The error intermittently still appears even when I recalibrate the IMU with airflow on the unit. I will try setting EKF2_EV_CTRL to 0 and report back. I am not sure which component contains the flashing red light, since I could not find a labeled diagram of the drone’s parts. I attached additional photos that hopefully make its location clearer:
Currently, when the drone is sitting flat on the table, my VOXL Portal says "Preflight Fail: High Accelerometer Bias". Below is the temperature of when the log was ran.
| Name MHz Temp Util | Jul 22 2026 20:42:30 |
|---|---|
| cpu0 979 49.6 32.6 | Uptime: 0:08:27 |
| cpu1 979 48.8 22.0 | |
| cpu2 979 48.8 23.4 | Mem Use (MB) |
| cpu3 979 49.2 22.1 | 4089.6/7671 |
| cpu4 710 50.4 44.4 | Mem Allocation |
| cpu5 710 50.4 40.2 | -0.1 MB/s |
| cpu6 710 50.0 38.8 | |
| cpu7 844 49.6 5.9 | Governor: Cool |
| Total 49.6 28.6 | Pitmode: Active |
| 10s avg 29.8 | Auto Pitmode: ON |
| ------------------------- | |
| GPU 587 48.4 13.7 | |
| GPU 10s avg 13.3 | |
| PID Top CPU Consumers CPU% Core Pri | |
| 1417 voxl-open-vins-server 78.7 6 50 | |
| 1416 voxl-camera-server 71.9 5 80 | |
| 1930 px4 31.0 0 0 | |
| 2233 voxl-mavlink-server 3.6 3 0 | |
| 1419 voxl-vision-hub 1.7 1 0 | |
| 1714 voxl-imu-server 1.3 1 80 | |
| 1290 voxl-cpu-monitor 1.1 0 0 | |
| 1399 voxl-rangefinder-server 0.6 0 0 | |
| 1421 voxl-mavcam-manager 0.1 1 0 | |
| 1497 adbd 0.1 2 0 | |
| ----------------------------------------------- | |
| PID Top Memory Consumers Mem (MB) uptime | |
| 1416 voxl-camera-server 207.9 8:22 | |
| 1930 px4 159.2 8:19 | |
| 1417 voxl-open-vins-server 67.4 8:22 | |
| 17566 tailscaled 20.7 0:25 | |
| 1269 python3.6 16.6 8:22 | |
| 541 systemd-journald 14.7 8:24 | |
| 2317 voxl-streamer 10.9 8:17 | |
| 1574 qwesd 9.3 8:21 | |
| 1 systemd 9.0 8:27 | |
| 1419 voxl-vision-hub 8.3 8:22 | |
| ----------------------------------------------- |
The forum says I don't have enough privileges to upload the ulg log, so I uploaded it to the px4 log interpreter, and the logs can be found here: https://logs.px4.io/plot_app?log=b6a8145b-b1f4-442b-93bc-ff448e57ab69 . If the actual ulg log would be more helpful, I can either email it to you or upload it to a google drive. Is the red flashing light from the preflight error or is there another cause? I also get "Preflight Fail: Yaw estimate error" at random times. Thank you so much for your help!
Hardware:
Software:
I am new to drones, the ModalAI interface, and PX4. I encountered several issues while working through the VOXL Developer Bootcamp and would appreciate guidance on the following questions.
Questions:
In the ModalAI VOXL Portal, I repeatedly receive one of the following errors: "Preflight Fail: High Accelerometer Bias" or "Preflight Fail: Yaw Estimate Error". To address these errors, I have restarted the drone while it was stationary and level on a table, and also recalibrated the gyroscope, accelerometer, level horizon, and magnetometer. However, the errors continue to appear. What additional troubleshooting steps should I follow to resolve these preflight failures?
While the drone is powered on and idle on a table, the reported CPU temperature rises to approximately 104°C. Pointing a desk fan at the drone reduces the temperature to approximately 80°C. Is this temperature expected during normal development? If not, what are the recommended practices for keeping the system cool while writing, compiling, or testing code? The log is shown below:
| Name MHz Temp Util | Jul 20 2026 20:46:05 |
|---|---|
| cpu0 979 104.7 99.0 | Uptime: 0:15:36 |
| cpu1 979 103.5 90.0 | |
| cpu2 979 102.4 91.4 | Mem Use (MB) |
| cpu3 979 104.3 89.5 | 6244.8/7671 |
| cpu4 710 103.9 100.0 | Mem Allocation |
| cpu5 710 104.7 99.0 | 6.4 MB/s |
| cpu6 710 103.5 100.0 | |
| cpu7 844 104.7 100.0 | Governor: Cool |
| Total 104.0 96.1 | Pitmode: Active |
| 10s avg 91.4 | Auto Pitmode: ON |
| ------------------------- | CPU OVERLOAD WARN |
| GPU 305 98.1 15.0 | CPU OVERHEAT CRIT |
| GPU 10s avg 18.6 | MEM LEAK WARNING |
| PID Top CPU Consumers CPU% Core Pri | |
| 1429 voxl-camera-server 184.3 4 80 | |
| 2867 voxl-qvio-server 96.2 6 80 | |
| 1931 px4 89.7 3 0 | |
| 2219 voxl-mavlink-server 12.3 3 0 | |
| 1266 voxl-cpu-monitor 5.3 3 0 | |
| 1425 voxl-vision-hub 5.0 3 0 | |
| 1714 voxl-imu-server 5.0 3 80 | |
| 2889 voxl-portal 4.3 6 0 | |
| 527 systemd-journald 3.4 7 0 | |
| 1364 voxl-rangefinder-server 1.9 2 0 | |
| ----------------------------------------------- | |
| PID Top Memory Consumers Mem (MB) uptime | |
| 1931 px4 167.8 15:29 | |
| 1429 voxl-camera-server 137.2 15:31 | |
| 2867 voxl-qvio-server 12.9 14:22 | |
| 2889 voxl-portal 10.4 14:04 | |
| 2219 voxl-mavlink-server 7.6 15:27 | |
| 2274 voxl-streamer 6.6 15:26 | |
| 1364 voxl-rangefinder-server 5.9 15:31 | |
| 1714 voxl-imu-server 5.7 15:30 | |
| 1277 sensors.qti 5.3 15:31 | |
| 1425 voxl-vision-hub 4.6 15:31 | |
| ----------------------------------------------- |
