@Thomas-Eiszler That's the plan we're working towards also, I did make some tries with AT commands also, but had to put the work aside for other commitments in the past few weeks. The information from yourself and @groupo above helps a lot. It shouldn't be too hard to make a service out of a python script for this. I'd been pursuing getting the data direct from the Qualcomm chipset, but AT commands and gpsd queries seen to be the way to go.
Posts made by pthomason
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RE: Monitor Sierra Wireless 5G signal?
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RE: Using a raspberry pi pivpn to tunnel for communication
@David-Smyth Would you be willing to share the .service files you created?
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RE: VOXL2 5G + Doodle Labs?
@guyzoler Don't set a default gateway on the interface with a static IP.
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RE: MAVLink not connecting on 5G
@pthomason Anyone have thoughts on correcting IP bindings, or the list of services that need to be restarted to notice a new 5G connection?
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RE: MAVLink not connecting on 5G
@pthomason restarting voxl-mavlink-server seems to have restored QGroundControl connectivity with the 5G already connected.
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MAVLink not connecting on 5G
I just upgraded to VOXL SDK 1.3.3, and am trying to connect QGroundControl our Sentinel via a private 5G network. My ground control PC is able to SSH to the drone, but I'm not able to establish a MAVLink connection. voxl-mavlink-server, voxl-px4 and voxl-vision-hub are all running. I've noticed that voxl-my-ip returns the WiFi IP, not the 5G IP, so I'm wondering if the services are bound to the correct interface.
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RE: Propellers spin and then stop
@Kiazoa-Joao Are you using the wall power adapter or full batteries? The power adapter doesn't have enough current to support the motors at full speed.
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Monitor Sierra Wireless 5G signal?
How can I monitor the Sierra Wireless modem's 5G signal quality or statistics? Ideally in real time, but in logging can be worked with also.
Thank you.
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RE: Quectel 5G Modem seg faults
Well that's embarrassing, corrected and attached, n78 SA.
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RE: Quectel 5G Modem seg faults
@tom
I believe the system is seeing the modem.
ifconfigvoxl2:/$ ifconfig bond0: flags=5123<UP,BROADCAST,MASTER,MULTICAST> mtu 1500 ether e6:26:28:f5:c3:21 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::2000:8a54:2e31:b142 prefixlen 64 scopeid 0x20<link> ether 92:70:d1:73:86:6a txqueuelen 1000 (Ethernet) RX packets 0 bytes 0 (0.0 B) RX errors 0 dropped 0 overruns 0 frame 0 TX packets 97 bytes 32086 (32.0 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 2248527 bytes 246402579 (246.4 MB) RX errors 0 dropped 0 overruns 0 frame 0 TX packets 2248527 bytes 246402579 (246.4 MB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0 wlan0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 2312 inet 192.168.8.1 netmask 255.255.255.0 broadcast 192.168.8.255 inet6 fe80::206b:34a1:b142:1286 prefixlen 64 scopeid 0x20<link> ether 00:c0:ca:b5:ab:77 txqueuelen 1000 (Ethernet) RX packets 3750 bytes 541680 (541.6 KB) RX errors 0 dropped 0 overruns 0 frame 0 TX packets 154460 bytes 16419695 (16.4 MB) TX errors 0 dropped 122100 overruns 0 carrier 0 collisions 0 wwan0: flags=4291<UP,BROADCAST,RUNNING,NOARP,MULTICAST> mtu 1500 inet6 fe80::f520:d7f4:4c5:dc9f prefixlen 64 scopeid 0x20<link> ether fe:c0:cf:f3:db:95 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 81 dropped 0 overruns 0 carrier 0 collisions 0
lsusb
voxl2:/$ lsusb Bus 002 Device 003: ID 1199:90e3 Sierra Wireless, Inc. Bus 002 Device 002: ID 0424:5744 Standard Microsystems Corp. Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub Bus 001 Device 004: ID 0424:2740 Standard Microsystems Corp. Bus 001 Device 003: ID 0bda:0811 Realtek Semiconductor Corp. Bus 001 Device 002: ID 0424:2744 Standard Microsystems Corp. Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
lsusb -t
voxl2:/$ lsusb Bus 002 Device 003: ID 1199:90e3 Sierra Wireless, Inc. Bus 002 Device 002: ID 0424:5744 Standard Microsystems Corp. Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub Bus 001 Device 004: ID 0424:2740 Standard Microsystems Corp. Bus 001 Device 003: ID 0bda:0811 Realtek Semiconductor Corp. Bus 001 Device 002: ID 0424:2744 Standard Microsystems Corp. Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
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RE: Quectel 5G Modem seg faults
I believe we're on SDK 1.2.0..
voxl2:/$ voxl-version -------------------------------------------------------------------------------- system-image: 1.7.6-M0054-14.1a-perf kernel: #1 SMP PREEMPT Wed Mar 20 19:48:52 UTC 2024 4.19.125 -------------------------------------------------------------------------------- hw platform: M0054 mach.var: 1.0 -------------------------------------------------------------------------------- voxl-suite: 1.2.0 -------------------------------------------------------------------------------- Packages: Repo: http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.2/binary-arm64/ Last Updated: 2023-03-02 12:58:39 WARNING: repo file has changed since last update, packages may have originated from a different repo List: kernel-module-voxl-fsync-mod-4.19.125 1.0-r0 kernel-module-voxl-gpio-mod-4.19.125 1.0-r0 kernel-module-voxl-platform-mod-4.19.125 1.0-r0 libfc-sensor 1.0.5 libmodal-cv 0.4.0 libmodal-exposure 0.1.0 libmodal-journal 0.2.2 libmodal-json 0.4.3 libmodal-pipe 2.10.0 libqrb5165-io 0.4.5 libvoxl-cci-direct 0.2.1 libvoxl-cutils 0.1.1 modalai-slpi 1.1.12 mv-voxl 0.1-r0 qrb5165-bind 0.1-r0 qrb5165-dfs-server 0.2.0 qrb5165-imu-server 1.0.1 qrb5165-rangefinder-server 0.1.1 qrb5165-slpi-test-sig 01-r0 qrb5165-system-tweaks 0.2.6 qrb5165-tflite 2.8.0-2 voxl-bind-spektrum 0.1.1 voxl-camera-calibration 0.5.4 voxl-camera-server 1.9.1 voxl-ceres-solver 2:1.14.0-10 voxl-configurator 0.5.6 voxl-cpu-monitor 0.4.8 voxl-docker-support 1.3.1 voxl-elrs 0.1.3 voxl-esc 1.4.0 voxl-feature-tracker 0.3.2 voxl-flow-server 0.3.3 voxl-fsync-mod 1.0-r0 voxl-gphoto2-server 0.0.10 voxl-gpio-mod 1.0-r0 voxl-jpeg-turbo 2.1.3-5 voxl-lepton-server 1.2.0 voxl-libgphoto2 0.0.4 voxl-libuvc 1.0.7 voxl-logger 0.4.0 voxl-mavcam-manager 0.5.3 voxl-mavlink 0.1.1 voxl-mavlink-server 1.4.0 voxl-modem 1.0.9 voxl-mongoose 7.7.0-1 voxl-mpa-to-ros 0.3.7 voxl-mpa-tools 1.1.5 voxl-neopixel-manager 0.0.3 voxl-open-vins 0.4.4 voxl-open-vins-server 0.2.18 voxl-opencv 4.5.5-2 voxl-platform-mod 1.0-r0 voxl-portal 0.6.5 voxl-px4 1.14.0-2.0.68 voxl-px4-imu-server 0.1.2 voxl-px4-params 0.3.8 voxl-qvio-server 1.0.2 voxl-remote-id 0.0.9 voxl-streamer 0.7.4 voxl-suite 1.2.0 voxl-tag-detector 0.0.4 voxl-tflite-server 0.3.2 voxl-utils 1.3.9 voxl-uvc-server 0.1.6 voxl-vision-hub 1.7.4 voxl2-system-image 1.7.6-r0 voxl2-wlan 1.0-r0 --------------------------------------------------------------------------------
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RE: VOXL2 Unbricking Procedure not working "Waiting for EDL Device"
@Chase-Riley I've noticed some USB-C ADB connections only really work well with USB-C to USB-A on the host/computer.
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Quectel 5G Modem seg faults
voxl-modem reports Segmentation Fault after configuration of either vzwinternet or Custom (internet) APN and connection attempt.
voxl2:/$ journalctl -u voxl-modem.service -- Logs begin at Thu 2023-03-02 12:58:02 UTC, end at Thu 2023-03-02 15:07:27 UTC. -- Mar 02 13:38:19 m0054 systemd[1]: Starting Modem Initialization... Mar 02 13:38:21 m0054 systemd[1]: Started Modem Initialization. Mar 02 13:38:21 m0054 voxl-modem-start[3617]: qrb5165 based hardware detected... Mar 02 13:38:21 m0054 voxl-modem-start[3617]: \Setting mode preference to LTE / 5G Mar 02 13:38:21 m0054 voxl-modem-start[3617]: microcom: can't open '/dev/ttyUSB2': No such file or directory Mar 02 13:38:21 m0054 voxl-modem-start[3617]: Initalizing cellular connection... Mar 02 13:38:23 m0054 voxl-modem-start[3617]: /usr/bin/voxl-modem-start: line 300: 3638 Segmentation fault quectel-CM -s $APN Mar 02 13:38:30 m0054 voxl-modem-start[3617]: /usr/bin/voxl-modem-start: line 300: 3654 Segmentation fault quectel-CM -s $APN Mar 02 13:38:37 m0054 voxl-modem-start[3617]: /usr/bin/voxl-modem-start: line 300: 3671 Segmentation fault quectel-CM -s $APN Mar 02 13:38:44 m0054 voxl-modem-start[3617]: /usr/bin/voxl-modem-start: line 300: 3690 Segmentation fault quectel-CM -s $APN Mar 02 13:38:52 m0054 voxl-modem-start[3617]: /usr/bin/voxl-modem-start: line 300: 3711 Segmentation fault quectel-CM -s $APN Mar 02 13:38:59 m0054 voxl-modem-start[3617]: /usr/bin/voxl-modem-start: line 300: 3728 Segmentation fault quectel-CM -s $APN Mar 02 13:39:06 m0054 voxl-modem-start[3617]: /usr/bin/voxl-modem-start: line 300: 3752 Segmentation fault quectel-CM -s $APN Mar 02 13:39:08 m0054 voxl-modem-start[3617]: /usr/bin/voxl-modem-start: line 300: 3769 Segmentation fault quectel-CM -s $APN Mar 02 13:39:09 m0054 voxl-modem-start[3617]: /usr/bin/voxl-modem-start: line 300: 3786 Segmentation fault quectel-CM -s $APN Mar 02 13:39:17 m0054 voxl-modem-start[3617]: /usr/bin/voxl-modem-start: line 300: 3803 Segmentation fault quectel-CM -s $APN Mar 02 13:39:24 m0054 voxl-modem-start[3617]: /usr/bin/voxl-modem-start: line 300: 3826 Segmentation fault quectel-CM -s $APN Mar 02 13:39:31 m0054 voxl-modem-start[3617]: /usr/bin/voxl-modem-start: line 300: 3843 Segmentation fault quectel-CM -s $APN Mar 02 13:39:38 m0054 voxl-modem-start[3617]: /usr/bin/voxl-modem-start: line 300: 3869 Segmentation fault quectel-CM -s $APN Mar 02 13:39:45 m0054 voxl-modem-start[3617]: /usr/bin/voxl-modem-start: line 300: 3886 Segmentation fault quectel-CM -s $APN Mar 02 13:39:53 m0054 voxl-modem-start[3617]: /usr/bin/voxl-modem-start: line 300: 3904 Segmentation fault quectel-CM -s $APN Mar 02 13:40:00 m0054 voxl-modem-start[3617]: /usr/bin/voxl-modem-start: line 300: 3927 Segmentation fault quectel-CM -s $APN Mar 02 13:40:05 m0054 systemd[1]: Stopping Modem Initialization... Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:00:275] Quectel_QConnectManager_Linux_V1.6.0.24 Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:00:278] Auto find qmichannel = /dev/cdc-wdm0 Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:00:278] Auto find usbnet_adapter = wwan0 Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:00:278] netcard driver = cdc_mbim, driver version = 22-Aug-2005 Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:00:278] Modem works in MBIM mode Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:00:307] cdc_wdm_fd = 7 Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:00:307] mbim_open_device() Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:293] mbim_device_caps_query() Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:325] DeviceId: 358186652129987 Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:325] HardwareInfo: EM9291 Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:325] mbim_device_services_query() Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:389] mbim_set_radio_state( 1 ) Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:421] HwRadioState: 1, SwRadioState: 1 Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:421] mbim_subscriber_status_query() Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:453] SubscriberId: 999999123456832 Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:453] SimIccId: 8999462208221061257F Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:453] SubscriberReadyState NotInitialized -> Initialized Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:453] mbim_register_state_query() Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:614] RegisterState Unknown -> Home Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:614] mbim_packet_service_query() Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:645] PacketServiceState Unknown -> Attached Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:645] CurrentDataClass = Custom Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:645] mbim_query_connect(sessionID=0) Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:677] ActivationState Unknown -> Deactivated Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:677] ifconfig wwan0 0.0.0.0 Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:687] ifconfig wwan0 down Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:701] mbim_set_connect(onoff=1, sessionID=0) Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:805] <03:00:00:80:54:00:00:00:0A:00:00:00:01:00:00:00:00:00:00:00:A2:8 Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:806] < Header: Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:806] < MessageLength = 84 Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:806] < MessageType = MBIM_COMMAND_DONE (0x80000003) Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:806] < TransactionId = 10 Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:806] < Contents: Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:806] < DeviceServiceId = UUID_BASIC_CONNECT (a289cc33-bcbb-8b4f-b6b0-1 Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:806] < CID = MBIM_CID_CONNECT (12) Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:806] < Status = 2 Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:806] < InformationBufferLength = 36 Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:806] < SessionId = 0 Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:806] < ActivationState = Deactivated (3) Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:806] < IPType = MBIMContextIPTypeDefault Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:806] < VoiceCallState = None Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:806] < ContextType = 7e5e2a7e-4e6f-7272-736b-656e7e5e2a7e Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:806] < NwError = 0 Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:806] mbim_set_connect:1940 err=0, Status=2 Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:806] try to requestSetupDataCall 5 second later Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:806] mbim_register_state_query() Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:869] mbim_packet_service_query() Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:901] CurrentDataClass = Custom Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:901] mbim_register_state_query() Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:933] mbim_packet_service_query() Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:01:965] CurrentDataClass = Custom Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:05:387] mbim_close_device() Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:05:453] mbim_read_thread exit Mar 02 13:40:05 m0054 voxl-modem-start[3617]: [03-02_13:40:05:454] qmi_main exit Mar 02 13:40:05 m0054 systemd[1]: Stopped Modem Initialization. Mar 02 13:40:05 m0054 systemd[1]: Starting Modem Initialization... Mar 02 13:40:07 m0054 systemd[1]: Started Modem Initialization. Mar 02 13:40:07 m0054 voxl-modem-start[4004]: qrb5165 based hardware detected... Mar 02 13:40:07 m0054 voxl-modem-start[4004]: \Setting mode preference to LTE / 5G Mar 02 13:40:07 m0054 voxl-modem-start[4004]: microcom: can't open '/dev/ttyUSB2': No such file or directory Mar 02 13:40:07 m0054 voxl-modem-start[4004]: Initalizing cellular connection... Mar 02 13:40:09 m0054 voxl-modem-start[4004]: /usr/bin/voxl-modem-start: line 300: 4025 Segmentation fault quectel-CM -s $APN
With voxl-modem stopped, using Quectel-CM we can see attach and APN connection then crash...
voxl2:/$ systemctl stop voxl-modem voxl2:/$ quectel-CM [03-02_13:06:54:567] Quectel_QConnectManager_Linux_V1.6.0.24 [03-02_13:06:54:572] Auto find qmichannel = /dev/cdc-wdm0 [03-02_13:06:54:572] Auto find usbnet_adapter = wwan0 [03-02_13:06:54:572] netcard driver = cdc_mbim, driver version = 22-Aug-2005 [03-02_13:06:54:574] Modem works in MBIM mode [03-02_13:06:54:609] cdc_wdm_fd = 7 [03-02_13:06:54:609] mbim_open_device() [03-02_13:06:55:382] mbim_device_caps_query() [03-02_13:06:55:414] DeviceId: 358186652129987 [03-02_13:06:55:414] HardwareInfo: EM9291 [03-02_13:06:55:414] mbim_device_services_query() [03-02_13:06:55:481] mbim_set_radio_state( 1 ) [03-02_13:06:55:510] HwRadioState: 1, SwRadioState: 1 [03-02_13:06:55:511] mbim_subscriber_status_query() [03-02_13:06:55:542] SubscriberId: 999999123456832 [03-02_13:06:55:542] SimIccId: 8999462208221061257F [03-02_13:06:55:542] SubscriberReadyState NotInitialized -> Initialized [03-02_13:06:55:542] mbim_register_state_query() [03-02_13:06:55:702] RegisterState Unknown -> Home [03-02_13:06:55:702] mbim_packet_service_query() [03-02_13:06:55:736] PacketServiceState Unknown -> Attached [03-02_13:06:55:736] CurrentDataClass = Custom [03-02_13:06:55:737] mbim_query_connect(sessionID=0) [03-02_13:06:55:766] ActivationState Unknown -> Deactivated [03-02_13:06:55:766] ifconfig wwan0 0.0.0.0 [03-02_13:06:55:790] ifconfig wwan0 down [03-02_13:06:55:806] mbim_register_state_query() [03-02_13:06:55:830] mbim_packet_service_query() [03-02_13:06:55:862] CurrentDataClass = Custom [03-02_13:06:55:862] mbim_set_connect(onoff=1, sessionID=0) [03-02_13:06:56:214] ActivationState Deactivated -> Activated [03-02_13:06:56:217] mbim_ip_config(sessionID=0) [03-02_13:06:56:279] < SessionId = 0 [03-02_13:06:56:281] < IPv4ConfigurationAvailable = 0xf [03-02_13:06:56:281] < IPv6ConfigurationAvailable = 0x0 [03-02_13:06:56:282] < IPv4AddressCount = 0x1 [03-02_13:06:56:282] < IPv4AddressOffset = 0x3c [03-02_13:06:56:282] < IPv6AddressCount = 0x0 [03-02_13:06:56:285] < IPv6AddressOffset = 0x0 [03-02_13:06:56:285] < IPv4 = 10.254.2.20/29 [03-02_13:06:56:285] < gw = 10.254.2.21 [03-02_13:06:56:286] < dns1 = 10.237.173.137 [03-02_13:06:56:286] < ipv4 mtu = 1392 Segmentation fault
Drone is as-delivered, no updates attempted yet.