msg ID: 141 sysid: 1 from bus: 12
to ob pipe ID: 141 compid: 1
to gcs pipe ID: 141 compid: 1
to GCS msgid: 141 compid 1
RECV msg ID: 83 sysid: 1 from bus: 12
to ob pipe ID: 83 compid: 1
to gcs pipe ID: 83 compid: 1
to GCS msgid: 83 compid 1
RECV msg ID: 85 sysid: 1 from bus: 12
to ob pipe ID: 85 compid: 1
to gcs pipe ID: 85 compid: 1
to GCS msgid: 85 compid 1
RECV msg ID: 36 sysid: 1 from bus: 12
to ob pipe ID: 36 compid: 1
to gcs pipe ID: 36 compid: 1
to GCS msgid: 36 compid 1
RECV msg ID: 74 sysid: 1 from bus: 12
to ob pipe ID: 74 compid: 1
to gcs pipe ID: 74 compid: 1
to GCS msgid: 74 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 31 sysid: 1 from bus: 12
to ob pipe ID: 31 compid: 1
to gcs pipe ID: 31 compid: 1
to GCS msgid: 31 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 105 sysid: 1 from bus: 12
to ob pipe ID: 105 compid: 1
to gcs pipe ID: 105 compid: 1
to GCS msgid: 105 compid 1
RECV msg ID: 106 sysid: 1 from bus: 12
to ob pipe ID: 106 compid: 1
to gcs pipe ID: 106 compid: 1
to GCS msgid: 106 compid 1
RECV msg ID: 31 sysid: 1 from bus: 12
to ob pipe ID: 31 compid: 1
to gcs pipe ID: 31 compid: 1
to GCS msgid: 31 compid 1
onboard pipe ID: 331 compid: 197
to AP msg ID: 331 sysid: 1 to bus: 12
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid: 1 to bus: 12
RECV msg ID: 105 sysid: 1 from bus: 12
to ob pipe ID: 105 compid: 1
to gcs pipe ID: 105 compid: 1
to GCS msgid: 105 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 132 sysid: 1 from bus: 12
to ob pipe ID: 132 compid: 1
to gcs pipe ID: 132 compid: 1
to GCS msgid: 132 compid 1
RECV msg ID: 31 sysid: 1 from bus: 12
to ob pipe ID: 31 compid: 1
to gcs pipe ID: 31 compid: 1
to GCS msgid: 31 compid 1
RECV msg ID: 32 sysid: 1 from bus: 12
to ob pipe ID: 32 compid: 1
to gcs pipe ID: 32 compid: 1
to GCS msgid: 32 compid 1
RECV msg ID: 331 sysid: 1 from bus: 12
to ob pipe ID: 331 compid: 1
to gcs pipe ID: 331 compid: 1
to GCS msgid: 331 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
onboard pipe ID: 331 compid: 197
to AP msg ID: 331 sysid: 1 to bus: 12
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid: 1 to bus: 12
RECV msg ID: 111 sysid: 1 from bus: 12
to AP msg ID: 111 sysid: 1 to bus: 12
to AP msg ID: 111 sysid: 1 to bus: 12
to gcs pipe ID: 111 compid: 1
to GCS msgid: 111 compid 1
RECV msg ID: 105 sysid: 1 from bus: 12
to ob pipe ID: 105 compid: 1
to gcs pipe ID: 105 compid: 1
to GCS msgid: 105 compid 1
RECV msg ID: 141 sysid: 1 from bus: 12
to ob pipe ID: 141 compid: 1
to gcs pipe ID: 141 compid: 1
to GCS msgid: 141 compid 1
RECV msg ID: 83 sysid: 1 from bus: 12
to ob pipe ID: 83 compid: 1
to gcs pipe ID: 83 compid: 1
to GCS msgid: 83 compid 1
RECV msg ID: 245 sysid: 1 from bus: 12
to ob pipe ID: 245 compid: 1
to gcs pipe ID: 245 compid: 1
to GCS msgid: 245 compid 1
RECV msg ID: 85 sysid: 1 from bus: 12
to ob pipe ID: 85 compid: 1
to gcs pipe ID: 85 compid: 1
to GCS msgid: 85 compid 1
RECV msg ID: 36 sysid: 1 from bus: 12
to ob pipe ID: 36 compid: 1
to gcs pipe ID: 36 compid: 1
to GCS msgid: 36 compid 1
RECV msg ID: 74 sysid: 1 from bus: 12
to ob pipe ID: 74 compid: 1
to gcs pipe ID: 74 compid: 1
to GCS msgid: 74 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 31 sysid: 1 from bus: 12
to ob pipe ID: 31 compid: 1
to gcs pipe ID: 31 compid: 1
to GCS msgid: 31 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
onboard pipe ID: 330 compid: 197
to AP msg ID: 330 sysid: 1 to bus: 12
RECV msg ID: 105 sysid: 1 from bus: 12
to ob pipe ID: 105 compid: 1
to gcs pipe ID: 105 compid: 1
to GCS msgid: 105 compid 1
RECV msg ID: 111 sysid: 1 from bus: 12
to gcs pipe ID: 111 compid: 1
to GCS msgid: 111 compid 1
RECV msg ID: 31 sysid: 1 from bus: 12
to ob pipe ID: 31 compid: 1
to gcs pipe ID: 31 compid: 1
to GCS msgid: 31 compid 1
RECV msg ID: 106 sysid: 1 from bus: 12
to ob pipe ID: 106 compid: 1
to gcs pipe ID: 106 compid: 1
to GCS msgid: 106 compid 1
onboard pipe ID: 331 compid: 197
to AP msg ID: 331 sysid: 1 to bus: 12
RECV msg ID: 32 sysid: 1 from bus: 12
to ob pipe ID: 32 compid: 1
to gcs pipe ID: 32 compid: 1
to GCS msgid: 32 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 331 sysid: 1 from bus: 12
to ob pipe ID: 331 compid: 1
to gcs pipe ID: 331 compid: 1
to GCS msgid: 331 compid 1
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid: 1 to bus: 12
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 105 sysid: 1 from bus: 12
to ob pipe ID: 105 compid: 1
to gcs pipe ID: 105 compid: 1
to GCS msgid: 105 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 31 sysid: 1 from bus: 12
to ob pipe ID: 31 compid: 1
to gcs pipe ID: 31 compid: 1
to GCS msgid: 31 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
onboard pipe ID: 331 compid: 197
to AP msg ID: 331 sysid: 1 to bus: 12
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid: 1 to bus: 12
RECV msg ID: 111 sysid: 1 from bus: 12
to AP msg ID: 111 sysid: 1 to bus: 12
to AP msg ID: 111 sysid: 1 to bus: 12
to gcs pipe ID: 111 compid: 1
to GCS msgid: 111 compid 1
RECV msg ID: 105 sysid: 1 from bus: 12
to ob pipe ID: 105 compid: 1
to gcs pipe ID: 105 compid: 1
to GCS msgid: 105 compid 1
onboard pipe ID: 331 compid: 197
to AP msg ID: 331 sysid: 1 to bus: 12
RECV msg ID: 111 sysid: 1 from bus: 12
to gcs pipe ID: 111 compid: 1
to GCS msgid: 111 compid 1
RECV msg ID: 31 sysid: 1 from bus: 12
to ob pipe ID: 31 compid: 1
to gcs pipe ID: 31 compid: 1
to GCS msgid: 31 compid 1
RECV msg ID: 32 sysid: 1 from bus: 12
to ob pipe ID: 32 compid: 1
to gcs pipe ID: 32 compid: 1
to GCS msgid: 32 compid 1
RECV msg ID: 30 sysid: 1 from bus: 12
to ob pipe ID: 30 compid: 1
to gcs pipe ID: 30 compid: 1
to GCS msgid: 30 compid 1
RECV msg ID: 331 sysid: 1 from bus: 12
to ob pipe ID: 331 compid: 1
to gcs pipe ID: 331 compid: 1
to GCS msgid: 331 compid 1
RECV msg ID: 106 sysid: 1 from bus: 12
to ob pipe ID: 106 compid: 1
to gcs pipe ID: 106 compid: 1
to GCS msgid: 106 compid 1
onboard pipe ID: 331 compid: 197
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
onboard pipe ID: 84 compid: 197
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
onboard pipe ID: 330 compid: 197
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
onboard pipe ID: 331 compid: 197
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
onboard pipe ID: 84 compid: 197
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
onboard pipe ID: 330 compid: 197
onboard pipe ID: 331 compid: 197
onboard pipe ID: 84 compid: 197
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
onboard pipe ID: 331 compid: 197
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
onboard pipe ID: 84 compid: 197
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
onboard pipe ID: 330 compid: 197
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
onboard pipe ID: 331 compid: 197
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
onboard pipe ID: 84 compid: 197
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
@Eric-Katzfey I am facing a different error,
voxl2:/$ voxl-mavlink-server
loading our own config file
=================================================================
Parameters as loaded from config file:
primary_static_gcs_ip: 192.168.168.200
primary_static_gcs_ip_port: 14550
secondary_static_gcs_ip: 192.169.168.2
secondary_static_gcs_ip_port: 14550
onboard_port_to_autopilot: 14556
onboard_port_from_autopilot: 14557
gcs_port_to_autopilot: 14558
gcs_port_from_autopilot: 14559
en_external_uart_ap: 1
autopilot_uart_bus: 12
autopilot_uart_baudrate: 921600
autopilot_mission_delay_start: -1
autopilot_mission_delay_sound: 0
autopilot_mission_force_restart: 0
autopilot_mission_notif_dur: 0.10
udp_mtu: 0
gcs_timeout_s 1.00
en_external_ap_timesync: 1
en_external_ap_heartbeat: 1
=================================================================
existing instance of voxl-mavlink-server found, attempting to stop it
Sending library name request: libslpi_qrb5165_io.so
Sending initialization request
Successfully opened bus 12 at baudrate 921600
starting qrb5165 external AP receive thread
Adding primary GCS IP address from conf file to list: 192.168.168.200:14550
Added new UDP connection to 192.168.168.200:14550
Adding secondary manual gcs IP address to udp connection list: 192.169.168.2:14550
Added new UDP connection to 192.169.168.2:14550
Init complete, entering main loop
Detected Autopilot Mavlink SYSID 1
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SPACE
ERROR: Received error from ring_buf_push in p_slpi_receive_callback: ERR_NO_SP
@Alex-Kushleyev ok thank you, I will wait for @Eric-Katzfey reply
@Alex-Kushleyev Thank you for the support.
Also I noticed only the VOXL-FPV-DEV version only have the voxl_esc_t_on option to control the esc through the joystick, The main version of modalai PX4 fork do not have them, is it under development.
The FPV-dev version do not support collision prevention, so i had to roll up to the main version, which gave me this issue.
@Eric-Katzfey So if I built similar driver for on px4 will it cause any errors with existing codes, once i remove the Voxl-esc driver and replace it with the vertiq esc code.
Hey @Alex-Kushleyev @Eric-Katzfey @Vinny ,
I would like to know whether the turtle mode is possible on Flight core v2 with out using the Modal ai ESC.
I would like to use the vertiq Motors with on motors ESCs. vertiq motor
@Eric-Katzfey
voxl-mavlink-server -z
voxl2:~$ voxl-mavlink-server -z
Enabling UDP to slpi recv debugging
Enabling qrb5165 external AP recv debugging
Enabling UDP to slpi send debugging
Enabling qrb5165 external AP send debugging
Enabling UDP GCS recv debugging
Enabling UDP GCS send debugging
loading our own config file
=================================================================
Parameters as loaded from config file:
primary_static_gcs_ip: 192.168.168.200
primary_static_gcs_ip_port: 14550
secondary_static_gcs_ip: 192.169.168.2
secondary_static_gcs_ip_port: 14550
onboard_port_to_autopilot: 14556
onboard_port_from_autopilot: 14557
gcs_port_to_autopilot: 14558
gcs_port_from_autopilot: 14559
en_external_uart_ap: 1
autopilot_uart_bus: 12
autopilot_uart_baudrate: 57600
autopilot_mission_delay_start: -1
autopilot_mission_delay_sound: 0
autopilot_mission_force_restart: 0
autopilot_mission_notif_dur: 0.10
udp_mtu: 0
gcs_timeout_s 1.00
en_external_ap_timesync: 1
en_external_ap_heartbeat: 1
=================================================================
Sending library name request: libslpi_qrb5165_io.so
Sending initialization request
Successfully opened bus 12 at baudrate 57600
starting qrb5165 external AP receive thread
Adding primary GCS IP address from conf file to list: 192.168.168.200:14550
Added new UDP connection to 192.168.168.200:14550
Adding secondary manual gcs IP address to udp connection list: 192.169.168.2:14550
Added new UDP connection to 192.169.168.2:14550
Init complete, entering main loop
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid:130 to bus: 12
onboard pipe ID: 330 compid: 197
to AP msg ID: 330 sysid:130 to bus: 12
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid:130 to bus: 12
onboard pipe ID: 330 compid: 197
to AP msg ID: 330 sysid:130 to bus: 12
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid:130 to bus: 12
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid:130 to bus: 12
onboard pipe ID: 330 compid: 197
to AP msg ID: 330 sysid:130 to bus: 12
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid:130 to bus: 12
onboard pipe ID: 330 compid: 197
to AP msg ID: 330 sysid:130 to bus: 12
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid:130 to bus: 12
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid:130 to bus: 12
onboard pipe ID: 330 compid: 197
to AP msg ID: 330 sysid:130 to bus: 12
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid:130 to bus: 12
onboard pipe ID: 330 compid: 197
to AP msg ID: 330 sysid:130 to bus: 12
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid:130 to bus: 12
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid:130 to bus: 12
onboard pipe ID: 330 compid: 197
to AP msg ID: 330 sysid:130 to bus: 12
onboard pipe ID: 0 compid: 196
to AP msg ID: 0 sysid:130 to bus: 12
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid:130 to bus: 12
onboard pipe ID: 330 compid: 197
to AP msg ID: 330 sysid:130 to bus: 12
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid:130 to bus: 12
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid:130 to bus: 12
onboard pipe ID: 330 compid: 197
to AP msg ID: 330 sysid:130 to bus: 12
from GCS ID: 0 port: 14550 IP: 192.168.168.200
CONNECTED to GCS at 192.168.168.200:14550
to AP msg ID: 0 sysid:255 to bus: 12
from gcs pipe ID: 0 compid: 190
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid:130 to bus: 12
onboard pipe ID: 330 compid: 197
to AP msg ID: 330 sysid:130 to bus: 12
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid:130 to bus: 12
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid:130 to bus: 12
onboard pipe ID: 330 compid: 197
to AP msg ID: 330 sysid:130 to bus: 12
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid:130 to bus: 12
onboard pipe ID: 330 compid: 197
to AP msg ID: 330 sysid:130 to bus: 12
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid:130 to bus: 12
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid:130 to bus: 12
onboard pipe ID: 330 compid: 197
to AP msg ID: 330 sysid:130 to bus: 12
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid:130 to bus: 12
onboard pipe ID: 330 compid: 197
to AP msg ID: 330 sysid:130 to bus: 12
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid:130 to bus: 12
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid:130 to bus: 12
onboard pipe ID: 330 compid: 197
to AP msg ID: 330 sysid:130 to bus: 12
from gcs pipe ID: 0 compid: 100
to GCS msgid: 0 compid 100
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid:130 to bus: 12
onboard pipe ID: 330 compid: 197
to AP msg ID: 330 sysid:130 to bus: 12
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid:130 to bus: 12
Waiting to detect autopilot sys id...
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid:130 to bus: 12
onboard pipe ID: 330 compid: 197
to AP msg ID: 330 sysid:130 to bus: 12
onboard pipe ID: 84 compid: 197
to AP msg ID: 84 sysid:130 to bus: 12
onboard pipe ID: 330 compid: 197
to AP msg ID: 330 sysid:130 to bus: 12
I changed the Mavlink version to what you had mentioned here, I felt the errors were similar
Link
this is when baudrate is 57600
voxl2:~$ voxl-mavlink-server
loading our own config file
=================================================================
Parameters as loaded from config file:
primary_static_gcs_ip: 192.168.168.200
primary_static_gcs_ip_port: 14550
secondary_static_gcs_ip: 192.169.168.2
secondary_static_gcs_ip_port: 14550
onboard_port_to_autopilot: 14556
onboard_port_from_autopilot: 14557
gcs_port_to_autopilot: 14558
gcs_port_from_autopilot: 14559
en_external_uart_ap: 1
autopilot_uart_bus: 12
autopilot_uart_baudrate: 57600
autopilot_mission_delay_start: -1
autopilot_mission_delay_sound: 0
autopilot_mission_force_restart: 0
autopilot_mission_notif_dur: 0.10
udp_mtu: 0
gcs_timeout_s 1.00
en_external_ap_timesync: 1
en_external_ap_heartbeat: 1
=================================================================
Sending library name request: libslpi_qrb5165_io.so
Sending initialization request
Successfully opened bus 12 at baudrate 57600
starting qrb5165 external AP receive thread
Adding primary GCS IP address from conf file to list: 192.168.168.200:14550
Added new UDP connection to 192.168.168.200:14550
Adding secondary manual gcs IP address to udp connection list: 192.169.168.2:14550
Added new UDP connection to 192.169.168.2:14550
Init complete, entering main loop
CONNECTED to GCS at 192.168.168.200:14550
Waiting to detect autopilot sys id...
Waiting to detect autopilot sys id...
Waiting to detect autopilot sys id...
Waiting to detect autopilot sys id...
Waiting to detect autopilot sys id...
Waiting to detect autopilot sys id...
^C
received SIGINT Ctrl-C
Waiting to detect autopilot sys id...
Starting shutdown sequence
Stopping autopilot io module
exiting read thread
qrb5165 external ap interface stopped
Stopping gcs io module
WARNING: Received 12 bytes of data from SLPI while SLPI uart not in use (topic uart_data)
WARNING: Received 41 bytes of data from SLPI while SLPI uart not in use (topic uart_data)
WARNING: Received 32 bytes of data from SLPI while SLPI uart not in use (topic uart_data)
WARNING: Received 36 bytes of data from SLPI while SLPI uart not in use (topic uart_data)
WARNING: Received 18 bytes of data from SLPI while SLPI uart not in use (topic uart_data)
exiting gcs udp listener thread
udp gcs io stopped
Stopping pipe io module
closing remaining client pipes
closing remaining server pipes
Removing PID file
exiting
this is when baudrate is 921600
voxl2:~$ voxl-mavlink-server
loading our own config file
=================================================================
Parameters as loaded from config file:
primary_static_gcs_ip: 192.168.168.200
primary_static_gcs_ip_port: 14550
secondary_static_gcs_ip: 192.169.168.2
secondary_static_gcs_ip_port: 14550
onboard_port_to_autopilot: 14556
onboard_port_from_autopilot: 14557
gcs_port_to_autopilot: 14558
gcs_port_from_autopilot: 14559
en_external_uart_ap: 1
autopilot_uart_bus: 12
autopilot_uart_baudrate: 921600
autopilot_mission_delay_start: -1
autopilot_mission_delay_sound: 0
autopilot_mission_force_restart: 0
autopilot_mission_notif_dur: 0.10
udp_mtu: 0
gcs_timeout_s 1.00
en_external_ap_timesync: 1
en_external_ap_heartbeat: 1
=================================================================
Sending library name request: libslpi_qrb5165_io.so
Sending initialization request
Successfully opened bus 12 at baudrate 921600
starting qrb5165 external AP receive thread
Adding primary GCS IP address from conf file to list: 192.168.168.200:14550
Added new UDP connection to 192.168.168.200:14550
Adding secondary manual gcs IP address to udp connection list: 192.169.168.2:14550
Added new UDP connection to 192.169.168.2:14550
Init complete, entering main loop
CONNECTED to GCS at 192.168.168.200:14550
Detected Autopilot Mavlink SYSID 130
WARNING: UART parser dropped 1 packets from external AP at i=8
WARNING: UART parser dropped 1 packets from external AP at i=1
WARNING: UART parser dropped 1 packets from external AP at i=1
WARNING: UART parser dropped 1 packets from external AP at i=7
WARNING: UART parser dropped 1 packets from external AP at i=6
WARNING: UART parser dropped 1 packets from external AP at i=0
WARNING: UART parser dropped 1 packets from external AP at i=1
WARNING: UART parser dropped 1 packets from external AP at i=8
WARNING: UART parser dropped 1 packets from external AP at i=1
WARNING: UART parser dropped 1 packets from external AP at i=10
WARNING: UART parser dropped 1 packets from external AP at i=1
WARNING: UART parser dropped 1 packets from external AP at i=1
WARNING: UART parser dropped 1 packets from external AP at i=1
WARNING: UART parser dropped 1 packets from external AP at i=0
^C
received SIGINT Ctrl-C
Starting shutdown sequence
Stopping autopilot io module
exiting read thread
qrb5165 external ap interface stopped
Stopping gcs io module
WARNING: Received 11 bytes of data from SLPI while SLPI uart not in use (topic uart_data)
WARNING: Received 54 bytes of data from SLPI while SLPI uart not in use (topic uart_data)
WARNING: Received 11 bytes of data from SLPI while SLPI uart not in use (topic uart_data)
WARNING: Received 10 bytes of data from SLPI while SLPI uart not in use (topic uart_data)
WARNING: Received 7 bytes of data from SLPI while SLPI uart not in use (topic uart_data)
WARNING: Received 9 bytes of data from SLPI while SLPI uart not in use (topic uart_data)
WARNING: Received 12 bytes of data from SLPI while SLPI uart not in use (topic uart_data)
WARNING: Received 10 bytes of data from SLPI while SLPI uart not in use (topic uart_data)
WARNING: Received 10 bytes of data from SLPI while SLPI uart not in use (topic uart_data)
WARNING: Received 11 bytes of data from SLPI while SLPI uart not in use (topic uart_data)
exiting gcs udp listener thread
udp gcs io stopped
Stopping pipe io module
closing remaining client pipes
closing remaining server pipes
Removing PID file
exiting
voxl2:~$
@Eric-Katzfey No I was using the Microhard module. Irrespective of the communication module, these many time should the sysid change and the packet lose should not occure, right?
@Eric-Katzfey yes I still had that messages popping up
@Eric-Katzfey I tried lower baudrate also, the behaviour is similar.
@Jetson-Nano
now it is getting data from fc , it was a issue with baudrate, the J18 port can not handle 3000000 baudrate.
still i am facing an issue, where the QGC is not getting connected, the qgc is loading,then getting disconnected, again regaining connection this is going in a loop.
I tried increasing the udp_mtu still no change, same behaviour.
The error is mentioned below.
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
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
MAVLINK-server
"primary_static_gcs_ip": "192.168.168.100",
"secondary_static_gcs_ip": "192.169.168.2",
"onboard_port_to_autopilot": 14556,
"onboard_port_from_autopilot": 14557,
"gcs_port_to_autopilot": 14558,
"gcs_port_from_autopilot": 14559,
"en_external_uart_ap": true,
"autopilot_uart_bus": 12,
"autopilot_uart_baudrate": 921600,
"autopilot_mission_delay_start": -1,
"autopilot_mission_delay_sound": false,
"autopilot_mission_notif_dur": 0.1,
"en_external_ap_timesync": 1,
"en_external_ap_heartbeat": 10,
"udp_mtu": 800,
"gcs_timeout_s": 1
}
after this issue, the mavlink server is shuting down and showing the below error
Couldn't locate SUID for flight_controller
Failed to detect flight controller sensor
ERROR: fc_sensor_initialize failed
ERROR: Failed to initialize slpi
ERROR: Encountered error while initializing bus 12
ERROR: Unable to configure bus 12 (baudrate 921600) with voxl_io
Stopping autopilot io module
Stopping gcs io module
Stopping pipe io module
closing remaining client pipes
closing remaining server pipes
Removing PID file
exiting
rebooting and running again gives
voxl2:~$ voxl-mavlink-server
loading our own config file
=================================================================
Parameters as loaded from config file:
primary_static_gcs_ip: 192.168.168.200
secondary_static_gcs_ip: 192.169.168.1
onboard_port_to_autopilot: 14556
onboard_port_from_autopilot: 14557
gcs_port_to_autopilot: 14558
gcs_port_from_autopilot: 14559
en_external_uart_ap: 1
autopilot_uart_bus: 12
autopilot_uart_baudrate: 921600
autopilot_mission_delay_start: -1
autopilot_mission_delay_sound: 0
autopilot_mission_notif_dur: 0.10
udp_mtu: 800
gcs_timeout_s 1.00
en_external_ap_timesync: 1
en_external_ap_heartbeat: 1
=================================================================
existing instance of voxl-mavlink-server found, attempting to stop it
Sending library name request: libslpi_qrb5165_io.so
Sending initialization request
Successfully opened bus 12 at baudrate 921600
starting qrb5165 external AP receive thread
Adding primary GCS IP address from conf file to list: 192.168.168.200
Added new UDP connection to 192.168.168.200
Adding secondary manual gcs IP address to udp connection list: 192.169.168.1
Added new UDP connection to 192.169.168.1
Init complete, entering main loop
CONNECTED to GCS at 192.168.168.200
Detected Autopilot Mavlink SYSID 188
WARNING: UART parser dropped 1 packets from external AP at i=346
WARNING: UART parser dropped 1 packets from external AP at i=359
WARNING: UART parser dropped 1 packets from external AP at i=437
Detected Autopilot Mavlink SYSID 1
WARNING: UART parser dropped 1 packets from external AP at i=527
WARNING: UART parser dropped 1 packets from external AP at i=543
WARNING: UART parser dropped 1 packets from external AP at i=738
WARNING: UART parser dropped 1 packets from external AP at i=6
WARNING: UART parser dropped 1 packets from external AP at i=132
WARNING: UART parser dropped 1 packets from external AP at i=353
WARNING: UART parser dropped 1 packets from external AP at i=833
WARNING: UART parser dropped 1 packets from external AP at i=57
WARNING: UART parser dropped 1 packets from external AP at i=20
WARNING: UART parser dropped 1 packets from external AP at i=5
Detected Autopilot Mavlink SYSID 57
Detected Autopilot Mavlink SYSID 55
WARNING: UART parser dropped 1 packets from external AP at i=0
Detected Autopilot Mavlink SYSID 57
The mavlink sysid is changing
voxl2:~$ voxl-mavlink-server
loading our own config file
=================================================================
Parameters as loaded from config file:
primary_static_gcs_ip: 192.168.168.200
secondary_static_gcs_ip: 192.169.168.1
onboard_port_to_autopilot: 14556
onboard_port_from_autopilot: 14557
gcs_port_to_autopilot: 14558
gcs_port_from_autopilot: 14559
en_external_uart_ap: 1
autopilot_uart_bus: 12
autopilot_uart_baudrate: 921600
autopilot_mission_delay_start: -1
autopilot_mission_delay_sound: 0
autopilot_mission_notif_dur: 0.10
udp_mtu: 500
gcs_timeout_s 1.00
en_external_ap_timesync: 1
en_external_ap_heartbeat: 1
=================================================================
Sending library name request: libslpi_qrb5165_io.so
Sending initialization request
Successfully opened bus 12 at baudrate 921600
starting qrb5165 external AP receive thread
Adding primary GCS IP address from conf file to list: 192.168.168.200
Added new UDP connection to 192.168.168.200
Adding secondary manual gcs IP address to udp connection list: 192.169.168.1
Added new UDP connection to 192.169.168.1
Init complete, entering main loop
CONNECTED to GCS at 192.168.168.200
Detected Autopilot Mavlink SYSID 1
WARNING: UART parser dropped 1 packets from external AP at i=128
WARNING: UART parser dropped 1 packets from external AP at i=302
Detected Autopilot Mavlink SYSID 65
WARNING: UART parser dropped 1 packets from external AP at i=84
Detected Autopilot Mavlink SYSID 1
WARNING: UART parser dropped 1 packets from external AP at i=68
WARNING: UART parser dropped 1 packets from external AP at i=92
WARNING: UART parser dropped 1 packets from external AP at i=34
WARNING: UART parser dropped 1 packets from external AP at i=141
DISCONNECTED FROM GCS 192.168.168.200
CONNECTED to GCS at 192.168.168.200
DISCONNECTED FROM GCS 192.168.168.200
CONNECTED to GCS at 192.168.168.200
DISCONNECTED FROM GCS 192.168.168.200
CONNECTED to GCS at 192.168.168.200
Detected Autopilot Mavlink SYSID 28
DISCONNECTED FROM GCS 192.168.168.200
CONNECTED to GCS at 192.168.168.200
DISCONNECTED FROM GCS 192.168.168.200
CONNECTED to GCS at 192.168.168.200
DISCONNECTED FROM GCS 192.168.168.200
CONNECTED to GCS at 192.168.168.200
DISCONNECTED FROM GCS 192.168.168.200
CONNECTED to GCS at 192.168.168.200