ModalAI Forum

While following instructions provided here
https://docs.modalai.com/Qualcomm-Flight-RB5-sdk-camera-server/
and here
https://docs.modalai.com/Qualcomm-Flight-RB5-streamer/
we managed to get low resolution streaming from camera 3 (Front Hi-res).

1. Is it possible to get higher resolution camera stream (for example FullHD)?

2. How to get stream from other cameras, for example camera 2 (Front Tracking)?

sh-4.4# rb5-camera-server-configure 

Would you like to enable the camera service?
This will start all cameras in a background process
Selecting yes will start the service, no will disable the service

1) yes
2) no
#? 1

Trying to run systemctl status rb5-camera-server@2 provided strange error/warning:

root@qrb5165-rb5:~# systemctl status rb5-camera-server@2
● rb5-camera-server@2.service - "rb5-camera-server-2"
   Loaded: loaded (/usr/bin/rb5-camera-server; indirect; vendor preset: enabled)
   Active: active (running) since Fri 2022-04-08 18:04:24 CEST; 2min 39s ago
 Main PID: 2681 (rb5-camera-serv)
    Tasks: 4 (limit: 4915)
   CGroup: /system.slice/system-rb5\x2dcamera\x2dserver.slice/rb5-camera-server@2.service
           └─2681 /usr/bin/rb5-camera-server -c 2

Apr 08 18:04:24 qrb5165-rb5 systemd[1]: Started "rb5-camera-server-2".
Apr 08 18:04:24 qrb5165-rb5 rb5-camera-server[2681]: gbm_create_device(156): Info: backend name is: msm_drm
Apr 08 18:04:24 qrb5165-rb5 systemd[1]: /etc/systemd/system/rb5-camera-server@.service:12: Unknown lvalue 'After' in section 'Service'
Apr 08 18:04:24 qrb5165-rb5 systemd[1]: /etc/systemd/system/rb5-camera-server@.service:13: Unknown lvalue 'Requires' in section 'Service'
Apr 08 18:04:25 qrb5165-rb5 systemd[1]: /etc/systemd/system/rb5-camera-server@.service:12: Unknown lvalue 'After' in section 'Service'
Apr 08 18:04:25 qrb5165-rb5 systemd[1]: /etc/systemd/system/rb5-camera-server@.service:13: Unknown lvalue 'Requires' in section 'Service'
Apr 08 18:04:27 qrb5165-rb5 systemd[1]: /etc/systemd/system/rb5-camera-server@.service:12: Unknown lvalue 'After' in section 'Service'
Apr 08 18:04:27 qrb5165-rb5 systemd[1]: /etc/systemd/system/rb5-camera-server@.service:13: Unknown lvalue 'Requires' in section 'Service'
Apr 08 18:04:28 qrb5165-rb5 systemd[1]: /etc/systemd/system/rb5-camera-server@.service:12: Unknown lvalue 'After' in section 'Service'
Apr 08 18:04:28 qrb5165-rb5 systemd[1]: /etc/systemd/system/rb5-camera-server@.service:13: Unknown lvalue 'Requires' in section 'Service'

Could you advise how to get stream from cam2? Thanks!

@RichieRich
GPS unit is mounted by default (as it comes with RB5 5G drone), mast is locked in vertical postion.
Turning EKF2_REQ_SACC to 0,75 provided no errors from GPS.
Obstacle avoidance was also disabled, so we managed to fly.

But I'm still a bit confused why the obstacle avoidance gives error, since the drone was placed on the ground (concrete pavement), no obstacles within few meters, while the minimum distance was set to only 1 m. But this is current setup that works:

Many thanks for your help. We'll try to figure this out and provide info in a few days.

@RichieRich
Are there any updates or suggestions regarding above mentioned issues? Thanks!

When EFK2_AID_MASK is set to 1, following errors occur:

I emphasize that drone is under clear and sunny sky

Also when I go to QGC - Vehicle setup - Safety, I get this error

@RichieRich

I have made following changes (WO_GPS to 1 and EFK2_AID_MASK to 1 and to 0)

but now I receive following error:

The main GPS LED (blue) slowly blinks, but only in blue color.
The FIX LED has short blinks in blue color.

Could you please advise what to do?

Re-flash solved all the previous issues.

But still I'm unable to arm the unit.

Following instruction provided here
https://docs.modalai.com/Qualcomm-Flight-RB5-user-guide-first-flight/
doesn't help as I receive GPS and AHRS errors (while the unit is placed under open and clear sky).

Regarding the GPS, I receive the "GPS accuracy too low" (while receiving 10-12 satellites).

What could be the cause of these errors?
Also is the GPS necessary to at least test the motors?
Is it possible to fly without the GPS?

@Eric-Katzfey
Will try to re-flash within a day or two, so I'll get back to you with the updates.

@Eric-Katzfey

sh-4.4# ps aux | grep ssc
system    1273  1.0  0.0   2068  1260 ?        Ss   20:16   0:02 /usr/bin/sscrpcd sensorspd
root      3764  0.0  0.0   2708   648 pts/0    S<+  20:20   0:00 grep ssc
sh-4.4#

sh-4.4# ps aux | grep sensor
system    1273  0.9  0.0   2068  1260 ?        Ss   20:16   0:02 /usr/bin/sscrpcd sensorspd
sensors   1281  0.0  0.0 186552  5896 ?        Ssl  20:16   0:00 /usr/bin/sensors.qti
root      4196  0.0  0.0   2708   620 pts/0    S<+  20:21   0:00 grep sensor
sh-4.4#

@Eric-Katzfey
Yes...any ideas what to do now? Thanks!

@Eric-Katzfey

sh-4.4# ls -l /usr/lib/libs*
-rw-r--r-- 1 root root     4010 Oct 27  2015 /usr/lib/libsafe_iop.a
lrwxrwxrwx 1 root root       18 Oct 27  2015 /usr/lib/libsafe_iop.so -> libsafe_iop.so.0.3
lrwxrwxrwx 1 root root       18 Oct 27  2015 /usr/lib/libsafe_iop.so.0 -> libsafe_iop.so.0.3
-rw-r--r-- 1 root root     9976 Oct 27  2015 /usr/lib/libsafe_iop.so.0.3
-rwxr-xr-x 1 root root   231664 Dec  6 21:46 /usr/lib/libsdsprpc.so
lrwxrwxrwx 1 root root       22 Dec  6 21:59 /usr/lib/libsensorslog.so -> libsensorslog.so.1.0.0
lrwxrwxrwx 1 root root       22 Dec  6 21:59 /usr/lib/libsensorslog.so.1 -> libsensorslog.so.1.0.0
-rwxr-xr-x 1 root root     5648 Dec  6 21:47 /usr/lib/libsensorslog.so.1.0.0
-rwxr-xr-x 1 root root    42840 Dec  6 21:49 /usr/lib/libsimple_selectors.so
lrwxrwxrwx 1 root root       19 Dec  6 21:59 /usr/lib/libsns_api.so -> libsns_api.so.0.0.0
lrwxrwxrwx 1 root root       19 Dec  6 21:59 /usr/lib/libsns_api.so.0 -> libsns_api.so.0.0.0
-rwxr-xr-x 1 root root    22104 Dec  6 21:47 /usr/lib/libsns_api.so.0.0.0
lrwxrwxrwx 1 root root       35 Dec  6 21:59 /usr/lib/libsns_direct_channel_stub.so -> libsns_direct_channel_stub.so.1.0.0
lrwxrwxrwx 1 root root       35 Dec  6 21:59 /usr/lib/libsns_direct_channel_stub.so.1 -> libsns_direct_channel_stub.so.1.0.0
-rwxr-xr-x 1 root root     9880 Dec  6 21:47 /usr/lib/libsns_direct_channel_stub.so.1.0.0
lrwxrwxrwx 1 root root       28 Dec  6 21:59 /usr/lib/libsns_fastRPC_util.so -> libsns_fastRPC_util.so.1.0.0
lrwxrwxrwx 1 root root       28 Dec  6 21:59 /usr/lib/libsns_fastRPC_util.so.1 -> libsns_fastRPC_util.so.1.0.0
-rwxr-xr-x 1 root root     9880 Dec  6 21:47 /usr/lib/libsns_fastRPC_util.so.1.0.0
lrwxrwxrwx 1 root root       29 Dec  6 21:59 /usr/lib/libsns_registry_skel.so -> libsns_registry_skel.so.1.0.0
lrwxrwxrwx 1 root root       29 Dec  6 21:59 /usr/lib/libsns_registry_skel.so.1 -> libsns_registry_skel.so.1.0.0
-rwxr-xr-x 1 root root     9952 Dec  6 21:47 /usr/lib/libsns_registry_skel.so.1.0.0
lrwxrwxrwx 1 root root       18 Dec  6 21:59 /usr/lib/libsnsapi.so -> libsnsapi.so.1.0.0
lrwxrwxrwx 1 root root       18 Dec  6 21:59 /usr/lib/libsnsapi.so.1 -> libsnsapi.so.1.0.0
-rw-r--r-- 1 root root 12163280 Sep 28  2021 /usr/lib/libsnsapi.so.1.0.0
lrwxrwxrwx 1 root root       22 Dec  6 21:59 /usr/lib/libsnsdiaglog.so -> libsnsdiaglog.so.1.0.0
lrwxrwxrwx 1 root root       22 Dec  6 21:59 /usr/lib/libsnsdiaglog.so.1 -> libsnsdiaglog.so.1.0.0
-rwxr-xr-x 1 root root    22256 Dec  6 21:47 /usr/lib/libsnsdiaglog.so.1.0.0
lrwxrwxrwx 1 root root       18 Dec  6 21:59 /usr/lib/libsparse.so.0 -> libsparse.so.0.0.0
-rwxr-xr-x 1 root root    30584 Dec  6 21:46 /usr/lib/libsparse.so.0.0.0
lrwxrwxrwx 1 root root       15 Dec  6 21:59 /usr/lib/libssc.so -> libssc.so.1.0.0
lrwxrwxrwx 1 root root       15 Dec  6 21:59 /usr/lib/libssc.so.1 -> libssc.so.1.0.0
-rwxr-xr-x 1 root root    91992 Dec  6 21:47 /usr/lib/libssc.so.1.0.0
-rwxr-xr-x 1 root root     9992 Dec  6 21:46 /usr/lib/libssc_default_listener.so
lrwxrwxrwx 1 root root       15 Dec  6 22:00 /usr/lib/libssd.so -> libssd.so.1.0.0
lrwxrwxrwx 1 root root       15 Dec  6 22:00 /usr/lib/libssd.so.1 -> libssd.so.1.0.0
-rwxr-xr-x 1 root root     9896 Dec  6 21:47 /usr/lib/libssd.so.1.0.0
-rwxr-xr-x 1 root root    46864 Dec  6 21:49 /usr/lib/libstats_calculator_portable.so
lrwxrwxrwx 1 root root       19 Feb 28  2018 /usr/lib/libstonith.so.1 -> libstonith.so.1.0.0
-rw-r--r-- 1 root root    26480 Feb 28  2018 /usr/lib/libstonith.so.1.0.0
-rwxr-xr-x 1 root root    51240 Dec  6 21:47 /usr/lib/libstreamparser.so
lrwxrwxrwx 1 root root       16 Dec  6 21:59 /usr/lib/libsync.so.0 -> libsync.so.0.0.0
-rwxr-xr-x 1 root root     9904 Dec  6 21:46 /usr/lib/libsync.so.0.0.0
-rwxr-xr-x 1 root root    26456 Dec  6 21:46 /usr/lib/libsynx.so
lrwxrwxrwx 1 root root       20 Dec  6 21:59 /usr/lib/libsysutils.so.0 -> libsysutils.so.0.0.0
-rwxr-xr-x 1 root root    34728 Dec  6 21:46 /usr/lib/libsysutils.so.0.0.0

sh-4.4# ssc_sensor_info
ssc_sensor_info v1.7
sh-4.4#

@Eric-Katzfey

Please find the output here:

root@qrb5165-rb5:~# m0052-px4
INFO  [px4] mlockall() enabled. PX4's virtual address space is locked into RAM.
INFO  [px4] assuming working directory is rootfs, no symlinks needed.

______  __   __    ___
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [px4] Calling startup script: /bin/sh /etc/modalai/full-m0052.config 0
terminate called after throwing an instance of 'std::runtime_error'
  what():  FATAL: could not find sensors QMI service
/usr/bin/m0052-px4: line 18:  5180 Aborted                 px4 $DAEMON -s /etc/modalai/full-m0052.config

I tried this several times, every time exact the same message.

Since some text was missing, I have attached the complete dump here:

root@qrb5165-rb5:~# systemctl status rb5-px4-start
● rb5-px4-start.service - rb5-px4-start
Loaded: loaded (/etc/systemd/system/rb5-px4-start.service; enabled; vendor preset: enabled)
Active: failed (Result: exit-code) since Wed 2022-03-30 21:14:17 UTC; 11min ago
Main PID: 2320 (code=exited, status=134)

Mar 30 21:14:08 qrb5165-rb5 systemd[1]: Started rb5-px4-start.
Mar 30 21:14:17 qrb5165-rb5 bash[2320]: terminate called after throwing an instance of 'std::runtime_error'
Mar 30 21:14:17 qrb5165-rb5 bash[2320]: what(): FATAL: could not find sensors QMI service
Mar 30 21:14:17 qrb5165-rb5 bash[2320]: /usr/bin/m0052-px4: line 18: 2321 Aborted px4 $DAEMON -s /etc/modalai/full-m0052.config
Mar 30 21:14:17 qrb5165-rb5 systemd[1]: rb5-px4-start.service: Main process exited, code=exited, status=134/n/a
Mar 30 21:14:17 qrb5165-rb5 systemd[1]: rb5-px4-start.service: Failed with result 'exit-code'.

Here is the full-m0052.config (unedited, from January 2022)
https://pastebin.com/j5WNgF5Q

After updated to 1.1.3, few new things happen:

1. using rb5-streamer (version 0.0.10): I'm able to see the stream properly on rtsp://VEHICLE_IP:8554/camera3. When stream is stopped for any reason, service does not restart (no matter how long I wait for it).
   As I understood, this should have been solved, according to the post here https://forum.modalai.com/topic/770/streaming-stopping-after-running-once
   I'm not using any other camera servers (as far as I now).

2. Shell command "reboot now" is now extremely slow (it was not prior to the update). It stops connections (wlan, wwan) immediately, but then the system still waits for something for almost 10 minutes (?), and does restart after that.
   I can use poweroff to turn the system off and then manually reset it. Is there some other way how to reset the RB5 more quickly?

Anybody else observed these "features"?

@Chad-Sweet Thank you, will try this soon.

@RichieRich
Thank you for your excellent advice.

I will try to explain my current configuration. For local testing and configuration I'm using ADB and local WLAN. For final application I would like to use 5G network.
Of course, I need VPN (and will use OpenVPN) to provide connection between the ground station and the drone. For OpenVPN server I'm using some Mikrotik appliance configured to provide fixed, predefined IP addresses to GC and the drone.
Ground Control always receives 192.168.88.20
Drone always receives 192.168.88.21
Both are mutually "visible" and can communicate. This is working without issues.

In regard to your first question, here is the result of
sh-4.4# px4-versions
modalai-slpi/unknown,now 1.0-6 arm64 [installed]
px4-rb5-flight/unknown,now 1.4-6 arm64 [installed]
px4-support/unknown,now 1.0-4 arm64 [installed]
libfc-sensor/unknown,now 1.0-2 arm64 [installed]
1.0.5-M0052-9.1-perf

Here is the result of ifconfig on the drone. wwan0 is the 5G connection, tun0 is the OpenVPN connection tunnel.

sh-4.4# ifconfig
bond0: flags=5123<UP,BROADCAST,MASTER,MULTICAST> mtu 1500
ether 7a:19:6d:34:23:5d txqueuelen 1000 (Ethernet)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

dummy0: flags=195<UP,BROADCAST,RUNNING,NOARP> mtu 1500
inet6 fe80::98d0:c594:6a01:f80a prefixlen 64 scopeid 0x20<link>
ether d6:41:ed:11:b0:d3 txqueuelen 1000 (Ethernet)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 13 bytes 3394 (3.3 KB)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

lo: flags=73<UP,LOOPBACK,RUNNING> mtu 65536
inet 127.0.0.1 netmask 255.0.0.0
inet6 ::1 prefixlen 128 scopeid 0x10<host>
loop txqueuelen 1000 (Local Loopback)
RX packets 60750 bytes 10831838 (10.8 MB)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 60750 bytes 10831838 (10.8 MB)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

tun0: flags=4305<UP,POINTOPOINT,RUNNING,NOARP,MULTICAST> mtu 1500
inet 192.168.88.21 netmask 255.255.255.0 destination 192.168.88.21
inet6 fe80::b41d:2608:5fb4:fcc5 prefixlen 64 scopeid 0x20<link>
unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 txqueuelen 100 (UNSPEC)
RX packets 59 bytes 7414 (7.4 KB)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 96 bytes 18438 (18.4 KB)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

wlan0: flags=4099<UP,BROADCAST,MULTICAST> mtu 1500
ether 00:03:7f:12:a2:e9 txqueuelen 3000 (Ethernet)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

wwan0: flags=4305<UP,POINTOPOINT,RUNNING,NOARP,MULTICAST> mtu 1430
inet 10.194.65.175 netmask 255.255.255.224 destination 10.194.65.175
unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 txqueuelen 1000 (UNSPEC)
RX packets 14127 bytes 18472229 (18.4 MB)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 1408 bytes 110804 (110.8 KB)
TX errors 7 dropped 0 overruns 0 carrier 0 collisions 0

I have placed following configuration in /etc/systemd/system/rb5-net-check.service
[Unit]
Description=rb5-net-check
#After=sscrpcd.service ---> this is commented
After=openvpn.service ---> I wait for openvpn to start
Requires=sscrpcd.service

[Service]
Type=oneshot
ExecStart=/usr/bin/rb5-net-check tun0 192.168
RemainAfterExit=yes

[Install]
WantedBy=multi-user.target

Also I have added the IP 192.168.88.20 to the /etc/modalai/qgc-ip.cfg.

The result of
sh-4.4# rb5-net-check tun0
192.168.88.21

is as expected, ok.

But I have issue with PX4. I am not sure what to do here (also the blue LEDs do not blink, as it was before the update).

sh-4.4# systemctl status rb5-px4-start
● rb5-px4-start.service - rb5-px4-start
Loaded: loaded (/etc/systemd/system/rb5-px4-start.service; enabled; vendor pr
Active: failed (Result: exit-code) since Wed 2022-03-30 18:58:41 UTC; 4min 46
Process: 2671 ExecStart=/bin/bash -c PATH=/usr/bin m0052-px4 -d (code=exited,
Main PID: 2671 (code=exited, status=134)

sh-4.4# systemctl enable rb5-px4-start
sh-4.4# systemctl status rb5-px4-start
● rb5-px4-start.service - rb5-px4-start
Loaded: loaded (/etc/systemd/system/rb5-px4-start.service; enabled; vendor pr
Active: failed (Result: exit-code) since Wed 2022-03-30 18:58:41 UTC; 5min ag
Main PID: 2671 (code=exited, status=134)

Mar 30 18:58:33 qrb5165-rb5 systemd[1]: Started rb5-px4-start.
Mar 30 18:58:41 qrb5165-rb5 bash[2671]: terminate called after throwing an insta
Mar 30 18:58:41 qrb5165-rb5 bash[2671]: what(): FATAL: could not find sensors
Mar 30 18:58:41 qrb5165-rb5 bash[2671]: /usr/bin/m0052-px4: line 18: 2672 Abort
Mar 30 18:58:41 qrb5165-rb5 systemd[1]: rb5-px4-start.service: Main process exit
Mar 30 18:58:41 qrb5165-rb5 systemd[1]: rb5-px4-start.service: Failed with resul

When I start the QGroundControl, I can receive the video from the drone without any issues (as it is independent from CC link).

Could you provide some idea how to debug and resolve the issues with PX4? Many thanks!

I would kindly ask you to provide some information:

1. I have updated the SDK to the latest version (1.1.3), successfully (according to the online instructions, including re-enabling all the services).
   After the update, I'm not able to connect to the QCG (it was operational prior to the update). 
   Looking to the config file / script /etc/modalai/full-m0052.config, seems this file was changed after the update, and now is using the find-qgc-address command. When I try to use this command from the command line, it provides no response (NULL). 

When I executed following commands, the result is as follows:
root@qrb5165-rb5:~# systemctl enable rb5-px4-start

root@qrb5165-rb5:~# systemctl status rb5-px4-start
● rb5-px4-start.service - rb5-px4-start
   Loaded: loaded (/etc/systemd/system/rb5-px4-start.service; enabled; vendor preset: enabled)
   Active: inactive (dead)

The same status (inactive) is also shown after the reboot.

Could you please advise how to configure the system to connect to QCG, as current instruction do not provide updated info?

2. How to configure output RTSP video stream from cam3? Currently we're receiving 640x480@30 fps, but would like to use full 4k.

3. I ordered Pro Dev Kit w/ 5G. It arrived with DX 6e RC. Seems the RC is paired with the receiver, since the receiver LED is lit still orange (when the transmitter is turned on). But we're unable to arm the drone according to the online guide (https://docs.modalai.com/Qualcomm-Flight-RB5-user-guide-pre-flight-setup/  and https://docs.modalai.com/Qualcomm-Flight-RB5-user-guide-first-flight/).
   Could you please advise what is Aux2 Gov switch, since it is placed on ch7, and our transmitter has only 6 channels? Could you please provide short instructions how to configure the RC and the RX?