Hi @Moderator

I need help in debugging and resolving the Hadron 640 EO camera crash issue.

On voxl2, there are a total of 5 cameras connected as follows:
J6 - front stereo pair
J7 Upper - Hadron EO
J7 Lower - Tracking
J8 Upper - FPV camera

voxl-camera-server -d output

connected to MAVLink pipe
Starting Camera: stereo_front (id #0)
gbm_create_device(156): Info: backend name is: msm_drm
setting ov7251 BLC register for cam id 0
setting ov7251 BLC register for cam id 1
Starting Camera: tracking (id #2)
setting ov7251 BLC register for cam id 2
Starting Camera: hadron_eo (id #3)
Starting Camera: fpv (id #4)

All cameras are working. Can see the camera stream on the VOXL portal.

I am using the Voxl-Portal for watching video streams.
Now, after a few seconds hadron camera keeps crashing, and also VOXL2 gets unresponsive. It requires a power cycle.
Below are the logs I got from dmesg

[  174.603482] CAM_INFO: CAM-HFI: cam_hfi_init: 878 Init IO1 : [0x10c00000 0xcf300000] IO2 [0xe0200000 0x1ed00000]
[  174.613614] CAM_INFO: CAM-ICP: cam_icp_mgr_process_dbg_buf: 2572 FW_DBG:CICP_FW_E : HFI  :QC_IMAGE_VERSION_STRING=CICP.FW.1.0-00079,OEM_IMAGE_VERSION_STRING=CRM,BUILD_TIME: Oct 17 2019 05:49:19,CACHE_ENABLED at icphostinterface.c:636 QC_IMAGE_VERSION_STRING=CICP.FW.1.0-00079 OEM_IMAGE_VERSION_STRING=CRM
[  174.613620] CAM_INFO: CAM-ICP: cam_icp_mgr_process_dbg_buf: 2572 FW_DBG:CICP_FW_E : HFI  :ELF variant: CACHE-ENABLED:T480:API_V2:USE_CDM_1_1: , API version: 0x2000049 at icphostinterface.c:637 QC_IMAGE_VERSION_STRING=CICP.FW.1.0-00079 OEM_IMAGE_VERSION_STRING=CRM
[  174.613698] CAM_INFO: CAM-ICP: cam_icp_mgr_hw_open: 3879 FW download done successfully
[  174.964394] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.58
[  174.966500] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.55
[  174.968066] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.60
[  174.968091] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.79
[  174.995057] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 731 [Applying Alternative Address] : Sensor Index   : 1465557172
[  174.995063] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 732 [Applying Alternative Address] : Slave Address  : 0xE2
[  174.995066] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 733 [Applying Alternative Address] : Slave sensor id: 0x7750
[  174.995069] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 734 [Applying Alternative Address] : cci_client sid : 0x71
[  174.995370] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 770 [Applying Alternative Address] : Probe : Alternate address updated
[  174.995577] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:0,slave_addr:0xe2,sensor_id:0x7750
[  174.995702] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.79
[  174.999780] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.60
[  174.999833] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.55
[  174.999868] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.58
[  175.019097] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.58
[  175.020859] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.55
[  175.023008] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.60
[  175.023055] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.79
[  175.049433] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 731 [Applying Alternative Address] : Sensor Index   : 1465573556
[  175.049438] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 732 [Applying Alternative Address] : Slave Address  : 0xE4
[  175.049440] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 733 [Applying Alternative Address] : Slave sensor id: 0x7750
[  175.049443] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 734 [Applying Alternative Address] : cci_client sid : 0x72
[  175.049709] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 770 [Applying Alternative Address] : Probe : Alternate address updated
[  175.049910] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:1,slave_addr:0xe4,sensor_id:0x7750
[  175.050011] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.79
[  175.054199] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.60
[  175.054267] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.55
[  175.054315] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.58
[  175.067218] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.59
[  175.069557] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.55
[  175.071886] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.60
[  175.072343] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.79
[  175.097535] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 731 [Applying Alternative Address] : Sensor Index   : 1465577652
[  175.097546] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 732 [Applying Alternative Address] : Slave Address  : 0xE2
[  175.097553] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 733 [Applying Alternative Address] : Slave sensor id: 0x7750
[  175.097559] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 734 [Applying Alternative Address] : cci_client sid : 0x71
[  175.097862] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 770 [Applying Alternative Address] : Probe : Alternate address updated
[  175.098088] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:2,slave_addr:0xe2,sensor_id:0x7750
[  175.098266] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.79
[  175.102558] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.60
[  175.102700] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.55
[  175.102820] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.59
[  175.136343] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Linked as a consumer to regulator.59
[  175.136737] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Linked as a consumer to regulator.55
[  175.136964] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Linked as a consumer to regulator.60
[  175.137099] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Linked as a consumer to regulator.79
[  175.154994] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:4,slave_addr:0x20,sensor_id:0x214
[  175.155174] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Dropping the link to regulator.79
[  175.159409] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Dropping the link to regulator.60
[  175.159532] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Dropping the link to regulator.55
[  175.159632] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Dropping the link to regulator.59
[  175.184986] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.60
[  175.187117] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.79
[  175.205184] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:3,slave_addr:0x6c,sensor_id:0x6442
[  175.205392] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.79
[  175.209635] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.60
[  175.277361] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.58
[  175.279457] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.55
[  175.281557] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.60
[  175.281590] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.79
[  175.304100] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 731 [Applying Alternative Address] : Sensor Index   : 1465557172
[  175.304105] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 732 [Applying Alternative Address] : Slave Address  : 0xE2
[  175.304108] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 733 [Applying Alternative Address] : Slave sensor id: 0x7750
[  175.304111] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 734 [Applying Alternative Address] : cci_client sid : 0x71
[  175.304367] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 770 [Applying Alternative Address] : Probe : Alternate address updated
[  175.304371] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 997 CAM_ACQUIRE_DEV Success, sensor_id:0x7750,sensor_slave_addr:0xe2
[  175.336887] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.58
[  175.338961] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.55
[  175.340156] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.60
[  175.340203] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.79
[  175.361412] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 731 [Applying Alternative Address] : Sensor Index   : 1465573556
[  175.361417] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 732 [Applying Alternative Address] : Slave Address  : 0xE4
[  175.361419] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 733 [Applying Alternative Address] : Slave sensor id: 0x7750
[  175.361422] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 734 [Applying Alternative Address] : cci_client sid : 0x72
[  175.361685] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 770 [Applying Alternative Address] : Probe : Alternate address updated
[  175.361690] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 997 CAM_ACQUIRE_DEV Success, sensor_id:0x7750,sensor_slave_addr:0xe4
[  175.401755] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.59
[  175.403890] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.55
[  175.405952] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.60
[  175.406003] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.79
[  175.427582] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 731 [Applying Alternative Address] : Sensor Index   : 1465577652
[  175.427587] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 732 [Applying Alternative Address] : Slave Address  : 0xE2
[  175.427589] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 733 [Applying Alternative Address] : Slave sensor id: 0x7750
[  175.427592] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 734 [Applying Alternative Address] : cci_client sid : 0x71
[  175.428143] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 770 [Applying Alternative Address] : Probe : Alternate address updated
[  175.428148] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 997 CAM_ACQUIRE_DEV Success, sensor_id:0x7750,sensor_slave_addr:0xe2
[  175.465494] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.60
[  175.467589] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.79
[  175.481612] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 997 CAM_ACQUIRE_DEV Success, sensor_id:0x6442,sensor_slave_addr:0x6c
[  175.485457] CAM_INFO: CAM-HFI: cam_hfi_resume: 679 Resume IO1 : [0x10c00000 0xcf300000] IO2 [0xe0200000 0x1ed00000]
[  175.672691] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Linked as a consumer to regulator.59
[  175.672741] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Linked as a consumer to regulator.55
[  175.672790] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Linked as a consumer to regulator.60
[  175.672841] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Linked as a consumer to regulator.79
[  175.687084] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 997 CAM_ACQUIRE_DEV Success, sensor_id:0x214,sensor_slave_addr:0x20
[  175.742769] CAM_ERR: CAM-ISP: cam_ife_hw_mgr_print_acquire_info: 710 Successfully acquire single IFE[6 -1] with [0 pix] [0 pd] [1 rdi] ports for ctx:0
[  175.743960] CAM_INFO: CAM-CSIPHY: cam_csiphy_core_cfg: 1137 START_DEV: CSIPHY_IDX: 2, Device_slot: 0, Datarate: 384000000, Settletime: 2800000000
[  175.752816] subsys-pil-tz soc:qcom,kgsl-hyp: a650_zap: loading from 0x00000000ede00000 to 0x00000000ede01000
[  175.752840] CAM_INFO: CAM-ISP: cam_vfe_bus_ver3_init_hw: 3659 Overriding clock gating at bus input
[  175.752845] CAM_INFO: CAM-ISP: cam_vfe_top_ver3_init_hw: 246 Disable clock gating at IFE top
[  175.753117] CAM_ERR: CAM-ISP: cam_ife_mgr_start_hw: 4510 ->Config HW, 00000000b0befdac
[  175.753471] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 1089 CAM_START_DEV Success, sensor_id:0x7750,sensor_slave_addr:0xe2
[  175.757376] subsys-pil-tz soc:qcom,kgsl-hyp: a650_zap: Brought out of reset
[  175.870462] msm_vidc:   high: 00000001: ....e: Opening video instance: ffffffeb78388000, 0
[  175.870595] msm_vidc_v4l2 aa00000.qcom,vidc: Linked as a consumer to regulator.83
[  175.870629] msm_vidc_v4l2 aa00000.qcom,vidc: Linked as a consumer to regulator.82
[  175.872360] subsys-restart: __subsystem_get(): Changing subsys fw_name to venus
[  175.874344] subsys-pil-tz aab0000.qcom,venus: venus: loading from 0x0000000086e00000 to 0x0000000087300000
[  175.896857] subsys-pil-tz aab0000.qcom,venus: venus: Brought out of reset
[  175.938700] msm_vidc:   high: 00000002: ....e: Opening video instance: ffffffeb48944000, 0
[  175.987798] CAM_ERR: CAM-ISP: cam_ife_csid_cid_reserve: 1040 CSID:5 IPP resource not available
[  175.987801] CAM_ERR: CAM-ISP: cam_ife_csid_cid_reserve: 1040 CSID:4 IPP resource not available
[  175.987802] CAM_ERR: CAM-ISP: cam_ife_csid_cid_reserve: 1040 CSID:3 IPP resource not available
[  175.987803] CAM_ERR: CAM-ISP: cam_ife_csid_cid_reserve: 1040 CSID:2 IPP resource not available
[  175.987824] CAM_ERR: CAM-ISP: cam_ife_hw_mgr_print_acquire_info: 710 Successfully acquire single IFE[1 -1] with [12 pix] [0 pd] [1 rdi] ports for ctx:1
[  175.993080] CAM_INFO: CAM-CSIPHY: cam_csiphy_core_cfg: 1137 START_DEV: CSIPHY_IDX: 4, Device_slot: 0, Datarate: 1162500000, Settletime: 2800000000
[  176.002009] CAM_INFO: CAM-ISP: cam_vfe_bus_ver3_init_hw: 3659 Overriding clock gating at bus input
[  176.002014] CAM_INFO: CAM-ISP: cam_vfe_top_ver3_init_hw: 246 Disable clock gating at IFE top
[  176.002033] CAM_ERR: CAM-ISP: cam_ife_mgr_start_hw: 4510 ->Config HW, 00000000b0befdac
[  176.003057] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 1089 CAM_START_DEV Success, sensor_id:0x214,sensor_slave_addr:0x20
[  176.005105] CAM_INFO: CAM-ISP: __cam_isp_ctx_sof_in_epoch: 1660 First SOF in EPCR ctx:4 frame_id:1 next substate EPOCH
[  177.442152] msm_vidc:   err : ffffffff: .....: DBLP Set: status 0
[  393.563295] CAM_ERR: CAM-ISP: cam_ife_hw_mgr_print_acquire_info: 710 Successfully acquire single IFE[5 -1] with [0 pix] [0 pd] [1 rdi] ports for ctx:2
[  393.563427] CAM_ERR: CAM-ISP: cam_ife_hw_mgr_print_acquire_info: 710 Successfully acquire single IFE[4 -1] with [0 pix] [0 pd] [1 rdi] ports for ctx:3
[  393.565856] CAM_INFO: CAM-CSIPHY: cam_csiphy_core_cfg: 1137 START_DEV: CSIPHY_IDX: 0, Device_slot: 0, Datarate: 384000000, Settletime: 2800000000
[  393.573901] CAM_INFO: CAM-CSIPHY: cam_csiphy_core_cfg: 1137 START_DEV: CSIPHY_IDX: 0, Device_slot: 1, Datarate: 384000000, Settletime: 2800000000
[  393.575038] CAM_INFO: CAM-ISP: cam_vfe_bus_ver3_init_hw: 3659 Overriding clock gating at bus input
[  393.575042] CAM_INFO: CAM-ISP: cam_vfe_top_ver3_init_hw: 246 Disable clock gating at IFE top
[  393.575051] CAM_ERR: CAM-ISP: cam_ife_mgr_start_hw: 4510 ->Config HW, 00000000b0befdac
[  393.575673] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 1089 CAM_START_DEV Success, sensor_id:0x7750,sensor_slave_addr:0xe2
[  393.575827] CAM_INFO: CAM-ISP: cam_vfe_bus_ver3_init_hw: 3659 Overriding clock gating at bus input
[  393.575831] CAM_INFO: CAM-ISP: cam_vfe_top_ver3_init_hw: 246 Disable clock gating at IFE top
[  393.575839] CAM_ERR: CAM-ISP: cam_ife_mgr_start_hw: 4510 ->Config HW, 00000000b0befdac
[  393.576251] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 1089 CAM_START_DEV Success, sensor_id:0x7750,sensor_slave_addr:0xe4
[  467.659550] CAM_ERR: CAM-ISP: cam_ife_csid_cid_reserve: 1040 CSID:3 IPP resource not available
[  467.659556] CAM_ERR: CAM-ISP: cam_ife_csid_cid_reserve: 1040 CSID:2 IPP resource not available
[  467.659592] CAM_ERR: CAM-ISP: cam_ife_hw_mgr_print_acquire_info: 710 Successfully acquire single IFE[0 -1] with [11 pix] [0 pd] [0 rdi] ports for ctx:4
[  467.660375] CAM_INFO: CAM-CSIPHY: cam_csiphy_core_cfg: 1137 START_DEV: CSIPHY_IDX: 3, Device_slot: 0, Datarate: 1502000000, Settletime: 5600000000
[  467.670823] CAM_INFO: CAM-ISP: cam_vfe_bus_ver3_init_hw: 3659 Overriding clock gating at bus input
[  467.670831] CAM_INFO: CAM-ISP: cam_vfe_top_ver3_init_hw: 246 Disable clock gating at IFE top
[  467.670853] CAM_ERR: CAM-ISP: cam_ife_mgr_start_hw: 4510 ->Config HW, 00000000b0befdac
[  467.671611] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 1089 CAM_START_DEV Success, sensor_id:0x6442,sensor_slave_addr:0x6c
[  628.964476] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x40d00
[  679.811858] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x41b08
[  734.433702] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4855 CSID:0 lane 1 over flow
[  734.433708] CAM_INFO: CAM-ISP: cam_ife_csid_halt_csi2: 1931 CSID: 0 cnt: 1 Halt csi2 rx
[  734.433716] CAM_INFO: CAM-CSIPHY: cam_csiphy_subdev_handle_message: 22 subdev index : 0 CSIPHY index: 3
[  734.433720] CAM_INFO: CAM-CSIPHY: cam_csiphy_subdev_handle_message: 22 subdev index : 1 CSIPHY index: 3
[  734.433722] CAM_INFO: CAM-CSIPHY: cam_csiphy_subdev_handle_message: 22 subdev index : 2 CSIPHY index: 3
[  734.433725] CAM_INFO: CAM-CSIPHY: cam_csiphy_subdev_handle_message: 22 subdev index : 3 CSIPHY index: 3
[  734.433730] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 103 PHY base addr=        pK-error offset=0x8b0 size=11
[  734.433735] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY3_IRQ_STATUS_ADDR0 = 0x14
[  734.433740] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY3_IRQ_STATUS_ADDR1 = 0x1
[  734.433745] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY3_IRQ_STATUS_ADDR2 = 0x80
[  734.433749] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY3_IRQ_STATUS_ADDR3 = 0x22
[  734.433754] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY3_IRQ_STATUS_ADDR4 = 0x0
[  734.433758] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY3_IRQ_STATUS_ADDR5 = 0x10
[  734.433763] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY3_IRQ_STATUS_ADDR6 = 0x4
[  734.433767] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY3_IRQ_STATUS_ADDR7 = 0x0
[  734.433772] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY3_IRQ_STATUS_ADDR8 = 0x82
[  734.433776] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY3_IRQ_STATUS_ADDR9 = 0x40
[  734.433781] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY3_IRQ_STATUS_ADDR10 = 0x4
[  734.433784] CAM_INFO: CAM-CSIPHY: cam_csiphy_subdev_handle_message: 22 subdev index : 4 CSIPHY index: 3
[  734.433787] CAM_INFO: CAM-CSIPHY: cam_csiphy_subdev_handle_message: 22 subdev index : 5 CSIPHY index: 3
[  734.433884] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4903 CSID:0 ERROR_CRC
[  734.433887] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4909 CSID:0 ERROR_ECC
[  734.433926] CAM_ERR: CAM-ISP: cam_csid_evt_bottom_half_handler: 4616 idx 0 err 5 phy 3  lane type:0 ln num:4 ln cfg:0x3210 cnt 1
[  734.433929] CAM_ERR: CAM-ISP: cam_csid_evt_bottom_half_handler: 4621 status RDI0: 0
[  734.433935] CAM_ERR: CAM-ISP: cam_csid_evt_bottom_half_handler: 4621 status RDI1: 0
[  734.433940] CAM_ERR: CAM-ISP: cam_csid_evt_bottom_half_handler: 4621 status RDI2: 0
[  734.433945] CAM_ERR: CAM-ISP: cam_csid_evt_bottom_half_handler: 4621 status RDI3: 0
[  734.433950] CAM_ERR: CAM-ISP: cam_csid_evt_bottom_half_handler: 4621 status TOP: 0
[  734.433955] CAM_ERR: CAM-ISP: cam_csid_evt_bottom_half_handler: 4621 status RX: 700ff
[  734.433960] CAM_ERR: CAM-ISP: cam_csid_evt_bottom_half_handler: 4621 status IPP: 101ff8
[  734.433965] CAM_ERR: CAM-ISP: cam_csid_evt_bottom_half_handler: 4621 status PPP: 0
[  734.433970] CAM_ERR: CAM-ISP: cam_csid_evt_bottom_half_handler: 4621 status UDI0: 0
[  734.433975] CAM_ERR: CAM-ISP: cam_csid_evt_bottom_half_handler: 4621 status UDI1: 0
PS C:\Users\nicks> adb shell
adb.exe: no devices/emulators found
PS C:\Users\nicks> adb shell
adb.exe: no devices/emulators found
PS C:\Users\nicks>

I need help finding the root cause. Is it the hadron driver?
Or configuration?

Thank you.

@Eric-Katzfey

As said,
I will test J18 later.

Currently, I am using J9 of a 5G modem and connected with J1 of FCv2.

Connection seems stable. using a 921600 baud rate with port 2.
The major issue is RX loss.

seeing 95% message loss, as I explained in an earlier post.

below is mavlink status visible on QGC mavlink console:

nsh> mavlink status

instance #0:
    mavlink chan: #0
    type:        GENERIC LINK OR RADIO
    flow control: OFF
    rates:
      tx: 1106.7 B/s
      txerr: 0.0 B/s
      tx rate mult: 0.310
      tx rate max: 1200 B/s
      rx: 1828.2 B/s
      rx loss: 21.3%
    Received Messages:
      sysid:  1, compid:197, Total: 7820 (lost: 180596)
        msgid:    0, Rate:  1.0 Hz, last 0.37s ago
        msgid:  330, Rate: 10.0 Hz, last 0.06s ago
      sysid:  1, compid:196, Total: 672 (lost: 0)
        msgid:    0, Rate:  0.9 Hz, last 0.97s ago
    FTP enabled: YES, TX enabled: YES
    mode: Normal
    Forwarding: On
    MAVLink version: 2
    transport protocol: serial (/dev/ttyS6 @921600)

As above, the RX loss showing is 21.3% which is huge.
It is in normal mode. If I change the mavling mode to onboard, it is an 83% loss. and with vision hub odomatry, distance massages it is getting worst like 125%.

Now. This Rx loss does not match the number.

      sysid:  1, compid:197, Total: 7820 (lost: 180596)

As per this MAVLink status, the total successfully received messages are 7820, and the lost are 180596.
So, actual loss is (180596/(7820+180596)) = 95.8%.
And it is showing only 21.3%.

So, MAVLink is working between VOXl2 and FCv2. Currently using UART port 2 of VOXl2, not 12. I will debug it later. Once setup is complete.

@Eric-Katzfey

I tested J18(VOXl2) SDK 1.5 and J1(FCv2) firmware V1.15.2.
VOXL2 is connected with FCv2.
FCv2 connected with QGC.

I rebooted VOXL2. But after a few minutes, MAVLink connection broke.

I will test J18 later.

Now, to move forward. using J9 for 5G modem and connected with J1 FCv2.
Connection seems stable. Now the connection is lost.

But now the major issue is that RX loss is 124%.
I disabled messages 331,84 and configured 330 @ 10Hz.

Still, I am experiencing a 21.3% Rx loss.
The only messages visible is Heatbeat(0) and Obstacle_distance(330).

I did check. How many messages does FCv2 lose?
seems to be successfully receiving only 10-11 messages per second
and losing 254 messages per second.
So, actually getting only <5% messages successfully.

mavlink status with VOXL2 default configuration of vision-hub

instance #0:
    mavlink chan: #0
    type:        GENERIC LINK OR RADIO
    flow control: ON
    rates:
      tx: 639.8 B/s
      txerr: 0.0 B/s
      tx rate mult: 0.302
      tx rate max: 1200 B/s
      rx: 13464.5 B/s
      rx loss: 124.4%
    Received Messages:
      sysid:  1, compid:197, Total: 97158 (lost: 12227092)
        msgid:    0, Rate:  1.0 Hz, last 0.04s ago
        msgid:   84, Rate: 31.3 Hz, last 0.01s ago
        msgid:  331, Rate: 32.4 Hz, last 0.03s ago
        msgid:  330, Rate: 20.3 Hz, last 0.02s ago
      sysid:  1, compid:196, Total: 1135 (lost: 0)
        msgid:    0, Rate:  0.9 Hz, last 0.08s ago
    FTP enabled: YES, TX enabled: YES
    mode: Normal
    Forwarding: On
    MAVLink version: 2
    transport protocol: serial (/dev/ttyS6 @230400)

mavlink status with VOXL2 disabled 331, 84, and 331@10Hz in vision-hub config

instance #0:
    mavlink chan: #0
    type:        GENERIC LINK OR RADIO
    flow control: OFF
    rates:
      tx: 1106.7 B/s
      txerr: 0.0 B/s
      tx rate mult: 0.310
      tx rate max: 1200 B/s
      rx: 1828.2 B/s
      rx loss: 21.3%
    Received Messages:
      sysid:  1, compid:197, Total: 7820 (lost: 180596)
        msgid:    0, Rate:  1.0 Hz, last 0.37s ago
        msgid:  330, Rate: 10.0 Hz, last 0.06s ago
      sysid:  1, compid:196, Total: 672 (lost: 0)
        msgid:    0, Rate:  0.9 Hz, last 0.97s ago
    FTP enabled: YES, TX enabled: YES
    mode: Normal
    Forwarding: On
    MAVLink version: 2
    transport protocol: serial (/dev/ttyS6 @921600)

mavlink status with VOXL2 disabled 331, 84, and 331@10Hz in vision-hub config

• if MAVLink mode changed to onboard mode

instance #0:
    mavlink chan: #0
    type:        GENERIC LINK OR RADIO
    flow control: OFF
    rates:
      tx: 21751.5 B/s
      txerr: 0.0 B/s
      tx rate mult: 1.000
      tx rate max: 46080 B/s
      rx: 2429.8 B/s
      rx loss: 82.9%
    Received Messages:
      sysid:  1, compid:197, Total: 44616 (lost: 3811731)
        msgid:    0, Rate:  1.0 Hz, last 0.51s ago
        msgid:  330, Rate: 10.0 Hz, last 0.01s ago
        msgid:  111, Rate:100.9 Hz, last 0.08s ago
      sysid:  1, compid:196, Total: 1358 (lost: 0)
        msgid:    0, Rate:  0.9 Hz, last 1.02s ago
    FTP enabled: YES, TX enabled: YES
    mode: Onboard
    Forwarding: On
    MAVLink version: 2
    transport protocol: serial (/dev/ttyS6 @921600)

• Is it expected behaviour?
• How to debug Rx loss?
  Also, there is a huge difference in success and loss.
• Is PX4 filtering or discarding packets?
• Originally, we were losing 95% messages, and it is showing 21.3% loss.
• How to calculate Rx loss because the actual is way higher?

@Eric-Katzfey

I am testing with J18(VOXl2) and J1(TELEM1) port.
Seems SLPI is throwing a lot of errors in demsg.
and @115200 buadrate.

• MAVLink connections are getting lost in a few minutes.
  and getting rx loss of 124% on FCv2 QGC.

Can you let me know if the J18 DSP port is buggy or how to fix these errors?
After a few minutes or a few restarts of VOXl-mavlink-server. it stops working and shows an error and exits

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 115200) 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

====> dmesg log while voxl-mavlink-server running stopped working and throwing an error when starting

[  460.730018] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  460.730717] subsys-restart: subsystem_powerup(): [kworker/u19:0:2054]: Powering up slpi
[  460.730901] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  460.790600] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  460.853124] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  460.853154] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  460.860922] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  460.860928] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2054]: Restart sequence for slpi completed.
[  460.861499] 1118855912:Entered
[  460.861942] 1118855912:SMD QRTR driver probed
[  460.862983] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  460.866169] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  460.866208] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  460.874694] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[  462.106273] Fatal error on slpi!
[  462.106348] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:SNS_SEE_I_1:0x68:sns_stream_service.c:436:req_found.
[  462.106375] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  462.108414] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  462.108416] subsys-restart: subsystem_shutdown(): [kworker/u19:0:2054]: Shutting down slpi
[  462.120395] rpmh_rsc_send_data: 17 callbacks suppressed
[  462.120396] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  462.120423] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30040
[  462.121677] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  462.121691] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  462.122027] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  462.122151] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  462.122757] subsys-restart: subsystem_powerup(): [kworker/u19:0:2054]: Powering up slpi
[  462.122886] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  462.178193] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  462.240639] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  462.240671] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  462.240789] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30040
[  462.247665] 1118855912:Entered
[  462.248151] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  462.248158] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2054]: Restart sequence for slpi completed.
[  462.249366] 1118855912:SMD QRTR driver probed
[  462.252554] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  462.254897] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  462.254962] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  462.261500] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[  463.481618] Fatal error on slpi!
[  463.481694] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:SNS_SEE_I_1:0x68:sns_stream_service.c:436:req_found.
[  463.481720] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  463.483312] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  463.483315] subsys-restart: subsystem_shutdown(): [kworker/u19:0:2054]: Shutting down slpi
[  463.495481] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  463.495494] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  463.495505] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  463.495516] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  463.495528] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  463.495539] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  463.495551] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  463.498539] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  463.498548] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  463.498944] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  463.499294] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  463.499834] subsys-restart: subsystem_powerup(): [kworker/u19:0:2054]: Powering up slpi
[  463.499987] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  463.558705] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  463.619354] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  463.619389] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  463.626313] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  463.626319] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2054]: Restart sequence for slpi completed.
[  463.629242] 1118855912:Entered
[  463.631383] 1118855912:SMD QRTR driver probed
[  463.633320] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  463.633334] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  463.633688] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  463.641981] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[  464.864191] Fatal error on slpi!
[  464.864266] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:SNS_SEE_I_0:0x69:sns_stream_service.c:436:req_found.
[  464.864291] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  464.867315] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  464.867320] subsys-restart: subsystem_shutdown(): [kworker/u19:0:2054]: Shutting down slpi
[  464.883697] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  464.883706] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  464.885643] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  464.885787] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  464.887190] subsys-restart: subsystem_powerup(): [kworker/u19:0:2054]: Powering up slpi
[  464.887455] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  464.945581] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  465.007996] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  465.008139] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  465.015414] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  465.015420] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2054]: Restart sequence for slpi completed.
[  465.015924] 1118855912:Entered
[  465.016498] 1118855912:SMD QRTR driver probed
[  465.019954] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  465.023578] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  465.023627] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  465.029301] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[  466.256347] Fatal error on slpi!
[  466.256432] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:SNS_SEE_I_0:0x69:sns_stream_service.c:436:req_found.
[  466.256456] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  466.259074] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  466.259079] subsys-restart: subsystem_shutdown(): [kworker/u19:0:2054]: Shutting down slpi
[  466.275522] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  466.275806] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  466.277897] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  466.278247] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  466.279336] subsys-restart: subsystem_powerup(): [kworker/u19:0:2054]: Powering up slpi
[  466.279500] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  466.338642] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  466.399095] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  466.399127] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  466.405824] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  466.405830] 1118855912:Entered
[  466.405832] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2054]: Restart sequence for slpi completed.
[  466.406031] 1118855912:SMD QRTR driver probed
[  466.407495] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  466.411445] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  466.412552] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  466.419864] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[  467.641878] Fatal error on slpi!
[  467.641957] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:SNS_SEE_I_1:0x68:sns_stream_service.c:436:req_found.
[  467.641983] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  467.644997] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  467.645001] subsys-restart: subsystem_shutdown(): [kworker/u19:0:2054]: Shutting down slpi
[  467.656914] rpmh_rsc_send_data: 19 callbacks suppressed
[  467.656915] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  467.656940] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30040
[  467.658270] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  467.658280] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  467.658668] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  467.659779] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  467.661747] subsys-restart: subsystem_powerup(): [kworker/u19:0:2054]: Powering up slpi
[  467.661931] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  467.716145] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  467.778657] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  467.778688] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  467.778800] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30040
[  467.786334] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  467.786340] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2054]: Restart sequence for slpi completed.
[  467.786864] 1118855912:Entered
[  467.787109] 1118855912:SMD QRTR driver probed
[  467.790948] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  467.795012] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  467.795026] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  467.800505] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[  469.020359] Fatal error on slpi!
[  469.020432] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:SNS_SEE_I_0:0x69:sns_stream_service.c:436:req_found.
[  469.020458] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  469.022405] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  469.022408] subsys-restart: subsystem_shutdown(): [kworker/u19:0:2054]: Shutting down slpi
[  469.034300] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  469.034318] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  469.034337] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  469.034348] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  469.034360] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  469.034371] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  469.034382] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  469.040876] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  469.040986] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  469.041166] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  469.041336] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  469.042154] subsys-restart: subsystem_powerup(): [kworker/u19:0:2054]: Powering up slpi
[  469.042336] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  469.101055] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  469.161468] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  469.161515] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  469.168694] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  469.168702] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2054]: Restart sequence for slpi completed.
[  469.168830] 1118855912:Entered
[  469.169190] 1118855912:SMD QRTR driver probed
[  469.170647] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  469.177803] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  469.178019] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  469.183206] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[  470.408342] Fatal error on slpi!
[  470.408426] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:SNS_SEE_I_0:0x69:sns_stream_service.c:436:req_found.
[  470.408454] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  470.410929] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  470.410934] subsys-restart: subsystem_shutdown(): [kworker/u19:0:2054]: Shutting down slpi
[  470.428290] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  470.428426] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  470.430688] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  470.430827] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  470.431771] subsys-restart: subsystem_powerup(): [kworker/u19:0:2054]: Powering up slpi
[  470.431903] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  470.491572] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  470.554485] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  470.554528] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  470.561372] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  470.561377] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2054]: Restart sequence for slpi completed.
[  470.562108] 1118855912:Entered
[  470.562411] 1118855912:SMD QRTR driver probed
[  470.567554] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  470.569456] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  470.569501] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  470.575413] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[  471.808443] Fatal error on slpi!
[  471.808525] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:SNS_SEE_I_0:0x69:sns_stream_service.c:436:req_found.
[  471.808553] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  471.811212] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  471.811217] subsys-restart: subsystem_shutdown(): [kworker/u19:0:2054]: Shutting down slpi
[  471.827600] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  471.827611] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  471.829473] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  471.829658] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  471.830216] subsys-restart: subsystem_powerup(): [kworker/u19:0:2054]: Powering up slpi
[  471.830370] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  471.885397] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  471.947763] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  471.947797] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  471.955860] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  471.955865] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2054]: Restart sequence for slpi completed.
[  471.957236] 1118855912:Entered
[  471.958811] 1118855912:SMD QRTR driver probed
[  471.959979] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  471.962094] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  471.962128] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  471.969208] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[  473.190744] Fatal error on slpi!
[  473.190818] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:SNS_SEE_I_0:0x69:sns_stream_service.c:436:req_found.
[  473.190843] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  473.193872] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  473.193878] subsys-restart: subsystem_shutdown(): [kworker/u19:0:2054]: Shutting down slpi
[  473.205809] rpmh_rsc_send_data: 11 callbacks suppressed
[  473.205810] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  473.205837] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30040
[  473.206983] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  473.206995] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  473.207337] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  473.210007] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  473.210544] subsys-restart: subsystem_powerup(): [kworker/u19:0:2054]: Powering up slpi
[  473.211534] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  473.267488] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  473.329966] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  473.330083] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  473.337309] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  473.337313] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2054]: Restart sequence for slpi completed.
[  473.337774] 1118855912:Entered
[  473.338098] 1118855912:SMD QRTR driver probed
[  473.339277] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  473.343685] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  473.343696] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  473.351954] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[  474.571003] Fatal error on slpi!
[  474.571089] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:SNS_SEE_I_1:0x68:sns_stream_service.c:436:req_found.
[  474.571117] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  474.574318] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  474.574322] subsys-restart: subsystem_shutdown(): [kworker/u19:0:2054]: Shutting down slpi
[  474.586295] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  474.586323] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30040
[  474.587793] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  474.587808] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  474.592474] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  474.592629] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  474.593885] subsys-restart: subsystem_powerup(): [kworker/u19:0:2054]: Powering up slpi
[  474.594047] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  474.648774] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  474.710135] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  474.710177] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  474.716090] 1118855912:Entered
[  474.716142] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  474.716147] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2054]: Restart sequence for slpi completed.
[  474.716593] 1118855912:SMD QRTR driver probed
[  474.718796] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  474.724814] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  474.724833] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  474.730730] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[  475.966509] Fatal error on slpi!
[  475.966596] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:SNS_SEE_I_1:0x68:sns_stream_service.c:436:req_found.
[  475.966624] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  475.969220] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  475.969224] subsys-restart: subsystem_shutdown(): [kworker/u19:0:2054]: Shutting down slpi
[  475.981165] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  475.981191] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30040
[  475.983399] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  475.983410] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  475.987724] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  475.987865] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  475.989595] subsys-restart: subsystem_powerup(): [kworker/u19:0:2054]: Powering up slpi
[  475.989762] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  476.047626] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  476.107799] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  476.107835] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  476.114130] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  476.114135] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2054]: Restart sequence for slpi completed.
[  476.116482] 1118855912:Entered
[  476.119264] 1118855912:SMD QRTR driver probed
[  476.121677] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  476.122117] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  476.122133] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  476.130800] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[  477.367311] Fatal error on slpi!
[  477.367394] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:SNS_SEE_I_1:0x68:sns_stream_service.c:436:req_found.
[  477.367420] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  477.370476] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  477.370480] subsys-restart: subsystem_shutdown(): [kworker/u19:0:2054]: Shutting down slpi
[  477.382395] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  477.382419] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30040
[  477.383806] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  477.383817] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  477.384136] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  477.384263] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  477.384816] subsys-restart: subsystem_powerup(): [kworker/u19:0:2054]: Powering up slpi
[  477.385120] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  477.443490] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  477.506162] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  477.506193] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  477.506290] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30040
[  477.512803] 1118855912:Entered
[  477.513075] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  477.513079] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2054]: Restart sequence for slpi completed.
[  477.513148] 1118855912:SMD QRTR driver probed
[  477.515628] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  477.521213] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  477.521250] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  477.525781] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[  503.375461] Fatal error on slpi!
[  503.375541] slpi subsystem failure reason: err_qdi.c:1079:EF:sensor_process:0x1:SNS_SEE_I_1:0x68:sns_stream_service.c:436:req_found.
[  503.375566] subsys-restart: subsystem_restart_dev(): Restart sequence requested for slpi, restart_level = RELATED.
[  503.378697] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is restarting
[  503.378700] subsys-restart: subsystem_shutdown(): [kworker/u19:0:2054]: Shutting down slpi
[  503.390607] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30030
[  503.390638] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30040
[  503.391897] coresight-remote-etm soc:ssc_etm0: Connection disconnected between QMI handle and 8 service
[  503.391976] sysmon-qmi: ssctl_del_server: Connection lost between QMI handle and slpi's SSCTL service
[  503.392269] adsprpc: fastrpc_rpmsg_remove: closed rpmsg channel of slpi
[  503.393461] adsprpc: fastrpc_restart_notifier_cb: received RAMDUMP notification for slpi
[  503.394021] subsys-restart: subsystem_powerup(): [kworker/u19:0:2054]: Powering up slpi
[  503.394144] subsys-pil-tz 5c00000.qcom,ssc: slpi: loading from 0x0000000088c00000 to 0x000000008a600000
[  503.455432] subsys-pil-tz 5c00000.qcom,ssc: slpi: Brought out of reset
[  503.515539] subsys-pil-tz 5c00000.qcom,ssc: Subsystem error monitoring/handling services are up
[  503.515566] subsys-pil-tz 5c00000.qcom,ssc: slpi: Power/Clock ready interrupt received
[  503.521829] 1118855912:Entered
[  503.521855] adsprpc: fastrpc_restart_notifier_cb: slpi subsystem is up
[  503.521861] subsys-restart: subsystem_restart_wq_func(): [kworker/u19:0:2054]: Restart sequence for slpi completed.
[  503.522191] 1118855912:SMD QRTR driver probed
[  503.523845] adsprpc: fastrpc_rpmsg_probe: opened rpmsg channel for slpi
[  503.530404] sysmon-qmi: ssctl_new_server: Connection established between QMI handle and slpi's SSCTL service
[  503.530421] coresight-remote-etm soc:ssc_etm0: Connection established between QMI handle and 8 service
[  503.535973] diag: In diag_send_peripheral_buffering_mode, buffering flag not set for 3
[  928.349273] perf: interrupt took too long (2502 > 2500), lowering kernel.perf_event_max_sample_rate to 79750

[ 1413.270080] perf: interrupt took too long (3128 > 3127), lowering kernel.perf_event_max_sample_rate to 63750
[ 2701.369922] perf: interrupt took too long (3915 > 3910), lowering kernel.perf_event_max_sample_rate to 51000

FCv2 QGC mavlink status when communication working

nsh> mavlink status

instance #0:
    mavlink chan: #0
    type:        GENERIC LINK OR RADIO
    flow control: OFF
    rates:
      tx: 1322.9 B/s
      txerr: 0.0 B/s
      tx rate mult: 0.050
      tx rate max: 1200 B/s
      rx: 4758.9 B/s
      rx loss: 128.0%
    Received Messages:
      sysid:  1, compid:197, Total: 3287 (lost: 425347)
        msgid:    0, Rate:  0.3 Hz, last 0.15s ago
        msgid:  330, Rate:  7.3 Hz, last 0.18s ago
        msgid:  331, Rate: 12.1 Hz, last 0.05s ago
        msgid:   84, Rate: 11.6 Hz, last 0.08s ago
      sysid:  1, compid:196, Total: 37 (lost: 0)
        msgid:    0, Rate:  0.3 Hz, last 2.44s ago
    FTP enabled: YES, TX enabled: YES
    mode: Onboard
    Forwarding: On
    MAVLink version: 2
    transport protocol: serial (/dev/ttyS6 @115200)

FCv2 QGC mavlink status when "connection to mission computer lost"

mavlink status

instance #0:
    mavlink chan: #0
    type:        GENERIC LINK OR RADIO
    flow control: OFF
    rates:
      tx: 1621.3 B/s
      txerr: 0.0 B/s
      tx rate mult: 0.050
      tx rate max: 1200 B/s
      rx: 0.0 B/s
      rx loss: 125.6%
    Received Messages:
      sysid:  1, compid:197, Total: 6025 (lost: 765633)
      sysid:  1, compid:196, Total: 69 (lost: 0)
    FTP enabled: YES, TX enabled: YES
    mode: Onboard
    Forwarding: On
    MAVLink version: 2
    transport protocol: serial (/dev/ttyS6 @115200)

Please update if J18 is usable or not for MAVLink?

@ravi

mavlink-server status issue seems random.

I stopped the service and changed the baud rate, and ran app from the terminal "voxl-mavlink-server"

Seems MAVLink connection established. and getting an AP heart rate at 0.3Hz.

Then I tried the same with mavlink service.
I terminated it running process for the mavlik-server.
They started the MAVLink service. and checked status and not starting.

voxl2:/$ systemctl start voxl-mavlink-server
voxl2:/$ systemctl status voxl-mavlink-server
● voxl-mavlink-server.service - voxl-mavlink-server
   Loaded: loaded (/usr/bin/voxl-mavlink-server; enabled; vendor preset: enabled)
   Active: failed (Result: exit-code) since Thu 2023-03-02 13:29:47 UTC; 3s ago
  Process: 11260 ExecStart=/usr/bin/voxl-mavlink-server (code=exited, status=255)
  Process: 11253 ExecStartPre=/bin/sleep 2 (code=exited, status=0/SUCCESS)
 Main PID: 11260 (code=exited, status=255)

Mar 02 13:29:47 m0054 voxl-mavlink-server[11260]: ERROR: Unable to configure bus 12 (baudrate 460800) with voxl_io
Mar 02 13:29:47 m0054 voxl-mavlink-server[11260]: Stopping autopilot io module
Mar 02 13:29:47 m0054 voxl-mavlink-server[11260]: Stopping gcs io module
Mar 02 13:29:47 m0054 voxl-mavlink-server[11260]: Stopping pipe io module
Mar 02 13:29:47 m0054 voxl-mavlink-server[11260]: closing remaining client pipes
Mar 02 13:29:47 m0054 voxl-mavlink-server[11260]: closing remaining server pipes
Mar 02 13:29:47 m0054 voxl-mavlink-server[11260]: Removing PID file
Mar 02 13:29:47 m0054 voxl-mavlink-server[11260]: exiting
Mar 02 13:29:47 m0054 systemd[1]: voxl-mavlink-server.service: Main process exited, code=exited, status=255/n/a
Mar 02 13:29:47 m0054 systemd[1]: voxl-mavlink-server.service: Failed with result 'exit-code'.
voxl2:/$ systemctl start voxl-mavlink-server

Then tried from the terminal again, getting the error as below.

voxl2:/$ voxl-mavlink-server
loading our own config file
=================================================================
Parameters as loaded from config file:
primary_static_gcs_ip:
secondary_static_gcs_ip:
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:      460800
autopilot_mission_delay_start:      -1
autopilot_mission_delay_sound:      0
autopilot_mission_force_restart:      0
autopilot_mission_notif_dur:      0.10
udp_mtu:                      500
gcs_timeout_s                 4.50
en_external_ap_timesync:      1
en_external_ap_heartbeat:     1
=================================================================
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 460800) 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
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:
secondary_static_gcs_ip:
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:      460800
autopilot_mission_delay_start:      -1
autopilot_mission_delay_sound:      0
autopilot_mission_force_restart:      0
autopilot_mission_notif_dur:      0.10
udp_mtu:                      500
gcs_timeout_s                 4.50
en_external_ap_timesync:      1
en_external_ap_heartbeat:     1
=================================================================
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 460800) 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
voxl2:/$

@Eric-Katzfey

Also, seeing the following error messages pointing flight controller.

onboard  pipe  ID: 331 compid: 197
to AP msg ID:   331 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
onboard  pipe  ID:  84 compid: 197
to AP msg ID:    84 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Connection error: connection reset
onboard  pipe  ID: 331 compid: 197
to AP msg ID:   331 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
onboard  pipe  ID:  84 compid: 197
to AP msg ID:    84 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
onboard  pipe  ID: 330 compid: 197
to AP msg ID:   330 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
onboard  pipe  ID: 331 compid: 197
to AP msg ID:   331 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Got response cb 0
onboard  pipe  ID:  84 compid: 197
to AP msg ID:    84 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
onboard  pipe  ID: 331 compid: 197
to AP msg ID:   331 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
onboard  pipe  ID: 330 compid: 197
to AP msg ID:   330 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
onboard  pipe  ID:  84 compid: 197
to AP msg ID:    84 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
onboard  pipe  ID: 331 compid: 197
to AP msg ID:   331 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
onboard  pipe  ID:  84 compid: 197
to AP msg ID:    84 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Got response cb 0
onboard  pipe  ID: 330 compid: 197
to AP msg ID:   330 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
onboard  pipe  ID: 331 compid: 197
to AP msg ID:   331 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
onboard  pipe  ID:  84 compid: 197
to AP msg ID:    84 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
onboard  pipe  ID: 331 compid: 197
to AP msg ID:   331 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
onboard  pipe  ID: 330 compid: 197
to AP msg ID:   330 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got flight controller event
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Got response cb 0
onboard  pipe  ID:  84 compid: 197
to AP msg ID:    84 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
onboard  pipe  ID: 331 compid: 197
to AP msg ID:   331 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
onboard  pipe  ID:  84 compid: 197
to AP msg ID:    84 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
onboard  pipe  ID: 330 compid: 197
to AP msg ID:   330 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
onboard  pipe  ID: 331 compid: 197
to AP msg ID:   331 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
onboard  pipe  ID:  84 compid: 197
to AP msg ID:    84 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
onboard  pipe  ID: 331 compid: 197
to AP msg ID:   331 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
onboard  pipe  ID: 330 compid: 197
to AP msg ID:   330 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
onboard  pipe  ID:  84 compid: 197
to AP msg ID:    84 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
onboard  pipe  ID: 331 compid: 197
to AP msg ID:   331 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
onboard  pipe  ID:  84 compid: 197
to AP msg ID:    84 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
onboard  pipe  ID: 331 compid: 197
to AP msg ID:   331 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data
Got response cb 0
onboard  pipe  ID: 330 compid: 197
to AP msg ID:   330 sysid:  1   to bus: 12
Sending topic message
--- msg_id: 1033
--- topic name: uart_data

@Eric-Katzfey
For testing, I changed the UART port to 2 and then change to port 12.
stopped service and ran "voxl-mavlink-server -z"
and got the following errors.

![68d1045c-eaa7-46ee-b0de-b313bee851cb-1000019409.jpeg](/assets/uploads/files/1762187345269-68d1045c-eaa7-46ee-b0de-b313bee851cb-1000019409.jpeg) code_text

Then rebooted the VOXl2 and tried again, and got this log. But no MAVLink connection with FCv2. using J1 of FCv2 to connect with J18 of VOXL2.

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:
secondary_static_gcs_ip:
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:                      500
gcs_timeout_s                 4.50
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
Not connecting to primary gcs ip:
Not connecting to secondary gcs ip:
Init complete, entering main loop
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
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
onboard  pipe  ID: 330 compid: 197

Check by heartbeat check. But no ap heartbeat.

voxl2:~/old_backup/etc-modalai/modalai$ voxl-inspect-mavlink mavlink_ap_heartbeat
waiting for pipe to connect

@ravi

Find the VOXL2 app versions.

voxl2:/$ voxl-version
────────────────────────────────────────────────────────────────────────────────
system-image: 1.8.02-M0054-14.1a-perf
kernel:       #1 SMP PREEMPT Mon Nov 11 22:08:01 UTC 2024 4.19.125
────────────────────────────────────────────────────────────────────────────────
hw platform:  M0054
mach.var:     1.0.0
SKU:          MRB-D0006-4-V1-C11-T1-M23-X0
────────────────────────────────────────────────────────────────────────────────
voxl-suite:   1.4.4-202504302200
────────────────────────────────────────────────────────────────────────────────
Packages:
Repo:  http://voxl-packages.modalai.com/ qrb5165 dev
Last Updated: 2025-05-01 18:00:20
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                              1.0.7-202503131014
libmodal-cv                               0.5.17-202504301813
libmodal-exposure                         0.1.4-202504301817
libmodal-journal                          0.2.4-202504250956
libmodal-json                             0.4.6-202504301809
libmodal-pipe                             2.13.0-202504211020
libqrb5165-io                             0.4.9-202504291621
libvoxl-cci-direct                        0.3.1-202504301829
libvoxl-cutils                            0.1.4-202504301826
modalai-slpi                              1.1.20-202504131441
mv-voxl                                   0.1-r0
qrb5165-bind                              0.1-r0
qrb5165-dfs-server                        0.2.0-202309221318
qrb5165-imu-server                        1.2.0-202504241319
qrb5165-mini-tof-server                   0.2.2-202504291141
qrb5165-rangefinder-server                0.1.5-202502211754
qrb5165-slpi-test-sig                     01-r0
qrb5165-system-tweaks                     0.3.5-202503241242
qrb5165-tflite                            2.8.0-2-202210071637
voxl-benchmark-vio                        0.5.7-202504041555
voxl-bind-spektrum                        0.1.1-202403271220
voxl-camera-calibration                   0.5.9-202411191414
voxl-camera-server                        2.1.2-202504281425
voxl-capture                              0.0.1-202206110121
voxl-ceres-solver                         2:1.14.0-10-202504291324
voxl-configurator                         1.0.1-202504301741
voxl-cpu-monitor                          0.5.3-202504231157
voxl-cross-template                       0.0.1-202504171512
voxl-docker-support                       1.3.1-202404041529
voxl-elrs                                 0.4.4-202504041253
voxl-esc                                  1.5.2-202504292017
voxl-feature-tracker                      0.5.2-202412171357
voxl-flow-server                          0.3.6-202403180603
voxl-fsync-mod                            1.0-r0
voxl-gphoto2-server                       0.0.10-202210072352
voxl-gpio-mod                             1.0-r0
voxl-iim-server                           0.0.3-202503210929
voxl-io-server                            0.0.5-202502191136
voxl-joystick-server                      0.0.1-202504291738
voxl-jpeg-turbo                           2.1.3-7-202504301743
voxl-lepton-server                        1.3.3-202412171302
voxl-lepton-tracker                       0.0.4-202412190958
voxl-libgphoto2                           0.0.4-202204111958
voxl-libuvc                               1.0.7-202210072357
voxl-logger                               0.5.3-202504141224
voxl-mavcam-manager                       0.5.8-202504080850
voxl-mavlink                              0.1.5-202504301802
voxl-mavlink-server                       1.4.7-202504291641
voxl-modem                                1.1.6-202504301834
voxl-mongoose                             7.7.0-2-202504301848
voxl-mpa-to-ros                           0.3.9-202407091506
voxl-mpa-tools                            1.3.8-202504221446
voxl-open-vins                            0.4.18-202504301757
voxl-open-vins-server                     0.3.10-202504071452
voxl-opencv                               4.5.5-3-202504301748
voxl-osd                                  0.1.6-202504241636
voxl-platform-mod                         1.0-r0
voxl-portal                               0.7.10-202504240926
voxl-px4                                  1.14.0-2.0.104-202504231041
voxl-px4-imu-server                       0.1.2-202205131833
voxl-px4-params                           0.7.0-202504301738
voxl-qvio-server                          1.1.1-202411151825
voxl-remote-id                            0.0.9-202309191605
voxl-reset-slpi                           0.0.1-202405130827
voxl-rpx-server                           0.0.1-202409271312
voxl-rtp                                  0.0.1-202206101543
voxl-state-estimator                      0.0.5-202504181708
voxl-stitcher                             0.0.2-202206161634
voxl-streamer                             0.7.5-202412021550
voxl-suite                                1.4.4-202504302200
voxl-tag-detector                         0.0.4-202206302112
voxl-tflite-server                        0.4.1-202504301555
voxl-utils                                1.4.7-202504301851
voxl-uvc-server                           0.1.7-202405141018
voxl-vision-hub                           1.8.21-202504291456
voxl-vtx                                  1.3.13-202504291344
voxl-wavemux                              0.0.1-202503181201
voxl2-io                                  0.0.3-202405011635
voxl2-system-image                        1.8.02-r0
voxl2-wlan                                1.0-r0
────────────────────────────────────────────────────────────────────────────────
voxl2:/$

Hi @Moderator,

I am using VOXL2 and FCv2.
and following VOXL 2 Connecting an External Flight Controller
Document for FCv2 and VOXl2 connection and configuration.

Setup

Both FCv2 and VOXl2 are connected to the PC.
And J1 of FCv2 and J18 of VOXL2 is connected for MAVLINK UART connection.

SW configuration

• voxl-mavlink-server config file. (/etc/modalai/voxl-mavlink-server.conf)

{
        "primary_static_gcs_ip":        "",
        "secondary_static_gcs_ip":      "",
        "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":      57600,
        "autopilot_mission_delay_start":        -1,
        "autopilot_mission_delay_sound":        false,
        "autopilot_mission_force_restart":      10,
        "autopilot_mission_notif_dur":  0.1,
        "en_external_ap_timesync":      1,
        "en_external_ap_heartbeat":     1,
        "udp_mtu":      0,
        "gcs_timeout_s":        4.5
}
"/etc/modalai/voxl-mavlink-server.conf" 66L, 3249C written

• voxl-inspect-services

voxl2:/$ voxl-inspect-services
Scanning services...

 Service Name             |  Enabled  |   Running   |  CPU Usage
───────────────────────────────────────────────────────────────────
 docker-autorun           | Disabled  | Not Running |
 modallink-relink         | Disabled  | Not Running |
 voxl-camera-server       |  Enabled  | Not Running |
 voxl-cpu-monitor         | Disabled  | Not Running |
 voxl-dfs-server          | Disabled  | Not Running |
 voxl-elrs-startup        | Disabled  | Not Running |
 voxl-feature-tracker     | Disabled  | Not Running |
 voxl-flow-server         | Disabled  | Not Running |
 voxl-iim-server          | Disabled  | Not Running |
 voxl-imu-server          | Disabled  | Not Running |
 voxl-io-server           | Disabled  | Not Running |
 voxl-lepton-server       | Disabled  | Not Running |
 voxl-lepton-tracker      | Disabled  | Not Running |
 voxl-logger              | Disabled  | Not Running |
 voxl-mavcam-manager      |  Enabled  |   Running   |     0.0%
 voxl-mavlink-server      |  Enabled  |   Running   |     0.0%
 voxl-mini-tof-server     | Disabled  | Not Running |
 voxl-modem               |  Enabled  |   Running   |     0.0%
 voxl-open-vins-server    | Disabled  | Not Running |
 voxl-osd                 | Disabled  | Not Running |
 voxl-portal              |  Enabled  |   Running   |     0.0%
 voxl-px4-imu-server      | Disabled  | Not Running |
 voxl-px4                 | Disabled  | Not Running |
 voxl-qvio-server         | Disabled  | Not Running |
 voxl-rangefinder-server  | Disabled  | Not Running |
 voxl-remote-id           | Disabled  | Not Running |
 voxl-rpx-sever           | Disabled  | Not Running |
 voxl-seek-server         | Disabled  | Not Running |
 voxl-softap              | Disabled  | Not Running |
 voxl-state-estimator     | Disabled  | Not Running |
 voxl-static-ip           | Disabled  | Not Running |
 voxl-stitcher            | Disabled  | Not Running |
 voxl-streamer            |  Enabled  |   Running   |     0.0%
 voxl-tag-detector        | Disabled  | Not Running |
 voxl-tflite-server       | Disabled  | Not Running |
 voxl-time-sync           | Disabled  | Not Running |
 voxl-uvc-server          | Disabled  | Not Running |
 voxl-vision-hub          | Disabled  | Not Running |
 voxl-vrx                 | Disabled  | Not Running |
 voxl-vtx                 | Disabled  | Not Running |
 voxl-wait-for-fs         |  Enabled  |  Completed  |

• voxl-mavlink-server status

voxl2:/$ systemctl status voxl-mavlink-server
● voxl-mavlink-server.service - voxl-mavlink-server
   Loaded: loaded (/usr/bin/voxl-mavlink-server; enabled; vendor preset: enabled)
   Active: active (running) since Thu 2025-05-01 17:59:43 UTC; 6min ago
  Process: 1675 ExecStartPre=/bin/sleep 2 (code=exited, status=0/SUCCESS)
 Main PID: 1968 (voxl-mavlink-se)
    Tasks: 30 (limit: 4915)
   CGroup: /system.slice/voxl-mavlink-server.service
           └─1968 /usr/bin/voxl-mavlink-server

May 01 17:59:43 m0054 voxl-mavlink-server[1968]: autopilot_mission_delay_sound:      0
May 01 17:59:43 m0054 voxl-mavlink-server[1968]: autopilot_mission_force_restart:      10
May 01 17:59:43 m0054 voxl-mavlink-server[1968]: autopilot_mission_notif_dur:      0.10
May 01 17:59:43 m0054 voxl-mavlink-server[1968]: udp_mtu:                      0
May 01 17:59:43 m0054 voxl-mavlink-server[1968]: gcs_timeout_s                 4.50
May 01 17:59:43 m0054 voxl-mavlink-server[1968]: en_external_ap_timesync:      1
May 01 17:59:43 m0054 voxl-mavlink-server[1968]: en_external_ap_heartbeat:     1
May 01 17:59:43 m0054 voxl-mavlink-server[1968]: =================================================================
May 01 17:59:43 m0054 voxl-mavlink-server[1968]: Sending library name request: libslpi_qrb5165_io.so
May 01 17:59:43 m0054 voxl-mavlink-server[1968]: Sending initialization request

• systemctl restart voxl-mavlink-server

May 01 19:22:02 m0054 voxl-mavlink-server[16506]: received SIGTERM
May 01 19:22:02 m0054 systemd[1]: Stopping voxl-mavlink-server...
May 01 19:22:03 m0054 voxl-mavlink-server[16506]: Successfully opened bus 12 at baudrate 921600
May 01 19:22:03 m0054 voxl-mavlink-server[16506]: starting qrb5165 external AP receive thread
May 01 19:22:03 m0054 voxl-mavlink-server[16506]: Not connecting to primary gcs ip:
May 01 19:22:03 m0054 voxl-mavlink-server[16506]: Not connecting to secondary gcs ip:
May 01 19:22:03 m0054 voxl-mavlink-server[16506]: Init complete, entering main loop
May 01 19:22:03 m0054 voxl-mavlink-server[16506]: Starting shutdown sequence
May 01 19:22:03 m0054 voxl-mavlink-server[16506]: Stopping autopilot io module
May 01 19:22:03 m0054 voxl-mavlink-server[16506]: exiting read thread
May 01 19:22:03 m0054 voxl-mavlink-server[16506]: qrb5165 external ap interface stopped
May 01 19:22:03 m0054 voxl-mavlink-server[16506]: Stopping gcs io module
May 01 19:22:03 m0054 voxl-mavlink-server[16506]: exiting gcs udp listener thread
May 01 19:22:03 m0054 voxl-mavlink-server[16506]: udp gcs io stopped
May 01 19:22:03 m0054 voxl-mavlink-server[16506]: Stopping pipe io module
May 01 19:22:03 m0054 voxl-mavlink-server[16506]: closing remaining client pipes
May 01 19:22:03 m0054 voxl-mavlink-server[16506]: closing remaining server pipes
May 01 19:22:03 m0054 voxl-mavlink-server[16506]: Removing PID file
May 01 19:22:03 m0054 voxl-mavlink-server[16506]: exiting
May 01 19:22:03 m0054 systemd[1]: Stopped voxl-mavlink-server.
May 01 19:22:03 m0054 systemd[1]: Starting voxl-mavlink-server...
May 01 19:22:05 m0054 systemd[1]: Started voxl-mavlink-server.
May 01 19:22:05 m0054 voxl-mavlink-server[17426]: loading our own config file
May 01 19:22:05 m0054 voxl-mavlink-server[17426]: =================================================================
May 01 19:22:05 m0054 voxl-mavlink-server[17426]: Parameters as loaded from config file:

Problem

• Currently using SDK 1.4
• I disabled the voxl-px4 service on VOXL2.
• Connected FCv2 TELEM1 port J1 with J18 port of VOXL2.
• Using baudrate 57600 on both
• Now for J18 port on VOXL2 using “autopilot_uart_bus”: 12 (SLPI_QUP2_UART/QUP2) in configuration.
• Now, it seems DSP libslpi is getting hung/stuck and not responding, as shown in voxl-mavlink-server status. The last line is "Sending initialization request". Then there is no log form mavlink-server.
• Now, if I restart the MAVLink server. after stopping the interrupt. port seems open and then closes. as above log.

Is it an issue with SLPI, or is the DSP UART port not usable for MAVLINK?
Help me debug and provide a resolution.

Thanks.
Ravi

@Eric-Katzfey
No, I am not saying the sensors are not working.
In fact, I haven't tested yet.
I just stated everything mentioned in the flight-core-v2 user guide.
Link- https://docs.modalai.com/flight-core-v2-onboard-sensors/

So, while testing, I can check it or configure it on PX4 and reprogram.

If everything is working, why user guide say?

So, as per you say, BARO1 is working but disabled?
And BARO2 is working perfectly. Even though there is a mention of software not ported?

Please clarify for both.
Thank you.

Hi @Moderator

I want to know the Flight Core v2 Onboard barometer sensors' implementation status. Is it working or not?

Because, as per the details on page "Flight Core v2 Onboard Sensors" Link- https://docs.modalai.com/flight-core-v2-onboard-sensors/
There are 2 barometer sensors available.

• But BARO1 - BMP388 (U5, I2C4, 0x76) is disabled by default.- Can you provide details on why it was disabled? any reasons like not stable output, improper implementation, or
  Can we enable BARO1 and use it without any issues?

• Now BARO2 - ICP-20100 (U17, I2C4, 0x63) seems set as default but as per Note added "Note: ICP-20100 not ported from VOXL2 yet.". It seems like not working at all.
  Can you clarify the status of it?

Also, I saw posts claiming issues with the barometer on Voxl-mini
Like, data is not stable, variation is too high?
Can you share details for Flight Core 2 sensors, how reliable it is?

Thank you.
Ravi

@Eric-Katzfey

HI, this seems mainline px4 build has no support for septentrio GNSS drive.
I tried to enable from px4-firmware config.
CONFIG_DRIVERS_GNSS_SEPTENTRIO=y

But getting error as below. Can you look into it and suggest the solution?

root@5367fe896de8:/usr/local/workspace# ./build.sh 
+ echo '*** Starting build ***'
*** Starting build ***
+ source /home/build-env.sh
++ source /home/4.1.0.4/setup_sdk_env.source
+++ '[' -n '' ']'
+++ echo ''

+++ echo Setting up the Hexagon SDK environment locally
Setting up the Hexagon SDK environment locally
+++++ dirname /home/4.1.0.4/setup_sdk_env.source
++++ cd /home/4.1.0.4
++++ pwd
+++ DIR=/home/4.1.0.4
+++ export HEXAGON_SDK_ROOT=/home/4.1.0.4
+++ HEXAGON_SDK_ROOT=/home/4.1.0.4
+++ '[' -n '' ']'
+++ export ANDROID_ROOT_DIR=/home/4.1.0.4/tools/android-ndk-r19c
+++ ANDROID_ROOT_DIR=/home/4.1.0.4/tools/android-ndk-r19c
+++ export QNX_HOST=/home/4.1.0.4/tools/qnx/qnx_700/host/linux/x86_64/
+++ QNX_HOST=/home/4.1.0.4/tools/qnx/qnx_700/host/linux/x86_64/
+++ export QNX_TARGET=/home/4.1.0.4/tools/qnx/qnx_700/target/qnx7/
+++ QNX_TARGET=/home/4.1.0.4/tools/qnx/qnx_700/target/qnx7/
+++ echo HEXAGON_SDK_ROOT is : /home/4.1.0.4
HEXAGON_SDK_ROOT is : /home/4.1.0.4
+++ export SDK_SETUP_ENV=Done
+++ SDK_SETUP_ENV=Done
+++ export LD_LIBRARY_PATH=:/home/4.1.0.4/tools/libusb/
+++ LD_LIBRARY_PATH=:/home/4.1.0.4/tools/libusb/
+++ export DEFAULT_HEXAGON_TOOLS_ROOT=/home/4.1.0.4/tools/HEXAGON_Tools/8.4.05
+++ DEFAULT_HEXAGON_TOOLS_ROOT=/home/4.1.0.4/tools/HEXAGON_Tools/8.4.05
+++ export DEFAULT_DSP_ARCH=v65
+++ DEFAULT_DSP_ARCH=v65
+++ export DEFAULT_BUILD=ReleaseG
+++ DEFAULT_BUILD=ReleaseG
+++ export DEFAULT_HLOS_ARCH=64
+++ DEFAULT_HLOS_ARCH=64
+++ export DEFAULT_TOOLS_VARIANT=toolv84
+++ DEFAULT_TOOLS_VARIANT=toolv84
+++ export DEFAULT_NO_QURT_INC=1
+++ DEFAULT_NO_QURT_INC=1
+++ export DEFAULT_TREE=1
+++ DEFAULT_TREE=1
+++ export CMAKE_ROOT_PATH=/home/4.1.0.4/tools/utils/cmake-3.17.0-Linux-x86_64
+++ CMAKE_ROOT_PATH=/home/4.1.0.4/tools/utils/cmake-3.17.0-Linux-x86_64
+++ echo 'Setting up the QAIC binary for the platform'
Setting up the QAIC binary for the platform
+++ make -C /home/4.1.0.4/ipc/fastrpc/qaic/
make: Entering directory '/home/4.1.0.4/ipc/fastrpc/qaic'
make: 'bin/qaic' is up to date.
make: Leaving directory '/home/4.1.0.4/ipc/fastrpc/qaic'
+++ '[' -d /home/4.1.0.4/tools/android-ndk-r19c ']'
+++ echo 'Could not find Androd ndk at /home/4.1.0.4/tools/android-ndk-r19c'
Could not find Androd ndk at /home/4.1.0.4/tools/android-ndk-r19c
+++ export WARNING=1
+++ WARNING=1
+++ '[' -d /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05 ']'
+++ true
+++ '[' -n 1 ']'
+++ echo ''

+++ echo 'Please refer to /home/4.1.0.4/docs/tools/setup.html for installing the missed components'
Please refer to /home/4.1.0.4/docs/tools/setup.html for installing the missed components
+++ echo ''

++ export ARM_CROSS_GCC_ROOT=/home/4.1.0.4/tools/linaro64
++ ARM_CROSS_GCC_ROOT=/home/4.1.0.4/tools/linaro64
++ export HEXAGON_ARM_SYSROOT=/home/4.1.0.4/tools/linaro64/aarch64-linux-gnu/libc
++ HEXAGON_ARM_SYSROOT=/home/4.1.0.4/tools/linaro64/aarch64-linux-gnu/libc
++ export HEXAGON_TOOLS_ROOT=/home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools
++ HEXAGON_TOOLS_ROOT=/home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools
+ export PATH=/home/4.1.0.4/tools/linaro64/bin:/home/4.1.0.4/tools/linaro64/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
+ PATH=/home/4.1.0.4/tools/linaro64/bin:/home/4.1.0.4/tools/linaro64/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
+ APPS_BUILD=ON
+ SLPI_BUILD=ON
+ DEPS_BUILD=ON
+ getopts asd flag
+ cd px4-firmware
+ '[' ON == ON ']'
+ echo '*** Starting dependencies build ***'
*** Starting dependencies build ***
+ ./boards/modalai/voxl2/scripts/build-deps.sh
-- The C compiler identification is GNU 7.5.0
-- The CXX compiler identification is GNU 9.4.0
-- Check for working C compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc
-- Check for working C compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Configuring done
-- Generating done
-- Build files have been written to: /usr/local/workspace/px4-firmware/boards/modalai/voxl2/libfc-sensor-api/build
Scanning dependencies of target fc_sensor
[ 50%] Building C object CMakeFiles/fc_sensor.dir/src/fc_sensor_stub.c.o
[100%] Linking C shared library libfc_sensor.so
[100%] Built target fc_sensor
+ echo '*** End of dependencies build ***'
*** End of dependencies build ***
+ '[' ON == ON ']'
+ echo '*** Starting apps processor build ***'
*** Starting apps processor build ***
+ make modalai_voxl2
-- PX4_GIT_TAG: v1.16.0-alpha2-379-g5fb810a5ea
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") 
-- PX4 config file: /usr/local/workspace/px4-firmware/boards/modalai/voxl2/default.px4board
-- PLATFORM posix
-- LINUX_TARGET y
-- TOOLCHAIN aarch64-linux-gnu
-- ROMFSROOT px4fmu_common
-- ROOT_PATH /data/px4
-- PARAM_FILE /fs/mtd_params
-- PX4 config: modalai_voxl2_default
-- PX4 platform: posix
-- PX4 lockstep: disabled
-- The CXX compiler identification is GNU 7.5.0
-- The C compiler identification is GNU 7.5.0
-- The ASM compiler identification is GNU
-- Found assembler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc
-- Check for working CXX compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-g++
-- Check for working CXX compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-g++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Check for working C compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc
-- Check for working C compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- cmake build type: RelWithDebInfo
-- ccache enabled (export CCACHE_DISABLE=1 to disable)
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/linux_pwm_out/module.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/pca9685_pwm_out/module.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/pwm_out/module.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/modules/simulation/pwm_out_sim/module_hil.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/modules/simulation/pwm_out_sim/module_sim.yaml for VOXL2
-- Skipping spacecraft file path /usr/local/workspace/px4-firmware/src/modules/spacecraft/module.yaml for VOXL2
-- ROMFS: ROMFS/px4fmu_common
Architecture:  amd64
==> CPACK_INSTALL_PREFIX = @DEB_INSTALL_PREFIX@
-- Configuring done
-- Generating done
-- Build files have been written to: /usr/local/workspace/px4-firmware/build/modalai_voxl2_default
[1/626] git submodule src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client
[4/626] git submodule src/drivers/gps/devices
[9/626] git submodule src/modules/mavlink/mavlink
[54/626] Performing configure step for 'libmicroxrceddsclient_project'
-- libmicroxrceddsclient_project configure command succeeded.  See also /usr/local/workspace/px4-firmware/build/modalai_voxl2_default/src/modules/uxrce_dds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-configure-*.log
[103/626] Performing build step for 'libmicroxrceddsclient_project'
-- libmicroxrceddsclient_project build command succeeded.  See also /usr/local/workspace/px4-firmware/build/modalai_voxl2_default/src/modules/uxrce_dds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-build-*.log
[284/626] Performing install step for 'libmicroxrceddsclient_project'
-- libmicroxrceddsclient_project install command succeeded.  See also /usr/local/workspace/px4-firmware/build/modalai_voxl2_default/src/modules/uxrce_dds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-install-*.log
[381/626] Building CXX object src/drivers/gnss/septentrio/CMakeFiles/driver__septentrio.dir/septentrio.cpp.o
FAILED: src/drivers/gnss/septentrio/CMakeFiles/driver__septentrio.dir/septentrio.cpp.o 
/usr/bin/ccache /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-g++  -DCONFIG_ARCH_BOARD_MODALAI_VOXL2 -DMODULE_NAME=\"septentrio\" -DPX4_MAIN=septentrio_app_main -D__CUSTOM_FILE_IO__ -D__PX4_LINUX -D__PX4_POSIX -D__STDC_FORMAT_MACROS -Dnoreturn_function="__attribute__((noreturn))" -I../../boards/modalai/voxl2/src -I../../platforms/posix/src/px4/common/include -I. -Isrc/lib -I../../platforms/posix/src/px4/generic/generic/include -I../../platforms/common -I../../platforms/common/include -I../../src -I../../src/include -I../../src/lib -I../../src/lib/matrix -I../../src/modules -I../../platforms/posix/include -I../../boards/modalai/voxl2/libfc-sensor-api/inc -Iexternal/Install/include -O2 -g -DNDEBUG -fPIC   -g -fdata-sections -ffunction-sections -fomit-frame-pointer -fmerge-all-constants -fno-signed-zeros -fno-trapping-math -freciprocal-math -fno-math-errno -fno-strict-aliasing -fvisibility=hidden -include visibility.h -Wall -Wextra -Werror -Warray-bounds -Wcast-align -Wdisabled-optimization -Wdouble-promotion -Wfatal-errors -Wfloat-equal -Wformat-security -Winit-self -Wlogical-op -Wpointer-arith -Wshadow -Wuninitialized -Wunknown-pragmas -Wunused-variable -Wno-missing-field-initializers -Wno-missing-include-dirs -Wno-unused-parameter -fdiagnostics-color=always -fno-builtin-printf -fno-strength-reduce -Wformat=1 -Wunused-but-set-variable -Wno-format-truncation -fcheck-new -Wreorder -Wno-overloaded-virtual -fno-rtti -DSEP_LOG_ERROR -std=gnu++14 -MD -MT src/drivers/gnss/septentrio/CMakeFiles/driver__septentrio.dir/septentrio.cpp.o -MF src/drivers/gnss/septentrio/CMakeFiles/driver__septentrio.dir/septentrio.cpp.o.d -o src/drivers/gnss/septentrio/CMakeFiles/driver__septentrio.dir/septentrio.cpp.o -c ../../src/drivers/gnss/septentrio/septentrio.cpp
In file included from ../../src/drivers/gnss/septentrio/sbf/decoder.h:46:0,
                 from ../../src/drivers/gnss/septentrio/septentrio.h:63,
                 from ../../src/drivers/gnss/septentrio/septentrio.cpp:44:
../../src/drivers/gnss/septentrio/sbf/messages.h:101:21: error: 'septentrio::sbf::Header::id_number' is too small to hold all values of 'enum class septentrio::sbf::BlockID' [-Werror]
  BlockID id_number: 13;
                     ^~
compilation terminated due to -Wfatal-errors.
cc1plus: all warnings being treated as errors
[384/626] Building CXX object src/drivers/gnss/septentrio/CMakeFiles/driver__septentrio.dir/sbf/decoder.cpp.o
FAILED: src/drivers/gnss/septentrio/CMakeFiles/driver__septentrio.dir/sbf/decoder.cpp.o 
/usr/bin/ccache /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-g++  -DCONFIG_ARCH_BOARD_MODALAI_VOXL2 -DMODULE_NAME=\"septentrio\" -DPX4_MAIN=septentrio_app_main -D__CUSTOM_FILE_IO__ -D__PX4_LINUX -D__PX4_POSIX -D__STDC_FORMAT_MACROS -Dnoreturn_function="__attribute__((noreturn))" -I../../boards/modalai/voxl2/src -I../../platforms/posix/src/px4/common/include -I. -Isrc/lib -I../../platforms/posix/src/px4/generic/generic/include -I../../platforms/common -I../../platforms/common/include -I../../src -I../../src/include -I../../src/lib -I../../src/lib/matrix -I../../src/modules -I../../platforms/posix/include -I../../boards/modalai/voxl2/libfc-sensor-api/inc -Iexternal/Install/include -O2 -g -DNDEBUG -fPIC   -g -fdata-sections -ffunction-sections -fomit-frame-pointer -fmerge-all-constants -fno-signed-zeros -fno-trapping-math -freciprocal-math -fno-math-errno -fno-strict-aliasing -fvisibility=hidden -include visibility.h -Wall -Wextra -Werror -Warray-bounds -Wcast-align -Wdisabled-optimization -Wdouble-promotion -Wfatal-errors -Wfloat-equal -Wformat-security -Winit-self -Wlogical-op -Wpointer-arith -Wshadow -Wuninitialized -Wunknown-pragmas -Wunused-variable -Wno-missing-field-initializers -Wno-missing-include-dirs -Wno-unused-parameter -fdiagnostics-color=always -fno-builtin-printf -fno-strength-reduce -Wformat=1 -Wunused-but-set-variable -Wno-format-truncation -fcheck-new -Wreorder -Wno-overloaded-virtual -fno-rtti -DSEP_LOG_ERROR -std=gnu++14 -MD -MT src/drivers/gnss/septentrio/CMakeFiles/driver__septentrio.dir/sbf/decoder.cpp.o -MF src/drivers/gnss/septentrio/CMakeFiles/driver__septentrio.dir/sbf/decoder.cpp.o.d -o src/drivers/gnss/septentrio/CMakeFiles/driver__septentrio.dir/sbf/decoder.cpp.o -c ../../src/drivers/gnss/septentrio/sbf/decoder.cpp
In file included from ../../src/drivers/gnss/septentrio/sbf/decoder.h:46:0,
                 from ../../src/drivers/gnss/septentrio/sbf/decoder.cpp:42:
../../src/drivers/gnss/septentrio/sbf/messages.h:101:21: error: 'septentrio::sbf::Header::id_number' is too small to hold all values of 'enum class septentrio::sbf::BlockID' [-Werror]
  BlockID id_number: 13;
                     ^~
compilation terminated due to -Wfatal-errors.
cc1plus: all warnings being treated as errors
[386/626] Building CXX object src/drivers/actuators/voxl_esc/CMakeFiles/drivers__actuators__voxl_esc.dir/voxl_esc.cpp.o
ninja: build stopped: subcommand failed.
make: *** [Makefile:232: modalai_voxl2] Error 1
+ cat build/modalai_voxl2_default/src/lib/version/build_git_version.h

/* Auto Magically Generated file */
/* Do not edit! */
#pragma once

#define PX4_GIT_VERSION_STR "5fb810a5ea0bf6c8d9e0f69251a44ad8e3d4b2ce"
#define PX4_GIT_VERSION_BINARY 0x5fb810a5ea0bf6c8
#define PX4_GIT_TAG_STR "v1.16.0-alpha2-379-g5fb810a5ea"
#define PX4_GIT_BRANCH_NAME ""

#define PX4_GIT_OEM_VERSION_STR  ""

#define PX4_GIT_TAG_OR_BRANCH_NAME "main" // special variable: git tag, release or main branch

#define MAVLINK_LIB_GIT_VERSION_STR  "8690e10164da864d7d36a3daad5547662e7a4103"
#define MAVLINK_LIB_GIT_VERSION_BINARY 0x8690e10164da864d

#define NUTTX_GIT_VERSION_STR  "205b3100f8f63944a45faa5cfb5d3f86e904ee59"
#define NUTTX_GIT_VERSION_BINARY 0x205b3100f8f63944
#define NUTTX_GIT_TAG_STR  "v11.0.0"
+ echo '*** End of apps processor build ***'
*** End of apps processor build ***
+ '[' ON == ON ']'
+ echo '*** Starting qurt slpi build ***'
*** Starting qurt slpi build ***
+ make modalai_voxl2-slpi
-- PX4_GIT_TAG: v1.16.0-alpha2-379-g5fb810a5ea
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") 
-- PX4 config file: /usr/local/workspace/px4-firmware/boards/modalai/voxl2-slpi/default.px4board
-- PLATFORM qurt
-- TOOLCHAIN qurt
-- ROMFSROOT px4fmu_common
-- ROOT_PATH /fs/microsd
-- PARAM_FILE /fs/mtd_params
-- PX4 config: modalai_voxl2-slpi_default
-- PX4 platform: qurt
-- The CXX compiler identification is Clang 10.0.0
-- The C compiler identification is Clang 10.0.0
-- The ASM compiler identification is unknown
-- Found assembler: /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang
-- Check for working CXX compiler: /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang++
-- Check for working CXX compiler: /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - failed
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Check for working C compiler: /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang
-- Check for working C compiler: /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - failed
-- Detecting C compile features
-- Detecting C compile features - done
-- Warning: Did not find file Compiler/-ASM
-- cmake build type: RelWithDebInfo
-- ccache enabled (export CCACHE_DISABLE=1 to disable)
-- Mavlink include directory: /usr/local/workspace/px4-firmware/../build/modalai_voxl2_default/mavlink/standard
-- Mavlink include directory: /usr/local/workspace/px4-firmware/../build/modalai_voxl2_default/mavlink/common
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/linux_pwm_out/module.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/pca9685_pwm_out/module.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/pwm_out/module.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/modules/simulation/pwm_out_sim/module_hil.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/modules/simulation/pwm_out_sim/module_sim.yaml for VOXL2
-- Skipping spacecraft file path /usr/local/workspace/px4-firmware/src/modules/spacecraft/module.yaml for VOXL2
Architecture:  amd64
==> CPACK_INSTALL_PREFIX = @DEB_INSTALL_PREFIX@
-- Configuring done
-- Generating done
-- Build files have been written to: /usr/local/workspace/px4-firmware/build/modalai_voxl2-slpi_default
[0/746] git submodule src/drivers/gps/devices
[746/746] Linking CXX shared library platforms/qurt/libpx4.so
+ cat build/modalai_voxl2-slpi_default/src/lib/version/build_git_version.h
cat: build/modalai_voxl2-slpi_default/src/lib/version/build_git_version.h: No such file or directory
+ echo '*** End of qurt slpi build ***'
*** End of qurt slpi build ***
+ cd -
/usr/local/workspace
++ stat -c %u .git/modules/px4-firmware
+ USER=1000
+ echo 'User ID is 1000'
User ID is 1000
+ chown -R 1000 .git/modules/px4-firmware
++ stat -c %g .git/modules/px4-firmware
+ GROUP=1000
+ echo 'Group ID is 1000'
Group ID is 1000
+ chgrp -R 1000 .git/modules/px4-firmware
+ echo '*** End of build ***'
*** End of build ***
root@5367fe896de8:/usr/local/workspace# 

Thank you.

@Eric-Katzfey

Yes, seems working. no error.
Thanks.

@Eric-Katzfey

Hi

I tried to install px4 deb but getting error.
I also tried disabling px4 service and install. but getting same error.
Error is as below.

voxl2:~$ sudo dpkg -i voxl-mainline-px4_1.15.2-202502041627_arm64.deb
(Reading database ... 105295 files and directories currently installed.)
Preparing to unpack voxl-mainline-px4_1.15.2-202502041627_arm64.deb ...
Unpacking voxl-mainline-px4 (1.15.2-202502041627) ...
dpkg: error processing archive voxl-mainline-px4_1.15.2-202502041627_arm64.deb (--install):
 trying to overwrite '/data/px4/etc/extras/actuators.json.xz', which is also in package voxl-px4 1.14.0-2.0.85
dpkg-deb (subprocess): decompressing archive member: lzma write error: Broken pipe
dpkg-deb (subprocess): cannot copy archive member from 'voxl-mainline-px4_1.15.2-202502041627_arm64.deb' to decompressor pipe: failed to write (Broken pipe)
dpkg-deb: error: <decompress> subprocess returned error exit status 2
Errors were encountered while processing:
 voxl-mainline-px4_1.15.2-202502041627_arm64.deb

@Moderator

Hi,

We want to use a septentrio GNSS / GPS receiver module with VOXL2.
seems it needs some driver update: https://docs.px4.io/main/en/gps_compass/septentrio.html
VOXL-PX4 is using "voxl-dev" px4-firmware which doesn't have gnss/septentrio support yet.

Which is already available in the "main" branch of px4-firmware: https://github.com/modalai/px4-firmware/tree/main/src/drivers/gnss/septentrio.

can I get any info on when we can get it Or brief details like how I can add and build it?
and add support.

Thank you.

Hi @Eric-Katzfey

yes, i can see

lrwxrwxrwx 1 1000 1000         7 Feb 11 16:00 hexagon-link -> ld.qcld

and also

-rw-rw-rw- 1 1000 1000  46687200 Feb 11 16:00 ld.qcld

So it seems " ld.qcld'" is not executable.
then I made it executable using.
"chmod +x /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/ld.qcld"

Then, it seems the voxl-PX4 build is working.

Thank you for the help.

root@798402fd070f:/usr/local/workspace# ./build.sh
*** Starting build ***

Setting up the Hexagon SDK environment locally
HEXAGON_SDK_ROOT is : /home/4.1.0.4
Setting up the QAIC binary for the platform
make: Entering directory '/home/4.1.0.4/ipc/fastrpc/qaic'
make: 'bin/qaic' is up to date.
make: Leaving directory '/home/4.1.0.4/ipc/fastrpc/qaic'
Could not find Androd ndk at /home/4.1.0.4/tools/android-ndk-r19c

Please refer to /home/4.1.0.4/docs/tools/setup.html for installing the missed components

*** Starting dependencies build ***
-- The C compiler identification is GNU 7.5.0
-- The CXX compiler identification is GNU 9.4.0
-- Check for working C compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc
-- Check for working C compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Configuring done
-- Generating done
-- Build files have been written to: /usr/local/workspace/px4-firmware/boards/modalai/voxl2/libfc-sensor-api/build
Scanning dependencies of target fc_sensor
[ 50%] Building C object CMakeFiles/fc_sensor.dir/src/fc_sensor_stub.c.o
[100%] Linking C shared library libfc_sensor.so
[100%] Built target fc_sensor
*** End of dependencies build ***
*** Starting apps processor build ***
-- PX4 version: v1.14.0-2.0.94-dev (1.14.0)
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") 
-- PX4 config file: /usr/local/workspace/px4-firmware/boards/modalai/voxl2/default.px4board
-- PLATFORM posix
-- LINUX_TARGET y
-- TOOLCHAIN aarch64-linux-gnu
-- ROMFSROOT px4fmu_common
-- ROOTFSDIR /data/px4
-- PX4 config: modalai_voxl2_default
-- PX4 platform: posix
-- PX4 lockstep: disabled
-- The CXX compiler identification is GNU 7.5.0
-- The C compiler identification is GNU 7.5.0
-- The ASM compiler identification is GNU
-- Found assembler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc
-- Check for working CXX compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-g++
-- Check for working CXX compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-g++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Check for working C compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc
-- Check for working C compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- cmake build type: RelWithDebInfo
-- ccache enabled (export CCACHE_DISABLE=1 to disable)
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/linux_pwm_out/module.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/pca9685_pwm_out/module.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/pwm_out/module.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/modules/simulation/pwm_out_sim/module_hil.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/modules/simulation/pwm_out_sim/module_sim.yaml for VOXL2
-- ROMFS: ROMFS/px4fmu_common
Architecture:  amd64
==> CPACK_INSTALL_PREFIX = @DEB_INSTALL_PREFIX@
-- Configuring done
-- Generating done
-- Build files have been written to: /usr/local/workspace/px4-firmware/build/modalai_voxl2_default
[0/562] git submodule src/modules/microdds_client/Micro-XRCE-DDS-Client
[2/562] git submodule src/drivers/gps/devices
[6/562] git submodule src/modules/mavlink/mavlink
[64/562] Performing configure step for 'libmicroxrceddsclient_project'
-- libmicroxrceddsclient_project configure command succeeded.  See also /usr/local/workspace/px4-firmware/build/modalai_voxl2_default/src/modules/microdds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-configure-*.log
[555/562] Performing build step for 'libmicroxrceddsclient_project'
-- libmicroxrceddsclient_project build command succeeded.  See also /usr/local/workspace/px4-firmware/build/modalai_voxl2_default/src/modules/microdds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-build-*.log
[556/562] Performing install step for 'libmicroxrceddsclient_project'
-- libmicroxrceddsclient_project install command succeeded.  See also /usr/local/workspace/px4-firmware/build/modalai_voxl2_default/src/modules/microdds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-install-*.log
[562/562] Linking CXX executable bin/px4

/* Auto Magically Generated file */
/* Do not edit! */
#pragma once

#define PX4_GIT_VERSION_STR "5e6a8c257371b6c45e55662daac5fe9fbd08040b"
#define PX4_GIT_VERSION_BINARY 0x5e6a8c257371b6c4
#define PX4_GIT_TAG_STR "v1.14.0-2.0.94-dev-dirty"
#define PX4_GIT_BRANCH_NAME ""

#define PX4_GIT_OEM_VERSION_STR  ""

#define PX4_GIT_TAG_OR_BRANCH_NAME "v1.14.0-2.0.94-dev-dirty" // special variable: git tag, release or master branch

#define MAVLINK_LIB_GIT_VERSION_STR  "3ee5382d0c96134b0e1c250d8c2d54bfed0166fa"
#define MAVLINK_LIB_GIT_VERSION_BINARY 0x3ee5382d0c96134b

#define NUTTX_GIT_VERSION_STR  "3f77354c0dc88793a47ff3b57595195ab45f7ba9"
#define NUTTX_GIT_VERSION_BINARY 0x3f77354c0dc88793
#define NUTTX_GIT_TAG_STR  "v11.0.0"
*** End of apps processor build ***
*** Starting qurt slpi build ***
-- PX4 version: v1.14.0-2.0.94-dev (1.14.0)
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") 
-- PX4 config file: /usr/local/workspace/px4-firmware/boards/modalai/voxl2-slpi/default.px4board
-- PLATFORM qurt
-- TOOLCHAIN qurt
-- ROMFSROOT px4fmu_common
-- PX4 config: modalai_voxl2-slpi_default
-- PX4 platform: qurt
-- The CXX compiler identification is Clang 10.0.0
-- The C compiler identification is Clang 10.0.0
-- The ASM compiler identification is unknown
-- Found assembler: /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang
-- Check for working CXX compiler: /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang++
-- Check for working CXX compiler: /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - failed
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Check for working C compiler: /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang
-- Check for working C compiler: /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - failed
-- Detecting C compile features
-- Detecting C compile features - done
-- Warning: Did not find file Compiler/-ASM
-- cmake build type: RelWithDebInfo
-- ccache enabled (export CCACHE_DISABLE=1 to disable)
-- Mavlink include directory: /usr/local/workspace/px4-firmware/../build/modalai_voxl2_default/mavlink/standard
-- Mavlink include directory: /usr/local/workspace/px4-firmware/../build/modalai_voxl2_default/mavlink/common
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/linux_pwm_out/module.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/pca9685_pwm_out/module.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/pwm_out/module.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/modules/simulation/pwm_out_sim/module_hil.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/modules/simulation/pwm_out_sim/module_sim.yaml for VOXL2
Architecture:  amd64
==> CPACK_INSTALL_PREFIX = @DEB_INSTALL_PREFIX@
-- Configuring done
-- Generating done
-- Build files have been written to: /usr/local/workspace/px4-firmware/build/modalai_voxl2-slpi_default
[0/724] git submodule src/drivers/gps/devices
[724/724] Linking CXX shared library platforms/qurt/libpx4.so

/* Auto Magically Generated file */
/* Do not edit! */
#pragma once

#define PX4_GIT_VERSION_STR "5e6a8c257371b6c45e55662daac5fe9fbd08040b"
#define PX4_GIT_VERSION_BINARY 0x5e6a8c257371b6c4
#define PX4_GIT_TAG_STR "v1.14.0-2.0.94-dev-dirty"
#define PX4_GIT_BRANCH_NAME ""

#define PX4_GIT_OEM_VERSION_STR  ""

#define PX4_GIT_TAG_OR_BRANCH_NAME "v1.14.0-2.0.94-dev-dirty" // special variable: git tag, release or master branch

#define MAVLINK_LIB_GIT_VERSION_STR  "3ee5382d0c96134b0e1c250d8c2d54bfed0166fa"
#define MAVLINK_LIB_GIT_VERSION_BINARY 0x3ee5382d0c96134b

#define NUTTX_GIT_VERSION_STR  "3f77354c0dc88793a47ff3b57595195ab45f7ba9"
#define NUTTX_GIT_VERSION_BINARY 0x3f77354c0dc88793
#define NUTTX_GIT_TAG_STR  "v11.0.0"
*** End of qurt slpi build ***
/usr/local/workspace
User ID is 1000
Group ID is 1000
*** End of build ***
root@798402fd070f:/usr/local/workspace# ls                                                                  

@Eric-Katzfey

please find the ls output

root@798402fd070f:/usr/local/workspace# ls -l /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin
total 1163652
-rwxrwxrwx 1 1000 1000     51542 Feb 11 15:59 YAMLMapParser.py
lrwxrwxrwx 1 1000 1000         8 Feb 11 16:00 clang -> clang-10
-rwxrwxrwx 1 1000 1000 101061712 Feb 11 16:00 clang-10
-rwxrwxrwx 1 1000 1000   2700800 Feb 11 16:00 clang-apply-replacements
-rwxrwxrwx 1 1000 1000  31329968 Feb 11 16:01 clang-change-namespace
-rwxrwxrwx 1 1000 1000  63259784 Feb 11 16:01 clang-check
-rwxrwxrwx 1 1000 1000  29689544 Feb 11 16:00 clang-extdef-mapping
-rwxrwxrwx 1 1000 1000  30458768 Feb 11 16:01 clang-include-fixer
-rwxrwxrwx 1 1000 1000   4687208 Feb 11 16:00 clang-offload-bundler
-rwxrwxrwx 1 1000 1000  32786688 Feb 11 16:02 clang-query
-rwxrwxrwx 1 1000 1000  30623376 Feb 11 16:00 find-all-symbols
-rwxrwxrwx 1 1000 1000    300632 Feb 11 16:01 hexagon-addr2line
-rwxrwxrwx 1 1000 1000    652176 Feb 11 16:00 hexagon-analyzer-backend
lrwxrwxrwx 1 1000 1000         7 Feb 11 16:00 hexagon-ar -> llvm-ar
lrwxrwxrwx 1 1000 1000        12 Feb 11 16:00 hexagon-c++filt -> llvm-cxxfilt
lrwxrwxrwx 1 1000 1000         8 Feb 11 16:00 hexagon-clang -> clang-10
-rwxrwxrwx 1 1000 1000 101061712 Feb 11 15:59 hexagon-clang++
-rwxrwxrwx 1 1000 1000   2700800 Feb 11 16:00 hexagon-clang-apply-replacements
-rwxrwxrwx 1 1000 1000 101061712 Feb 11 16:01 hexagon-clang-cl
-rwxrwxrwx 1 1000 1000 101061712 Feb 11 16:01 hexagon-clang-cpp
-rwxrwxrwx 1 1000 1000  30459272 Feb 11 16:00 hexagon-clang-doc
-rwxrwxrwx 1 1000 1000   2650104 Feb 11 16:00 hexagon-clang-format
-rwxrwxrwx 1 1000 1000  39048544 Feb 11 16:00 hexagon-clang-import-test
-rwxrwxrwx 1 1000 1000  30458768 Feb 11 16:01 hexagon-clang-include-fixer
-rwxrwxrwx 1 1000 1000  31477312 Feb 11 16:01 hexagon-clang-refactor
-rwxrwxrwx 1 1000 1000  30226616 Feb 11 16:00 hexagon-clang-rename
-rwxrwxrwx 1 1000 1000  30479008 Feb 11 16:01 hexagon-clang-reorder-fields
-rwxrwxrwx 1 1000 1000  29713472 Feb 11 16:00 hexagon-clang-scan-deps
-rwxrwxrwx 1 1000 1000  49359608 Feb 11 16:00 hexagon-clang-tidy
-rwxrwxrwx 1 1000 1000  42697872 Feb 11 16:00 hexagon-clangd
-rwxrwxrwx 1 1000 1000    798360 Feb 11 16:00 hexagon-coverage
lrwxrwxrwx 1 1000 1000        20 Feb 11 16:00 hexagon-elfcopy -> hexagon-llvm-objcopy
-rwxrwxrwx 1 1000 1000    375680 Feb 11 16:01 hexagon-elfcopy-deprecated
-rwxrwxrwx 1 1000 1000     16832 Feb 11 16:00 hexagon-gmon-dump
-rwxrwxrwx 1 1000 1000     21480 Feb 11 16:00 hexagon-gmon-merge
-rwxrwxrwx 1 1000 1000    235496 Feb 11 15:59 hexagon-gprof
lrwxrwxrwx 1 1000 1000         7 Feb 11 16:00 hexagon-link -> ld.qcld
-rwxrwxrwx 1 1000 1000  47836752 Feb 11 16:00 hexagon-llc
-rwxrwxrwx 1 1000 1000    369752 Feb 11 16:01 hexagon-lldb
-rwxrwxrwx 1 1000 1000   2546696 Feb 11 16:00 hexagon-lldb-mi
-rwxrwxrwx 1 1000 1000   6610408 Feb 11 16:00 hexagon-llvm-addr2src
-rwxrwxrwx 1 1000 1000   6530168 Feb 11 16:01 hexagon-llvm-addr2struct
-rwxrwxrwx 1 1000 1000    259000 Feb 11 16:00 hexagon-llvm-config
-rwxrwxrwx 1 1000 1000   3519928 Feb 11 16:00 hexagon-llvm-dis
-rwxrwxrwx 1 1000 1000   6528480 Feb 11 16:00 hexagon-llvm-dwarfdump
-rwxrwxrwx 1 1000 1000   3206256 Feb 11 16:00 hexagon-llvm-mc
-rwxrwxrwx 1 1000 1000   5502416 Feb 11 16:00 hexagon-llvm-objcopy
-rwxrwxrwx 1 1000 1000   7676128 Feb 11 16:00 hexagon-llvm-objdump
-rwxrwxrwx 1 1000 1000   2807152 Feb 11 15:59 hexagon-llvm-profdata
lrwxrwxrwx 1 1000 1000        12 Feb 11 16:00 hexagon-llvm-readelf -> llvm-readobj
-rwxrwxrwx 1 1000 1000    332136 Feb 11 16:00 hexagon-llvm-strings
-rwxrwxrwx 1 1000 1000  29882872 Feb 11 16:00 hexagon-modularize
lrwxrwxrwx 1 1000 1000         7 Feb 11 16:00 hexagon-nm -> llvm-nm
-rwxrwxrwx 1 1000 1000     24264 Feb 11 16:00 hexagon-profiler
lrwxrwxrwx 1 1000 1000         7 Feb 11 16:00 hexagon-ranlib -> llvm-ar
-rwxrwxrwx 1 1000 1000   7587760 Feb 11 16:01 hexagon-readelf
-rwxrwxrwx 1 1000 1000    263528 Feb 11 16:00 hexagon-sim
lrwxrwxrwx 1 1000 1000         9 Feb 11 16:00 hexagon-size -> llvm-size
lrwxrwxrwx 1 1000 1000        20 Feb 11 15:59 hexagon-strings -> hexagon-llvm-strings
-rwxrwxrwx 1 1000 1000    171080 Feb 11 16:01 hexagon-strings-deprecated
lrwxrwxrwx 1 1000 1000        20 Feb 11 16:00 hexagon-strip -> hexagon-llvm-objcopy
-rwxrwxrwx 1 1000 1000    375680 Feb 11 16:00 hexagon-strip-deprecated
-rwxrwxrwx 1 1000 1000      9974 Feb 11 16:00 hmaptool
-rw-rw-rw- 1 1000 1000  46687200 Feb 11 16:00 ld.qcld
-rwxrwxrwx 1 1000 1000   6238888 Feb 11 16:00 llvm-ar
-rwxrwxrwx 1 1000 1000    485096 Feb 11 16:00 llvm-cxxfilt
lrwxrwxrwx 1 1000 1000         7 Feb 11 16:00 llvm-lib -> llvm-ar
-rwxrwxrwx 1 1000 1000   6578800 Feb 11 16:00 llvm-nm
lrwxrwxrwx 1 1000 1000         7 Feb 11 16:00 llvm-ranlib -> llvm-ar
-rwxrwxrwx 1 1000 1000   7587760 Feb 11 16:00 llvm-readobj
-rwxrwxrwx 1 1000 1000   4737296 Feb 11 16:01 llvm-size
-rwxrwxrwx 1 1000 1000   5557112 Feb 11 16:00 llvm-symbolizer
-rwxrwxrwx 1 1000 1000  29882872 Feb 11 16:01 modularize
-rwxrwxrwx 1 1000 1000     39600 Feb 11 16:02 post-process
-rwxrwxrwx 1 1000 1000     56761 Feb 11 16:01 scan-build
-rwxrwxrwx 1 1000 1000      4702 Feb 11 16:00 scan-view
root@798402fd070f:/usr/local/workspace# 

@Moderator

Hi,

I am trying to build voxl-px4 repo.
https://gitlab.com/voxl-public/voxl-sdk/services/voxl-px4.git
For build setup,
I installed voxl-docker and voxl-cross as per - https://docs.modalai.com/voxl-docker-and-cross-installation/
I referred for px4 docker build image, https://gitlab.com/voxl-public/rb5-flight/rb5-flight-px4-build-docker.
according to readme.

I tried to install hexagon SDK 4.1.0.4, using QPM3.
But getting a post script error, every time, I tried with Ubuntu 20.04 and 22.04 also.

Qualcomm(R) Hexagon™ SDK 4.x
Version 4.1.0.4 for Linux

Tool Name: HexagonSDK4.x

Install Summary
Install failed

[Info] : Config File Present

[Info] : Step 1 of 7: Checking environment

[Info] : Step 2 of 7: Checking previous version

[Info] : Step 3 of 7: Checking dependencies

[Info] : Step 4 of 7: Preparing system

[Info] : Step 5 of 7: Extracting files

[Info] : Step 6 of 7: Configuring system

[Error] : Post-install step failed.

Please reach out to the owner of Hexagon SDK 4.x for more assistance.

[Error] Install failed for Qualcomm(R) Hexagon™ SDK 4.x and version 4.1.0.4

But as per thread - https://forum.modalai.com/topic/3079/hexagonsdk4-1-0-4-installation-fails-due-to-erro-on-license-verification?_=1738850535021
I ignored the error and tar it and placed it in rb5-flight-px4-build-docker
and ran setup.sh and build.sh.

it generated the docker image rb5-flight-px4-build-docker
So. currently this much images I have:

ravi@ravipc:~/Desktop/modalai/build_setup/voxl-docker-cross$ voxl-docker -l
REPOSITORY                    TAG       IMAGE ID       CREATED         SIZE
rb5-flight-px4-build-docker   latest    54ba544d5242   5 minutes ago   8.09GB
rb5-flight-px4-build-docker   v1.5      54ba544d5242   5 minutes ago   8.09GB
base-px4-build-docker         v1.4      3095b633bdc3   21 months ago   2.03GB
voxl-cross                    V2.5      63eb2f07ad21   2 years ago     1.55GB
voxl-cross                    latest    63eb2f07ad21   2 years ago     1.55GB
ravi@ravipc:~/Desktop/modalai/build_setup/voxl-docker-cross$ 

Then I tried to build and got error in building voxl-px4 - https://gitlab.com/voxl-public/voxl-sdk/services/voxl-px4
its log is attached.

root@bf9bfdd9f0e3:/usr/local/workspace# ./build.sh 
*** Starting build ***

Setting up the Hexagon SDK environment locally
HEXAGON_SDK_ROOT is : /home/4.1.0.4
Setting up the QAIC binary for the platform
make: Entering directory '/home/4.1.0.4/ipc/fastrpc/qaic'
make: 'bin/qaic' is up to date.
make: Leaving directory '/home/4.1.0.4/ipc/fastrpc/qaic'
Could not find Androd ndk at /home/4.1.0.4/tools/android-ndk-r19c

Please refer to /home/4.1.0.4/docs/tools/setup.html for installing the missed components

*** Starting dependencies build ***
-- The C compiler identification is GNU 7.5.0
-- The CXX compiler identification is GNU 9.4.0
-- Check for working C compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc
-- Check for working C compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Configuring done
-- Generating done
-- Build files have been written to: /usr/local/workspace/px4-firmware/boards/modalai/voxl2/libfc-sensor-api/build
Scanning dependencies of target fc_sensor
[ 50%] Building C object CMakeFiles/fc_sensor.dir/src/fc_sensor_stub.c.o
[100%] Linking C shared library libfc_sensor.so
[100%] Built target fc_sensor
*** End of dependencies build ***
*** Starting apps processor build ***
-- PX4 version: v1.14.0-2.0.94-dev (1.14.0)
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") 
-- PX4 config file: /usr/local/workspace/px4-firmware/boards/modalai/voxl2/default.px4board
-- PLATFORM posix
-- LINUX_TARGET y
-- TOOLCHAIN aarch64-linux-gnu
-- ROMFSROOT px4fmu_common
-- ROOTFSDIR /data/px4
-- PX4 config: modalai_voxl2_default
-- PX4 platform: posix
-- PX4 lockstep: disabled
-- The CXX compiler identification is GNU 7.5.0
-- The C compiler identification is GNU 7.5.0
-- The ASM compiler identification is GNU
-- Found assembler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc
-- Check for working CXX compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-g++
-- Check for working CXX compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-g++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Check for working C compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc
-- Check for working C compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- cmake build type: RelWithDebInfo
-- ccache enabled (export CCACHE_DISABLE=1 to disable)
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/linux_pwm_out/module.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/pca9685_pwm_out/module.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/pwm_out/module.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/modules/simulation/pwm_out_sim/module_hil.yaml for VOXL2
-- Skipping pwm file path /usr/local/workspace/px4-firmware/src/modules/simulation/pwm_out_sim/module_sim.yaml for VOXL2
-- ROMFS: ROMFS/px4fmu_common
Architecture:  amd64
==> CPACK_INSTALL_PREFIX = @DEB_INSTALL_PREFIX@
-- Configuring done
-- Generating done
-- Build files have been written to: /usr/local/workspace/px4-firmware/build/modalai_voxl2_default
[0/562] git submodule src/modules/microdds_client/Micro-XRCE-DDS-Client
[2/562] git submodule src/drivers/gps/devices
[4/562] git submodule src/modules/mavlink/mavlink
[259/562] Performing configure step for 'libmicroxrceddsclient_project'
-- libmicroxrceddsclient_project configure command succeeded.  See also /usr/local/workspace/px4-firmware/build/modalai_voxl2_default/src/modules/microdds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-configure-*.log
[416/562] Performing build step for 'libmicroxrceddsclient_project'
-- libmicroxrceddsclient_project build command succeeded.  See also /usr/local/workspace/px4-firmware/build/modalai_voxl2_default/src/modules/microdds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-build-*.log
[425/562] Performing install step for 'libmicroxrceddsclient_project'
-- libmicroxrceddsclient_project install command succeeded.  See also /usr/local/workspace/px4-firmware/build/modalai_voxl2_default/src/modules/microdds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-install-*.log
[562/562] Linking CXX executable bin/px4

/* Auto Magically Generated file */
/* Do not edit! */
#pragma once

#define PX4_GIT_VERSION_STR "5e6a8c257371b6c45e55662daac5fe9fbd08040b"
#define PX4_GIT_VERSION_BINARY 0x5e6a8c257371b6c4
#define PX4_GIT_TAG_STR "v1.14.0-2.0.94-dev-dirty"
#define PX4_GIT_BRANCH_NAME ""

#define PX4_GIT_OEM_VERSION_STR  ""

#define PX4_GIT_TAG_OR_BRANCH_NAME "v1.14.0-2.0.94-dev-dirty" // special variable: git tag, release or master branch

#define MAVLINK_LIB_GIT_VERSION_STR  "3ee5382d0c96134b0e1c250d8c2d54bfed0166fa"
#define MAVLINK_LIB_GIT_VERSION_BINARY 0x3ee5382d0c96134b

#define NUTTX_GIT_VERSION_STR  "3f77354c0dc88793a47ff3b57595195ab45f7ba9"
#define NUTTX_GIT_VERSION_BINARY 0x3f77354c0dc88793
#define NUTTX_GIT_TAG_STR  "v11.0.0"
*** End of apps processor build ***
*** Starting qurt slpi build ***
-- PX4 version: v1.14.0-2.0.94-dev (1.14.0)
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") 
-- PX4 config file: /usr/local/workspace/px4-firmware/boards/modalai/voxl2-slpi/default.px4board
-- PLATFORM qurt
-- TOOLCHAIN qurt
-- ROMFSROOT px4fmu_common
-- PX4 config: modalai_voxl2-slpi_default
-- PX4 platform: qurt
-- The CXX compiler identification is Clang 10.0.0
-- The C compiler identification is Clang 10.0.0
-- The ASM compiler identification is unknown
-- Found assembler: /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang
-- Check for working CXX compiler: /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang++
-- Check for working CXX compiler: /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang++ -- broken
CMake Error at /usr/share/cmake-3.16/Modules/CMakeTestCXXCompiler.cmake:53 (message):
  The C++ compiler

    "/home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang++"

  is not able to compile a simple test program.

  It fails with the following output:

    Change Dir: /usr/local/workspace/px4-firmware/build/modalai_voxl2-slpi_default/CMakeFiles/CMakeTmp
    
    Run Build Command(s):/usr/bin/ninja cmTC_7ce90 && [1/2] Building CXX object CMakeFiles/cmTC_7ce90.dir/testCXXCompiler.cxx.o
    [2/2] Linking CXX executable cmTC_7ce90
    FAILED: cmTC_7ce90 
    : && /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang++  -Wno-inconsistent-missing-override -DCONFIG_WCHAR_BUILTIN -D__CUSTOM_FILE_IO__ -mv66 -G0 -O3   -Wno-inconsistent-missing-override -DCONFIG_WCHAR_BUILTIN -D__CUSTOM_FILE_IO__ -mv66 -G0 -O3  -Wno-inconsistent-missing-override -DCONFIG_WCHAR_BUILTIN -D__CUSTOM_FILE_IO__ -mv66 -G0 -O3 -Wno-inconsistent-missing-override -DCONFIG_WCHAR_BUILTIN -D__CUSTOM_FILE_IO__ -mv66 -G0 -O3  -mv66 -mG0lib -G0 -fpic -shared -Wl,-Bsymbolic -Wl,--wrap=malloc -Wl,--wrap=calloc -Wl,--wrap=free -Wl,--wrap=realloc -Wl,--wrap=memalign -Wl,--wrap=__stack_chk_fail -Wl,/home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/target/hexagon/lib/v66/G0/pic/libc++.a -lc -mv66 -mG0lib -G0 -fpic -shared -Wl,-Bsymbolic -Wl,--wrap=malloc -Wl,--wrap=calloc -Wl,--wrap=free -Wl,--wrap=realloc -Wl,--wrap=memalign -Wl,--wrap=__stack_chk_fail -Wl,/home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/target/hexagon/lib/v66/G0/pic/libc++.a -lc CMakeFiles/cmTC_7ce90.dir/testCXXCompiler.cxx.o  -o cmTC_7ce90   && :
    hexagon-clang++: error: unable to execute command: Executable "hexagon-link" doesn't exist!
    hexagon-clang++: error: hexagon-link command failed with exit code 1 (use -v to see invocation)
    ninja: build stopped: subcommand failed.
    
    

  

  CMake will not be able to correctly generate this project.
Call Stack (most recent call first):
  CMakeLists.txt:219 (project)


-- Configuring incomplete, errors occurred!
See also "/usr/local/workspace/px4-firmware/build/modalai_voxl2-slpi_default/CMakeFiles/CMakeOutput.log".
See also "/usr/local/workspace/px4-firmware/build/modalai_voxl2-slpi_default/CMakeFiles/CMakeError.log".
Error: /usr/local/workspace/px4-firmware/build/modalai_voxl2-slpi_default is not a directory
make: *** [Makefile:232: modalai_voxl2-slpi] Error 1
cat: build/modalai_voxl2-slpi_default/src/lib/version/build_git_version.h: No such file or directory
*** End of qurt slpi build ***
/usr/local/workspace
User ID is 1000
Group ID is 1000
*** End of build ***
root@bf9bfdd9f0e3:/usr/local/workspace# 

Can you provide a solution? what am I missing and how to resolve the issue?

@Alex-Kushleyev

I appreciate your support and providing corrections.

yes, I will remove cv2.imshow, cv2.waitKey ,cv2.destroyAllWindows().
When I tried I was getting "Error opening video file".

I installed voxl-opencv_4.5.5-3_arm64.deb. you linked in the thread below.

• https://forum.modalai.com/topic/3220/seeking-reference-code-for-mpa-integration-with-rtsp-video-streams-for-tflite-server/20

Thanks for the instructions for FFmpeg and OpenCV build.

I will try to install it both and test it again.

Thank you.

Hi
@Moderator

I want a utility to video to tflite server.
To test the Tflite models.

For transfering video frames, irefereed modal-pipe examples.

But for reading video files. it seems there are 2 posible methods.
using ffmpeg and opencv.

first i tried to find ffmpeg on voxl2, it is not installed so i tried to compile 'voxl-ffmpeg' as per readme for qrb5165.
But it was getting failed.

then i amd tring opencv to read "mp4" format video.
I am getting error in reading mp4 file using python and opencv.
but same code working on my ubuntu perfectly.

Can help me find the issue.
please find the code and error below.

Thank you.

on voxl2, i am getting below error.

voxl2:~/tests$ python3 video-test2.py
gbm_create_device(156): Info: backend name is: msm_drm
[ WARN:0@3.094] global /opt/code/opencv/modules/videoio/src/cap_gstreamer.cpp (1374) open OpenCV | GStreamer warning: unable to query duration of stream

(python3:18838): GStreamer-CRITICAL **: 13:10:33.515: gst_caps_get_structure: assertion 'GST_IS_CAPS (caps)' failed

(python3:18838): GStreamer-CRITICAL **: 13:10:33.515: gst_structure_get_int: assertion 'structure != NULL' failed
[ WARN:0@3.095] global /opt/code/opencv/modules/videoio/src/cap_gstreamer.cpp (1384) open OpenCV | GStreamer warning: cannot query video width/height

(python3:18838): GStreamer-CRITICAL **: 13:10:33.515: gst_structure_get_fraction: assertion 'structure != NULL' failed
[ WARN:0@3.095] global /opt/code/opencv/modules/videoio/src/cap_gstreamer.cpp (1390) open OpenCV | GStreamer warning: cannot query video fps
[ WARN:0@3.095] global /opt/code/opencv/modules/videoio/src/cap_gstreamer.cpp (1405) open OpenCV | GStreamer warning: Cannot query video position: status=0, value=-1, duration=-1
Traceback (most recent call last):
  File "video-test2.py", line 33, in <module>
    cv2.destroyAllWindows()
cv2.error: OpenCV(4.5.5) /opt/code/opencv/modules/highgui/src/window.cpp:1262: error: (-2:Unspecified error) The function is not implemented. Rebuild the library with Windows, GTK+ 2.x or Cocoa support. If you are on Ubuntu or Debian, install libgtk2.0-dev and pkg-config, then re-run cmake or configure script in function 'cvDestroyAllWindows'

voxl2:~/tests$

This is my python test code.

# importing libraries
import cv2

# Create a VideoCapture object and read from input file
cap = cv2.VideoCapture('0122_part_030.MP4')

# Check if camera opened successfully
if (cap.isOpened()== False):
    print("Error opening video file")

# Read until video is completed
while(cap.isOpened()):
    
# Capture frame-by-frame
    ret, frame = cap.read()
    if ret == True:
    # Display the resulting frame
        cv2.imshow('Frame', frame)
        
    # Press Q on keyboard to exit
        if cv2.waitKey(25) & 0xFF == ord('q'):
            break

# Break the loop
    else:
        break

# When everything done, release
# the video capture object
cap.release()

# Closes all the frames
cv2.destroyAllWindows()