ModalAI Forum

@Eric-Katzfey Hi, thanks for the response.

EKF2_MAG_DECL - yes, set to Sydney, Australia
COM_ARM_EKF_YAW is set to the max 1.0 - the value it is reading is 3.5+
Wouldn't changing EKF2_MAG_TYPE to 1 mean that the compass isn't used during flight and rely solely on GPS for heading, but I can ask px4 community this.

Moving to px4 v1.16 the error changes to X/Y position control error, but the fix is the same.

A question on px4 firmware versions. ModalAI develops on px4 v.14.
The latest being modalai_fc-v2_1.14.0-2.0.133.px4

When I install this firmware the error isn't present and (Ready to fly) arming can occur on the ground without having to move the drone to fix the yaw error. Would you recommend using this version on a non-voxl system, we are using a Jetson? We are interested to know if there is a reason why this version works with your hardware but not later versions of px4?

Thanks again

Hi,
We are using fc-v2 with the ModalAI 4-in-1 ESC (M0138) and a 3DR M10 ublox gps unit.

The fc-v2 was shipped with px4 v1.15. The system works well but there is a pre-flight check fail that we are trying to clear.

PREFLIGHT FAIL: EKF YAW ERROR

Care has been taken to calibrate the sensors but we are unable avoid this.

The solution has been to sway the drone side to side and then the error clears and the drone is 'Ready to fly". Because of our use case this is not a practical approach.

The drone is for outdoor use and needs GPS.

Any advise on how to fix this issue would be greatly appreciated.

Cheers

Ok thanks, I can parse the raw data. I guess I was expecting the csv to contain the data as well

voxl-replay -p /data/voxl-logger/log0014/ -z
voxl-replay: invalid option -- 'z'

Replay a log

-d, --debug enable verbose debug mode
-h, --help print this help message
-n, --number {number} number of log to open, e.g. 32
-p, --path {path} complete path of log to open, e.g. /data/mylog/
-s, --start {seconds} starts the replay (float) seconds into the log
-f, --finish {seconds} ends the replay (float) seconds into the log
-i, --include {name} name of pipe to publish, publish all if not specified
-e, --exclude {name} name of pipe to not publish, publish all if not specified
-y, --auto_kill automatically kills servers that conflict with the log

When I use the -d flag

voxl2:/data/voxl-logger/log0013$ voxl-replay -p /data/voxl-logger/log0013/ -d
enabling debug mode
opening json info file: /data/voxl-logger/log0013/info.json
using log_format_version=1
log contains 1 channels
log started at 20016320271533ns
log publish channel 0:
type: mav
out path: /run/mpa/mavlink_attitude/
log path: /data/voxl-logger/log0013//run/mpa/mavlink_attitude/
total samples: 88
opening csv file: /data/voxl-logger/log0013//run/mpa/mavlink_attitude/data.csv
opening raw file: /data/voxl-logger/log0013//run/mpa/mavlink_attitude/data.raw
creating pipe: /run/mpa/mavlink_attitude/
finding start frame for channel 0
header for channel 0 /run/mpa/mavlink_attitude/
i,timestamp(ns)
log started at 20016320271533ns, shifting to 20016407463491ns
replay start time ns: 1498719153614entering main loop
starting to publish mavlink to: /run/mpa/mavlink_attitude/
publishing to ch0 at 1498819501us a mavlink packet with timestamp 1498819381us
publishing to ch0 at 1498819646us a mavlink packet with timestamp 1498819397us
publishing to ch0 at 1498819671us a mavlink packet with timestamp 1498819400us

Thanks

I'm trying to log mavlink messages though voxl-logger but all of the mavlink message pipes contain only i, timestamp.

I have been able to log imu and tracking camera data but not the mavlink messages. Any ideas?

Note: still on sdk1.3

$ voxl-version 
--------------------------------------------------------------------------------
system-image: 1.7.10-M0054-14.1a-perf
kernel:       #1 SMP PREEMPT Fri Sep 27 21:59:02 UTC 2024 4.19.125
--------------------------------------------------------------------------------
hw platform:  M0054
mach.var:     1.0.1
--------------------------------------------------------------------------------
voxl-suite:   1.3.5

voxl2:/home/starling2voxl-logger -m mavlink_attitude -t 3
starting 3.0 second timer
connected to ch 0 mavlink: /run/mpa/mavlink_attitude/
stopping automatically after requested timeout
summary of data logged:
ch 0, type: mav, samples:      88, path: /run/mpa/mavlink_attitude/
created new log here:
/data/voxl-logger/log0013/
voxl2:/home/starling2$ cat /data/voxl-logger/log0013/run/mpa/mavlink_attitude/data.csv 
i,timestamp(ns)
0,20016407463491
1,20016507691080

mavlink_message_t
	mavlink_ap_heartbeat
	mavlink_attitude
	mavlink_from_gcs
	mavlink_gps_raw_int
	mavlink_local_position_ned
	mavlink_onboard
	mavlink_sys_status
	mavlink_to_gcs

$ voxl-mavlink-server -j
loading our own config file
=================================================================
Parameters as loaded from config file:
primary_static_gcs_ip:        
secondary_static_gcs_ip:      192.168.41.42
onboard_port_to_autopilot:    14556
onboard_port_from_autopilot:  14557
gcs_port_to_autopilot:        14558
gcs_port_from_autopilot:      14559
en_external_uart_ap:          0
autopilot_uart_bus:           1
autopilot_uart_baudrate:      921600
autopilot_mission_delay_start:      -1
udp_mtu:                      0
gcs_timeout_s                 4.50
en_external_ap_timesync:      1
en_external_ap_heartbeat:     1
=================================================================
existing instance of voxl-mavlink-server found, attempting to stop it
starting receive thread for onboard channel from autopilot
starting receive thread for gcs channel from autopilot
CONNECTED to autopilot on onboard channel
CONNECTED to autopilot on gcs channel
Not connecting to primary gcs ip: 
Adding secondary manual gcs IP address to udp connection list: 192.168.41.42
Added new UDP connection to 192.168.41.42
Init complete, entering main loop
to ob pipe  ID: 141  compid:   1
to ob pipe  ID:  32  compid:   1
to ob pipe  ID: 290  compid:   1
to ob pipe  ID: 291  compid:   1
to ob pipe  ID:  30  compid:   1
to ob pipe  ID: 331  compid:   1
to ob pipe  ID:  83  compid:   1
to gcs pipe ID:  31  compid:   1
to ob pipe  ID:  29  compid:   1
to ob pipe  ID:  65  compid:   1
to ob pipe  ID:  36  compid:   1
to ob pipe  ID:  74  compid:   1
to ob pipe  ID: 105  compid:   1