@tom nevermind, I got it figured out!
Posts made by Taylor Presley
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RE: Voxl-mapper on VOXL2posted in Mapping and Planning
@Jgaucin @tom Any tips on getting this to work? I am running into the same issue using a Sentinel with voxl-suite 1.1
Any help is appreciated!
Thanks,
Taylor -
Calibrating Extrinsics and DFSposted in VOXL 2
Re: VOXL2 Stereo Calibrate ERROR
Hey everyone,
I'm recalibrating the Sentinel stereo cameras because it was not publishing DFS (even though the server is running).
Upon trying to recalibrate, I'm having a similar issue to @AP123 post VOXL2 Stereo Calibrate ERROR.
All comments and recommendations are welcome!
Thanks,
Taylorvoxl2:/$ voxl-calibrate-camera stereo_front -s 6x9 -l 0.02 Please open voxl-portal in a web browser to view the camera calibrator overlay stream Running Calibration... Calibrating Left Camera Running Calibration... Running Calibration... Running Calibration... Matrix [548.5382302680308, 0, 285.3415669716975; 0, 547.0025566893958, 235.3038337229943; 0, 0, 1] Distortion [-0.2424323763061194; 0.1269460760379177; -0.004142521667776578; 0.002519660999314344; 0] distortion_model: plumb_bob Re-projection error reported by calibrateCamera: 0.484597 Calibration Succeded! Calibrating Right Camera Running Calibration... Running Calibration... Matrix [543.062224502327, 0, 301.719040785862; 0, 542.0482517180614, 245.9552291727296; 0, 0, 1] Distortion [-0.236760512593058; 0.1416137307136648; -0.002976128262009898; 0.0009654060730829055; 0] distortion_model: plumb_bob Re-projection error reported by calibrateCamera: 0.528407 Calibration Succeded! Calibrating Extrinsics 7 frames will be processed R [0.999257189294548, -0.03760915797903753, -0.008403622984628861; 0.03775986819471018, 0.9991144801232372, 0.01855930930804526; 0.007698181413691082, -0.01886284295066306, 0.999792444039632] T [-0.07616424149746555; -0.001485191500948734; -0.01076830039005899] Re-projection error reported by stereoCalibrate: 1.421312 Detected horizontal stereo pair Distance between cameras: 0.0762 Extrinsics Calibration Failed exceeded allowable max reprojection error: 0.5 Saved intrinsics to: /data/modalai/opencv_stereo_front_intrinsics.yml Running Calibration... Exiting CleanlyAdditional details for reference:
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 | Running | 97.7% voxl-cpu-monitor | Enabled | Running | 0.4% voxl-dfs-server | Enabled | Running | 18.2% voxl-feature-tracker | Disabled | Not Running | voxl-flow-server | Disabled | Not Running | voxl-imu-server | Enabled | Running | 4.4% voxl-lepton-server | Disabled | Not Running | voxl-mavcam-manager | Enabled | Running | 0.0% voxl-mavlink-server | Enabled | Running | 2.7% voxl-modem | Disabled | Not Running | voxl-neopixel-manager | Disabled | Not Running | voxl-open-vins-server | Disabled | Not Running | voxl-portal | Enabled | Running | 31.8% voxl-px4-imu-server | Disabled | Not Running | voxl-px4 | Enabled | Running | 29.5% voxl-qvio-server | Enabled | Running | 13.5% voxl-rangefinder-server | Disabled | Not Running | voxl-remote-id | Disabled | Not Running | voxl-softap | Enabled | Completed | voxl-static-ip | 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 | Enabled | Running | 4.1% voxl-wait-for-fs | Enabled | Completed |mdr@mdr-System-Product-Name:~$ adb shell * daemon not running; starting now at tcp:5037 * daemon started successfully ▂▂▂▂▂▂▂▂▂▂▂▂▂ ▂▄▆▆██▛▀▀▀▀▀▀▀▀▜████▆▆▄▂ ███╗ ███╗ ██████╗ ██████╗ █████╗ ██╗ ▗▆████▀▔ ▔▔▀▀▀▀▚▄ ████╗ ████║██╔═══██╗██╔══██╗██╔══██╗██║ ▗▟████▀ ▗██▖ ▐█ ▝▀▆▄▄▄ ██╔████╔██║██║ ██║██║ ██║███████║██║ ▟████▀ ▗█▘▝█▖ ▐█ ▜█▀ ██║╚██╔╝██║██║ ██║██║ ██║██╔══██║██║ █▌ ▐█▌ ▗█▘ ▝█▖ ▐█ ▐▄ ██║ ╚═╝ ██║╚██████╔╝██████╔╝██║ ██║███████╗ ▀████ ▗█▘ ▝█▖ ▐█ ▂▄███ ╚═╝ ╚═╝ ╚═════╝ ╚═════╝ ╚═╝ ╚═╝╚══════╝ ▀▀██▄▄ ▂▆███▀ ▀▀██▄▄ ▀▀▆▄▄▄▄▆██▀▀▀▘ -------------------------------------------------------------------------------- system-image: 1.7.4-M0054-14.1a-perf kernel: #1 SMP PREEMPT Fri Feb 9 21:59:24 UTC 2024 4.19.125 -------------------------------------------------------------------------------- hw platform: M0054 mach.var: 1.0 -------------------------------------------------------------------------------- voxl-suite: 1.1.3-1 -
voxl-dfs-server stack smashingposted in Ask your questions right here!
Hey guys,
I've recently been having trouble with the voxl-dfs-server. I'm running voxl-suite 1.0 on Sentinel. I've recalibrated the stereo cameras and enabled the server, but it isn't running. When I try to run I get a "stack smashing" error. Has anyone else encountered this issue? Any recommendations to fix? Code is below, all inputs are appreciated!
▂▂▂▂▂▂▂▂▂▂▂▂▂ ▂▄▆▆██▛▀▀▀▀▀▀▀▀▜████▆▆▄▂ ███╗ ███╗ ██████╗ ██████╗ █████╗ ██╗ ▗▆████▀▔ ▔▔▀▀▀▀▚▄ ████╗ ████║██╔═══██╗██╔══██╗██╔══██╗██║ ▗▟████▀ ▗██▖ ▐█ ▝▀▆▄▄▄ ██╔████╔██║██║ ██║██║ ██║███████║██║ ▟████▀ ▗█▘▝█▖ ▐█ ▜█▀█▄ ██║╚██╔╝██║██║ ██║██║ ██║██╔══██║██║ █▌ ▐█▌ ▗█▘ ▝█▖ ▐█ ▐▄ ▄█ ██║ ╚═╝ ██║╚██████╔╝██████╔╝██║ ██║███████╗ ▀████ ▗█▘ ▝█▖ ▐█ ▂▄███▀ ╚═╝ ╚═╝ ╚═════╝ ╚═════╝ ╚═╝ ╚═╝╚══════╝ ▀▀██▄▄ ▂▆███▀ ▀▀██▄▄ ▀▀▆▄▄▄▄▆██▀▀▀▘ -------------------------------------------------------------------------------- system-image: 1.6.2-M0054-14.1a-perf kernel: #1 SMP PREEMPT Fri May 19 22:19:33 UTC 2023 4.19.125 -------------------------------------------------------------------------------- hw version: M0054 -------------------------------------------------------------------------------- voxl-suite: -------------------------------------------------------------------------------- current IP: wlan0: 192.168.8.1 -------------------------------------------------------------------------------- voxl2:/$ voxl-inspect-services Scanning services... Service Name | Enabled | Running | CPU Usage --------------------------------------------------------------- docker-autorun | Disabled | Not Running | docker-daemon | Disabled | Not Running | modallink-relink | Disabled | Not Running | voxl-camera-server | Enabled | Running | 71.8% voxl-cpu-monitor | Enabled | Running | 0.5% voxl-dfs-server | Enabled | Not Running | voxl-imu-server | Enabled | Running | 5.3% voxl-lepton-server | Disabled | Not Running | voxl-mavcam-manager | Enabled | Running | 0.0% voxl-mavlink-server | Enabled | Running | 2.5% voxl-modem | Disabled | Not Running | voxl-portal | Enabled | Running | 0.2% voxl-px4-imu-server | Disabled | Not Running | voxl-px4 | Enabled | Running | 33.0% voxl-qvio-server | Enabled | Running | 37.6% voxl-remote-id | Disabled | Not Running | voxl-softap | Enabled | Completed | voxl-static-ip | Disabled | Not Running | voxl-streamer | Enabled | Running | 0.0% voxl-tag-detector | Enabled | Running | 18.5% voxl-tflite-server | Enabled | Running | 0.9% voxl-time-sync | Disabled | Not Running | voxl-uvc-server | Disabled | Not Running | voxl-vision-hub | Enabled | Running | 2.3% voxl-wait-for-fs | Enabled | Completed | voxl2:/$ voxl-configure-dfs-server bash: voxl-configure-dfs-server: command not found voxl2:/$ voxl-configure-dfs-server enable bash: voxl-configure-dfs-server: command not found voxl2:/$ systemctl enable voxl-dfs-server voxl2:/$ voxl2:/$ voxl-dfs-server ================================================================= min_disparity: 4 max_disparity: 64 min_threshold: 10 cost_threshold: 10 width: 640 height: 480 pc_skip_n_lines: 4 dfs pair #0 enable: 1 input_pipe: stereo_front skip_n_frames: 1 blur_size: 0 post_median_size: 0 intrinsics_file: /data/modalai/opencv_stereo_front_intrinsics.yml extrinsics_file: /data/modalai/opencv_stereo_front_extrinsics.yml dfs pair #1 enable: 1 input_pipe: stereo_rear skip_n_frames: 1 blur_size: 0 post_median_size: 0 intrinsics_file: /data/modalai/opencv_stereo_rear_intrinsics.yml extrinsics_file: /data/modalai/opencv_stereo_rear_extrinsics.yml ================================================================= loading calibration files for Pair #0, loaded these lens params: f: 476.498688 cx: 337.858215 cy: 244.905640 baseline_m: 0.080362 for Pair #1, loaded these lens params: f: 501.284851 cx: 323.020020 cy: 223.681076 baseline_m: 0.079995 initializing dfs module opening cameras paused client voxl-vision-hub0 connected to ch 2 client voxl-vision-hub0 connected to ch 5 connected to pipe stereo_front connected to pipe stereo_rear *** stack smashing detected ***: <unknown> terminated Aborted -
RE: VOXL 2 No ESC(s) detectedposted in VOXL 2
@Alex-Kushleyev we were able to run voxl-esc tools but could only spin up 3 motors. The new ESC that you sent us works now and I'm able to spin all the motors. I wasn't able really to trace a root cause, but I'm just happy that it's working now. Thanks for all the help so far!
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RE: VOXL 2 No ESC(s) detectedposted in VOXL 2
@Alex-Kushleyev @Vinny @modaltb It has taken a while for me to run this to ground, but I have an update. It does look like there is a tx packet into ESC and a reply when I run the script, and from what I can tell they are simultaneous. Both are at 3.3V and measuring resistance between the lines is ~40-50 kilohms.
I've ordered another ESC and will perform the same tests to see if I can get a successful scan on it. Thanks for the help so far!
Taylor
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RE: VOXL 2 No ESC(s) detectedposted in VOXL 2
@modaltb @Vinny I'm using an Adafruit USB to TTL cable that I had around. Only gnd, tx, and rx are connected, and the ESC is powered by the power supply. It had the same issue.
mdr@mdr-System-Product-Name:~/voxl-esc-dev-python27/tools$ python voxl-esc-scan.py INFO: Device and baud rate are not provided, attempting to autodetect.. Scanning for ESC firmware: /dev/ttyUSB0, baud: 250000 Scanning for ESC firmware: /dev/ttyUSB0, baud: 2000000 Scanning for ESC firmware: /dev/ttyUSB0, baud: 921600 Scanning for ESC firmware: /dev/ttyUSB0, baud: 57600 Scanning for ESC firmware: /dev/ttyUSB0, baud: 115200 Scanning for ESC firmware: /dev/ttyUSB0, baud: 230400 Scanning for ESC bootloader: /dev/ttyUSB0, baud: 38400 Scanning for ESC bootloader: /dev/ttyUSB0, baud: 230400 Scanning for ESC bootloader: /dev/ttyUSB0, baud: 921600 ERROR: No ESC(s) detected, exiting.I can order the other dongle, but I'm measuring traffic on Tx and Rx. Thoughts?
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RE: VOXL 2 No ESC(s) detectedposted in VOXL 2
@modaltb confirmed I'm using J18 and the ESC has power (I get an LED blink and quick chirp on connection). I've got a borrowed oscilloscope and confirmed there is traffic on the ESC. I also tried switching TX/RX on the cabling and this didn't help. I've also now installed voxl-esc per this discussion now and still get the following:
voxl2:/$ voxl-esc scan enabling bridge bridge enabled Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) [GCC 8.4.0] Found voxl-esc tools bin version: 1.1 VOXL Platform: M0054 Detected VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000 INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 250000 INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 921600 INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 230400 INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 57600 INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 115200 INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 38400 Updated baud rate to 38400 INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400 Updated baud rate to 230400 ERROR: No ESC(s) detected, exiting. FAILED to ping ESCs disabling bridge bridge disabledWhat would you recommend for next step?
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VOXL 2 No ESC(s) detectedposted in VOXL 2
I am following the installation instructions for VOXL 2 found here. I've reflashed the system image with release 0.9.5 from 3/30, installed the slpi uart bridge package to VOXL2, disabled px4, and created the symlink for libpx4. I've also doublechecked that the MCBL_00029-1 cable is correct per this wiring diagram.
I've run out of options, can someone help me troubleshoot connecting/configuring the VOXL 2 ESC board? Any help is greatly appreciated!
Outputs are below, thanks in advance,
Taylormdr@mdr-System-Product-Name:~/Downloads$ adb shell ▂▂▂▂▂▂▂▂▂▂▂▂▂ ▂▄▆▆██▛▀▀▀▀▀▀▀▀▜████▆▆▄▂ ███╗ ███╗ ██████╗ ██████╗ █████╗ ██╗ ▗▆████▀▔ ▔▔▀▀▀▀▚▄ ████╗ ████║██╔═══██╗██╔══██╗██╔══██╗██║ ▗▟████▀ ▗██▖ ▐█ ▝▀▆▄▄▄ ██╔████╔██║██║ ██║██║ ██║███████║██║ ▟████▀ ▗█▘▝█▖ ▐█ ▜█▀ ██║╚██╔╝██║██║ ██║██║ ██║██╔══██║██║ █▌ ▐█▌ ▗█▘ ▝█▖ ▐█ ▐▄ ██║ ╚═╝ ██║╚██████╔╝██████╔╝██║ ██║███████╗ ▀████ ▗█▘ ▝█▖ ▐█ ▂▄███ ╚═╝ ╚═╝ ╚═════╝ ╚═════╝ ╚═╝ ╚═╝╚══════╝ ▀▀██▄▄ ▂▆███▀ ▀▀██▄▄ ▀▀▆▄▄▄▄▆██▀▀▀▘ -------------------------------------------------------------------------------- system-image: 1.5.5-M0054-14.1a-perf kernel: #1 SMP PREEMPT Fri Mar 24 00:48:55 UTC 2023 4.19.125 -------------------------------------------------------------------------------- hw version: M0054 -------------------------------------------------------------------------------- voxl-suite: 0.9.5 -------------------------------------------------------------------------------- voxl2:/$ cd /home/root/voxl-esc/voxl-esc-tools/ voxl2:~/voxl-esc/voxl-esc-tools(dev)$ ./voxl-esc-scan.py Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) [GCC 8.4.0] Found voxl-esc tools bin version: 1.1 VOXL Platform: M0054 Detected VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000 INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 250000 INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 921600 INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 230400 INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 57600 INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 115200 INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 38400 Updated baud rate to 38400 INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400 Updated baud rate to 230400 ERROR: No ESC(s) detected, exiting. voxl2:~/voxl-esc/voxl-esc-tools(dev)$ voxl-inspect-services Service Name | Enabled | Running | CPU Usage --------------------------------------------------------------- docker-autorun | Disabled | Not Running | docker-daemon | Disabled | Not Running | modallink-relink | Disabled | Not Running | voxl-camera-server | Disabled | Not Running | voxl-cpu-monitor | Disabled | Not Running | voxl-dfs-server | Disabled | Not Running | voxl-imu-server | Disabled | Not Running | voxl-mavlink-server | Disabled | Not Running | voxl-modem | Disabled | Not Running | voxl-portal | Disabled | Not Running | voxl-px4-imu-server | Disabled | Not Running | voxl-px4 | Disabled | Not Running | voxl-qvio-server | Disabled | Not Running | voxl-remote-id | Disabled | Not Running | voxl-softap | Disabled | Not Running | voxl-static-ip | Disabled | Not Running | voxl-streamer | Disabled | Not Running | voxl-tag-detector | Disabled | Not Running | voxl-tflite-server | Disabled | Not Running | voxl-time-sync | Disabled | Not Running | voxl-vision-px4 | Disabled | Not Running | voxl-wait-for-fs | Enabled | Completed | -
RE: VOXL 2 Spektrum RC Issueposted in VOXL 2
@Eric-Katzfey I've been stuck on travel for the past month but happy to report that your solution worked! input_rc is publishing and I was able to calibrate in QGC.
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RE: VOXL2 mavlink topic streaming modificationsposted in VOXL 2
@Eric-Katzfey Thanks Eric, for future readers, I've created a new post at Voxl 2 Spektrum RC Issue.
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VOXL 2 Spektrum RC Issueposted in VOXL 2
I'm using the VOXL 2 flight deck, Spektrum receiver, and Spektrum DXs transmitter. They are bound and I'm getting MAVLink messages in QGC, but no RC channels. PX4 is not publishing RC messages. When I attempt to calibrate RC in QGC, I get the error message "Detected 0 radio channels. To operate PX4, you need at least 5 channels."
voxl2:/$ px4-listener input_rc never publishedPX4 is failing to initialize uart 8. Starting voxl-px4 produces the following:
voxl2:/$ voxl-inspect-services Service Name | Enabled | Running | CPU Usage --------------------------------------------------------------- docker-autorun | Disabled | Not Running | docker-daemon | Disabled | Not Running | modallink-relink | Disabled | Not Running | voxl-camera-server | Disabled | Not Running | voxl-cpu-monitor | Enabled | Running | 0.0 voxl-dfs-server | Disabled | Not Running | voxl-imu-server | Disabled | Not Running | voxl-mavlink-server | Disabled | Not Running | voxl-modem | Disabled | Not Running | voxl-portal | Disabled | Not Running | voxl-px4-imu-server | Disabled | Not Running | voxl-px4 | Disabled | Not Running | voxl-qvio-server | Disabled | Not Running | voxl-static-ip | Disabled | Not Running | voxl-streamer | Disabled | Not Running | voxl-tag-detector | Disabled | Not Running | voxl-tflite-server | Disabled | Not Running | voxl-time-sync | Disabled | Not Running | voxl-vision-px4 | Enabled | Running | 0.0 voxl-wait-for-fs | Disabled | Not Running | voxl2:/$ voxl-px4 Found DSP signature file INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM. INFO [px4] assuming working directory is rootfs, no symlinks needed. ______ __ __ ___ | ___ \ \ \ / / / | | |_/ / \ V / / /| | | __/ / \ / /_| | | | / /^\ \ \___ | \_| \/ \/ |_/ px4 starting. INFO [px4] Calling startup script: /bin/sh /etc/modalai/voxl-px4.config 0 Running on M0054 INFO [muorb] SLPI: Creating qurt thread hpwork INFO [muorb] SLPI: Successfully created px4 task PX4_hpwork with tid 82 INFO [muorb] SLPI: Creating qurt thread lpwork INFO [muorb] SLPI: Successfully created px4 task PX4_lpwork with tid 81 INFO [muorb] SLPI: Creating qurt thread wkr_hrt INFO [muorb] SLPI: Successfully created px4 task PX4_wkr_hrt with tid 80 INFO [muorb] SLPI: Creating qurt thread client_sync_thread INFO [muorb] SLPI: Successfully created px4 task PX4_client_sync_thread with tid 79 INFO [muorb] SLPI: Creating qurt thread wq_manager INFO [muorb] SLPI: Successfully created px4 task PX4_wq_manager with tid 78 INFO [muorb] SLPI: Creating qurt thread qshell INFO [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 77 INFO [muorb] SLPI: muorb aggregator thread running INFO [qshell] Send cmd: 'icm42688p start -s' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: icm42688p start -s INFO [muorb] SLPI: Creating qurt thread wq_SPI1 INFO [muorb] SLPI: Successfully created px4 task PX4_wq_SPI1 with tid 76 INFO [muorb] SLPI: *** SPI Device ID 0x26000a 2490378 INFO [uorb] Advertising remote topic sensor_accel INFO [uorb] Marking DeviceNode(parameter_server_set_used_request) as advertised in process_remote_topic INFO [muorb] SLPI: Marking DeviceNode(parameter_server_set_used_response) as advertised in process_remote_to INFO [uorb] Advertising remote topic sensor_gyro INFO [uorb] Advertising remote topic imu_server INFO [muorb] SLPI: on SPI bus 1 INFO [muorb] SLPI: icm42688p #0 on SPI bus 1 (devid=0x0) INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: icm42688p start -s INFO [muorb] SLPI: Sending qshell retval with timestamp 77614428, current timestamp 77614429 INFO [uorb] Advertising remote topic qshell_retval INFO [qshell] qshell return value timestamp: 77614428, local time: 77754132 INFO [uorb] Advertising remote topic sensor_gyro_fifo INFO [uorb] Advertising remote topic sensor_accel_fifo INFO [muorb] SLPI: Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic ERROR [muorb] SLPI: Cannot reset all parameters on client side INFO [uorb] Marking DeviceNode(parameter_client_reset_response) as advertised in process_remote_topic INFO [muorb] SLPI: Advertising remote topic parameter_update INFO [muorb] SLPI: Marking DeviceNode(parameter_client_set_value_request) as advertised in process_remote_to INFO [uorb] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic INFO [logger] logger started (mode=all) Starting Holybro magnetometer INFO [qshell] Send cmd: 'ist8310 start -R 10 -X -b 1' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: ist8310 start -R 10 -X -b 1 INFO [muorb] SLPI: Creating qurt thread wq_I2C1 INFO [muorb] SLPI: Successfully created px4 task PX4_wq_I2C1 with tid 75 INFO [muorb] SLPI: *** I2C Device ID 0x60e09 396809 INFO [muorb] SLPI: ist8310 #0 on I2C bus 1 (external) INFO [muorb] SLPI: Ok executing command: ist8310 start -R 10 -X -b 1 INFO [muorb] SLPI: Sending qshell retval with timestamp 80719911, current timestamp 80719912 INFO [qshell] qshell return value timestamp: 80719911, local time: 80721066 Starting Holybro LED driver INFO [qshell] Send cmd: 'rgbled_ncp5623c start -X -b 1 -f 400 -a 56' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: rgbled_ncp5623c start -X -b 1 -f 400 -a 56 INFO [muorb] SLPI: *** I2C Device ID 0x7b3809 8075273 INFO [muorb] SLPI: rgbled_ncp5623c #0 on I2C bus 1 (external) INFO [muorb] SLPI: Ok executing command: rgbled_ncp5623c start -X -b 1 -f 400 -a 56 INFO [muorb] SLPI: Sending qshell retval with timestamp 80751723, current timestamp 80751723 INFO [qshell] qshell return value timestamp: 80751723, local time: 80753408 INFO [qshell] Send cmd: 'icp10100 start -I -b 5' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: icp10100 start -I -b 5 INFO [muorb] SLPI: Creating qurt thread wq_I2C5 INFO [muorb] SLPI: Successfully created px4 task PX4_wq_I2C5 with tid 74 INFO [muorb] SLPI: *** I2C Device ID 0x9c6329 10249001 INFO [muorb] SLPI: probe probe succeeded. data = 0x1 0x48 INFO [muorb] SLPI: icp10100 #0 on I2C bus 5 INFO [muorb] SLPI: Ok executing command: icp10100 start -I -b 5 INFO [muorb] SLPI: Sending qshell retval with timestamp 80788487, current timestamp 80788488 INFO [qshell] qshell return value timestamp: 80788487, local time: 80789647 Starting modalai_esc driver INFO [uorb] Advertising remote topic sensor_mag INFO [uorb] Advertising remote topic sensor_baro INFO [qshell] Send cmd: 'modalai_esc start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: modalai_esc start INFO [muorb] SLPI: Creating qurt thread wq_hp_default INFO [muorb] SLPI: Successfully created px4 task PX4_wq_hp_default with tid 73 INFO [uorb] Advertising remote topic test_motor INFO [muorb] SLPI: Ok executing command: modalai_esc start INFO [muorb] SLPI: Opened UART ESC device INFO [muorb] SLPI: Sending qshell retval with timestamp 80881200, current timestamp 80881201 INFO [qshell] qshell return value timestamp: 80881200, local time: 80883293 INFO [qshell] Send cmd: 'mixer load /dev/uart_esc quad_x.main.mix' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mixer load /dev/uart_esc quad_x.main.mix INFO [muorb] SLPI: Creating qurt thread wq_rate_ctrl INFO [muorb] SLPI: Successfully created px4 task PX4_wq_rate_ctrl with tid 71 INFO [muorb] SLPI: Ok executing command: mixer load /dev/uart_esc quad_x.main.mix INFO [muorb] SLPI: Sending qshell retval with timestamp 80962353, current timestamp 80962354 INFO [qshell] qshell return value timestamp: 80962353, local time: 80964191 INFO [uorb] Advertising remote topic actuator_outputs INFO [uorb] Advertising remote topic multirotor_motor_limits INFO [qshell] Send cmd: 'voxlpm start -X -b 2' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: voxlpm start -X -b 2 INFO [muorb] SLPI: Creating qurt thread wq_I2C2 INFO [muorb] SLPI: Successfully created px4 task PX4_wq_I2C2 with tid 4169 INFO [muorb] SLPI: *** I2C Device ID 0x784411 7881745 INFO [uorb] Advertising remote topic battery_status INFO [muorb] SLPI: voxlpm #0 on I2C bus 2 (external) INFO [muorb] SLPI: Ok executing command: voxlpm start -X -b 2 INFO [muorb] SLPI: Sending qshell retval with timestamp 81015254, current timestamp 81015255 INFO [qshell] qshell return value timestamp: 81015254, local time: 81017021 INFO [uorb] Advertising remote topic power_monitor Starting Holybro GPS INFO [qshell] Send cmd: 'gps start -d 7 -b 115200' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: gps start -d 7 -b 115200 INFO [muorb] SLPI: Creating qurt thread gps INFO [muorb] SLPI: Successfully created px4 task PX4_gps with tid 70 INFO [muorb] SLPI: Ok executing command: gps start -d 7 -b 115200 INFO [muorb] SLPI: Sending qshell retval with timestamp 81067431, current timestamp 81067432 INFO [qshell] qshell return value timestamp: 81067431, local time: 81070463 INFO [qshell] Send cmd: 'px4io detect' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: px4io detect INFO [muorb] SLPI: serial port fd 2 ERROR [muorb] SLPI: px4io read failed ERROR [muorb] SLPI: px4io io_reg_get(0,0,1): data error -5 ERROR [muorb] SLPI: IO not installed ERROR [muorb] SLPI: Detection attempt 2 failed ERROR [muorb] SLPI: Detection attempt 1 failed ERROR [muorb] SLPI: Detection attempt 0 failed ERROR [muorb] SLPI: Failed to execute command: px4io detect INFO [muorb] SLPI: Sending qshell retval with timestamp 81127227, current timestamp 81127228 INFO [qshell] cmd returned with: -17 INFO [qshell] qshell return value timestamp: 81127227, local time: 81130928 ERROR [qshell] Command failed M0065 not detected, starting Spektrum RC driver INFO [qshell] Send cmd: 'spektrum_rc start -d 8' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: spektrum_rc start -d 8 INFO [muorb] SLPI: Creating qurt thread spektrum_rc_main INFO [muorb] SLPI: Successfully created px4 task PX4_spektrum_rc_main with tid 67 INFO [muorb] SLPI: Ok executing command: spektrum_rc start -d 8 INFO [muorb] SLPI: Sending qshell retval with timestamp 81177434, current timestamp 81177435 ERROR [muorb] SLPI: Open failed on 8 ERROR [muorb] SLPI: dsm init failed INFO [qshell] qshell return value timestamp: 81177434, local time: 81180285 INFO [qshell] Send cmd: 'sensors start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: sensors start INFO [muorb] SLPI: Creating qurt thread wq_nav_and_controllers INFO [muorb] SLPI: Successfully created px4 task PX4_wq_nav_and_controllers with tid 4163 INFO [muorb] SLPI: Ok executing command: sensors start INFO [muorb] SLPI: Sending qshell retval with timestamp 82265425, current timestamp 82265426 INFO [uorb] Advertising remote topic vehicle_angular_acceleration INFO [uorb] Advertising remote topic vehicle_angular_velocity INFO [qshell] qshell return value timestamp: 82265425, local time: 82269473 INFO [muorb] SLPI: Creating qurt thread wq_INS0 INFO [muorb] SLPI: Successfully created px4 task PX4_wq_INS0 with tid 66 INFO [uorb] Advertising remote topic vehicle_imu INFO [uorb] Advertising remote topic vehicle_imu_status INFO [uorb] Advertising remote topic sensors_status_imu INFO [uorb] Advertising remote topic vehicle_acceleration INFO [uorb] Advertising remote topic vehicle_magnetometer INFO [uorb] Advertising remote topic sensor_preflight_mag INFO [uorb] Advertising remote topic vehicle_air_data INFO [qshell] Send cmd: 'ekf2 start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: ekf2 start INFO [uorb] Advertising remote topic sensor_selection INFO [uorb] Advertising remote topic sensor_combined INFO [muorb] SLPI: Ok executing command: ekf2 start INFO [muorb] SLPI: Sending qshell retval with timestamp 82536895, current timestamp 82536896 INFO [qshell] qshell return value timestamp: 82536895, local time: 82539136 ERROR [muorb] SLPI: 0 - vehicle_magnetometer lost, generation 0 -> 12 INFO [uorb] Advertising remote topic ekf2_timestamps INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mc_pos_control start INFO [qshell] Send cmd: 'mc_pos_control start' INFO [muorb] SLPI: Ok executing command: mc_pos_control start INFO [muorb] SLPI: Sending qshell retval with timestamp 82596219, current timestamp 82596219 INFO [qshell] qshell return value timestamp: 82596219, local time: 82598209 INFO [qshell] Send cmd: 'mc_att_control start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mc_att_control start INFO [muorb] SLPI: Ok executing command: mc_att_control start INFO [muorb] SLPI: Sending qshell retval with timestamp 82672105, current timestamp 82672106 INFO [qshell] qshell return value timestamp: 82672105, local time: 82676085 INFO [qshell] Send cmd: 'mc_rate_control start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mc_rate_control start INFO [muorb] SLPI: Ok executing command: mc_rate_control start INFO [muorb] SLPI: Sending qshell retval with timestamp 82779424, current timestamp 82779425 INFO [qshell] qshell return value timestamp: 82779424, local time: 82783625 INFO [qshell] Send cmd: 'mc_hover_thrust_estimator start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mc_hover_thrust_estimator start INFO [muorb] SLPI: Ok executing command: mc_hover_thrust_estimator start INFO [muorb] SLPI: Sending qshell retval with timestamp 82819473, current timestamp 82819474 INFO [qshell] qshell return value timestamp: 82819473, local time: 82821069 INFO [qshell] Send cmd: 'land_detector start multicopter' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: land_detector start multicopter INFO [muorb] SLPI: Ok executing command: land_detector start multicopter INFO [muorb] SLPI: Sending qshell retval with timestamp 82868826, current timestamp 82868827 INFO [qshell] qshell return value timestamp: 82868826, local time: 82872765 INFO [uorb] Advertising remote topic vehicle_land_detected INFO [muorb] SLPI: 83015116: reset position to last known position INFO [muorb] SLPI: 83015116: reset velocity to zero INFO [uorb] Advertising remote topic vehicle_local_position INFO [uorb] Advertising remote topic vehicle_odometry INFO [uorb] Advertising remote topic estimator_states INFO [uorb] Advertising remote topic estimator_status INFO [uorb] Advertising remote topic estimator_status_flags INFO [uorb] Advertising remote topic estimator_innovations INFO [uorb] Advertising remote topic estimator_innovation_test_ratios INFO [uorb] Advertising remote topic estimator_innovation_variances INFO [dataman] Unknown restart, data manager file '/data/px4/dataman' size is 11798680 bytes INFO [muorb] SLPI: Advertising remote topic position_setpoint_triplet INFO [commander] Mission #3 loaded, 1 WPs, curr: 0 INFO [muorb] SLPI: Advertising remote topic mission INFO [commander] LED: open /dev/led0 failed (22) INFO [muorb] SLPI: Advertising remote topic led_control INFO [muorb] SLPI: Advertising remote topic tune_control INFO [PreFlightCheck] Failed system power preflight check INFO [PreFlightCheck] Failed EKF health preflight check while waiting for filter to settle INFO [muorb] SLPI: Advertising remote topic vehicle_control_mode INFO [muorb] SLPI: Advertising remote topic vehicle_status INFO [muorb] SLPI: Advertising remote topic actuator_armed INFO [PreFlightCheck] Failed system power preflight check INFO [muorb] SLPI: Advertising remote topic commander_state INFO [uorb] Advertising remote topic rate_ctrl_status INFO [uorb] Advertising remote topic actuator_controls_0 INFO [muorb] SLPI: Advertising remote topic vehicle_status_flags INFO [muorb] SLPI: Advertising remote topic vehicle_command INFO [commander] Handling Commander command 176 INFO [muorb] SLPI: Advertising remote topic vehicle_command_ack INFO [PreFlightCheck] Failed system power preflight check INFO [PreFlightCheck] Failed system power preflight check INFO [mavlink] mode: Onboard, data rate: 100000 B/s on udp port 14556 remote port 14557 INFO [muorb] SLPI: Marking DeviceNode(vehicle_command) as advertised in process_remote_topic INFO [uorb] Advertising remote topic estimator_sensor_bias INFO [PreFlightCheck] Failed system power preflight check INFO [PreFlightCheck] Failed system power preflight check INFO [PreFlightCheck] Failed system power preflight check INFO [PreFlightCheck] Failed system power preflight check INFO [muorb] SLPI: Advertising remote topic telemetry_status INFO [px4] Startup script returned successfully pxh> INFO [PreFlightCheck] Failed system power preflight check INFO [PreFlightCheck] Failed system power preflight check INFO [PreFlightCheck] Failed system power preflight check INFO [PreFlightCheck] Failed system power preflight check INFO [PreFlightCheck] Failed system power preflight check INFO [PreFlightCheck] Failed system power preflight check INFO [PreFlightCheck] Failed system power preflight check INFO [muorb] SLPI: 90040983: EKF aligned, (baro hgt, IMU buf: 11, OBS buf: 8) INFO [PreFlightCheck] Failed system power preflight check INFO [uorb] Advertising remote topic vehicle_attitude INFO [uorb] Advertising remote topic vehicle_attitude_setpoint INFO [uorb] Advertising remote topic vehicle_rates_setpointI'm using the VOXL 2 GPS / Mag / RC Module. All help troubleshooting is appreciated!
Thanks in advance,
Taylor -
RE: VOXL2 mavlink topic streaming modificationsposted in VOXL 2
@JoeC I did try that because I figured I may have screwed something up during HITL testing, but input_rc is still not publishing, sensor_gps is not published, and px4io is still failing to read. I'm open to trying anything that may work, all comments appreciated!
-
RE: VOXL2 mavlink topic streaming modificationsposted in VOXL 2
@Eric-Katzfey I've tried both, below is the output after I disable px4 and then start it using voxl-px4. It does appear to try and start spektrum_rc and then returns the errors "Open failed on 8" and "dsm init failed." I also get "px4io read failed," is it possible they are related? Thanks in advance for your help!
voxl2:/$ voxl-inspect-services Service Name | Enabled | Running | CPU Usage --------------------------------------------------------------- docker-autorun | Disabled | Not Running | docker-daemon | Disabled | Not Running | modallink-relink | Disabled | Not Running | voxl-camera-server | Disabled | Not Running | voxl-cpu-monitor | Enabled | Running | 0.0 voxl-dfs-server | Disabled | Not Running | voxl-imu-server | Disabled | Not Running | voxl-mavlink-server | Disabled | Not Running | voxl-modem | Disabled | Not Running | voxl-portal | Disabled | Not Running | voxl-px4-imu-server | Disabled | Not Running | voxl-px4 | Disabled | Not Running | voxl-qvio-server | Disabled | Not Running | voxl-static-ip | Disabled | Not Running | voxl-streamer | Disabled | Not Running | voxl-tag-detector | Disabled | Not Running | voxl-tflite-server | Disabled | Not Running | voxl-time-sync | Disabled | Not Running | voxl-vision-px4 | Enabled | Running | 0.0 voxl-wait-for-fs | Disabled | Not Running | voxl2:/$ voxl-px4 Found DSP signature file INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM. INFO [px4] assuming working directory is rootfs, no symlinks needed. ______ __ __ ___ | ___ \ \ \ / / / | | |_/ / \ V / / /| | | __/ / \ / /_| | | | / /^\ \ \___ | \_| \/ \/ |_/ px4 starting. INFO [px4] Calling startup script: /bin/sh /etc/modalai/voxl-px4.config 0 Running on M0054 INFO [muorb] SLPI: Creating qurt thread hpwork INFO [muorb] SLPI: Successfully created px4 task PX4_hpwork with tid 82 INFO [muorb] SLPI: Creating qurt thread lpwork INFO [muorb] SLPI: Successfully created px4 task PX4_lpwork with tid 81 INFO [muorb] SLPI: Creating qurt thread wkr_hrt INFO [muorb] SLPI: Successfully created px4 task PX4_wkr_hrt with tid 80 INFO [muorb] SLPI: Creating qurt thread client_sync_thread INFO [muorb] SLPI: Successfully created px4 task PX4_client_sync_thread with tid 79 INFO [muorb] SLPI: Creating qurt thread wq_manager INFO [muorb] SLPI: Successfully created px4 task PX4_wq_manager with tid 78 INFO [muorb] SLPI: Creating qurt thread qshell INFO [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 77 INFO [muorb] SLPI: muorb aggregator thread running INFO [qshell] Send cmd: 'icm42688p start -s' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: icm42688p start -s INFO [muorb] SLPI: Creating qurt thread wq_SPI1 INFO [muorb] SLPI: Successfully created px4 task PX4_wq_SPI1 with tid 76 INFO [muorb] SLPI: *** SPI Device ID 0x26000a 2490378 INFO [uorb] Advertising remote topic sensor_accel INFO [uorb] Marking DeviceNode(parameter_server_set_used_request) as advertised in process_remote_topic INFO [muorb] SLPI: Marking DeviceNode(parameter_server_set_used_response) as advertised in process_remote_to INFO [uorb] Advertising remote topic sensor_gyro INFO [uorb] Advertising remote topic imu_server INFO [muorb] SLPI: on SPI bus 1 INFO [muorb] SLPI: icm42688p #0 on SPI bus 1 (devid=0x0) INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: icm42688p start -s INFO [muorb] SLPI: Sending qshell retval with timestamp 77614428, current timestamp 77614429 INFO [uorb] Advertising remote topic qshell_retval INFO [qshell] qshell return value timestamp: 77614428, local time: 77754132 INFO [uorb] Advertising remote topic sensor_gyro_fifo INFO [uorb] Advertising remote topic sensor_accel_fifo INFO [muorb] SLPI: Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic ERROR [muorb] SLPI: Cannot reset all parameters on client side INFO [uorb] Marking DeviceNode(parameter_client_reset_response) as advertised in process_remote_topic INFO [muorb] SLPI: Advertising remote topic parameter_update INFO [muorb] SLPI: Marking DeviceNode(parameter_client_set_value_request) as advertised in process_remote_to INFO [uorb] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic INFO [logger] logger started (mode=all) Starting Holybro magnetometer INFO [qshell] Send cmd: 'ist8310 start -R 10 -X -b 1' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: ist8310 start -R 10 -X -b 1 INFO [muorb] SLPI: Creating qurt thread wq_I2C1 INFO [muorb] SLPI: Successfully created px4 task PX4_wq_I2C1 with tid 75 INFO [muorb] SLPI: *** I2C Device ID 0x60e09 396809 INFO [muorb] SLPI: ist8310 #0 on I2C bus 1 (external) INFO [muorb] SLPI: Ok executing command: ist8310 start -R 10 -X -b 1 INFO [muorb] SLPI: Sending qshell retval with timestamp 80719911, current timestamp 80719912 INFO [qshell] qshell return value timestamp: 80719911, local time: 80721066 Starting Holybro LED driver INFO [qshell] Send cmd: 'rgbled_ncp5623c start -X -b 1 -f 400 -a 56' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: rgbled_ncp5623c start -X -b 1 -f 400 -a 56 INFO [muorb] SLPI: *** I2C Device ID 0x7b3809 8075273 INFO [muorb] SLPI: rgbled_ncp5623c #0 on I2C bus 1 (external) INFO [muorb] SLPI: Ok executing command: rgbled_ncp5623c start -X -b 1 -f 400 -a 56 INFO [muorb] SLPI: Sending qshell retval with timestamp 80751723, current timestamp 80751723 INFO [qshell] qshell return value timestamp: 80751723, local time: 80753408 INFO [qshell] Send cmd: 'icp10100 start -I -b 5' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: icp10100 start -I -b 5 INFO [muorb] SLPI: Creating qurt thread wq_I2C5 INFO [muorb] SLPI: Successfully created px4 task PX4_wq_I2C5 with tid 74 INFO [muorb] SLPI: *** I2C Device ID 0x9c6329 10249001 INFO [muorb] SLPI: probe probe succeeded. data = 0x1 0x48 INFO [muorb] SLPI: icp10100 #0 on I2C bus 5 INFO [muorb] SLPI: Ok executing command: icp10100 start -I -b 5 INFO [muorb] SLPI: Sending qshell retval with timestamp 80788487, current timestamp 80788488 INFO [qshell] qshell return value timestamp: 80788487, local time: 80789647 Starting modalai_esc driver INFO [uorb] Advertising remote topic sensor_mag INFO [uorb] Advertising remote topic sensor_baro INFO [qshell] Send cmd: 'modalai_esc start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: modalai_esc start INFO [muorb] SLPI: Creating qurt thread wq_hp_default INFO [muorb] SLPI: Successfully created px4 task PX4_wq_hp_default with tid 73 INFO [uorb] Advertising remote topic test_motor INFO [muorb] SLPI: Ok executing command: modalai_esc start INFO [muorb] SLPI: Opened UART ESC device INFO [muorb] SLPI: Sending qshell retval with timestamp 80881200, current timestamp 80881201 INFO [qshell] qshell return value timestamp: 80881200, local time: 80883293 INFO [qshell] Send cmd: 'mixer load /dev/uart_esc quad_x.main.mix' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mixer load /dev/uart_esc quad_x.main.mix INFO [muorb] SLPI: Creating qurt thread wq_rate_ctrl INFO [muorb] SLPI: Successfully created px4 task PX4_wq_rate_ctrl with tid 71 INFO [muorb] SLPI: Ok executing command: mixer load /dev/uart_esc quad_x.main.mix INFO [muorb] SLPI: Sending qshell retval with timestamp 80962353, current timestamp 80962354 INFO [qshell] qshell return value timestamp: 80962353, local time: 80964191 INFO [uorb] Advertising remote topic actuator_outputs INFO [uorb] Advertising remote topic multirotor_motor_limits INFO [qshell] Send cmd: 'voxlpm start -X -b 2' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: voxlpm start -X -b 2 INFO [muorb] SLPI: Creating qurt thread wq_I2C2 INFO [muorb] SLPI: Successfully created px4 task PX4_wq_I2C2 with tid 4169 INFO [muorb] SLPI: *** I2C Device ID 0x784411 7881745 INFO [uorb] Advertising remote topic battery_status INFO [muorb] SLPI: voxlpm #0 on I2C bus 2 (external) INFO [muorb] SLPI: Ok executing command: voxlpm start -X -b 2 INFO [muorb] SLPI: Sending qshell retval with timestamp 81015254, current timestamp 81015255 INFO [qshell] qshell return value timestamp: 81015254, local time: 81017021 INFO [uorb] Advertising remote topic power_monitor Starting Holybro GPS INFO [qshell] Send cmd: 'gps start -d 7 -b 115200' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: gps start -d 7 -b 115200 INFO [muorb] SLPI: Creating qurt thread gps INFO [muorb] SLPI: Successfully created px4 task PX4_gps with tid 70 INFO [muorb] SLPI: Ok executing command: gps start -d 7 -b 115200 INFO [muorb] SLPI: Sending qshell retval with timestamp 81067431, current timestamp 81067432 INFO [qshell] qshell return value timestamp: 81067431, local time: 81070463 INFO [qshell] Send cmd: 'px4io detect' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: px4io detect INFO [muorb] SLPI: serial port fd 2 ERROR [muorb] SLPI: px4io read failed ERROR [muorb] SLPI: px4io io_reg_get(0,0,1): data error -5 ERROR [muorb] SLPI: IO not installed ERROR [muorb] SLPI: Detection attempt 2 failed ERROR [muorb] SLPI: Detection attempt 1 failed ERROR [muorb] SLPI: Detection attempt 0 failed ERROR [muorb] SLPI: Failed to execute command: px4io detect INFO [muorb] SLPI: Sending qshell retval with timestamp 81127227, current timestamp 81127228 INFO [qshell] cmd returned with: -17 INFO [qshell] qshell return value timestamp: 81127227, local time: 81130928 ERROR [qshell] Command failed M0065 not detected, starting Spektrum RC driver INFO [qshell] Send cmd: 'spektrum_rc start -d 8' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: spektrum_rc start -d 8 INFO [muorb] SLPI: Creating qurt thread spektrum_rc_main INFO [muorb] SLPI: Successfully created px4 task PX4_spektrum_rc_main with tid 67 INFO [muorb] SLPI: Ok executing command: spektrum_rc start -d 8 INFO [muorb] SLPI: Sending qshell retval with timestamp 81177434, current timestamp 81177435 ERROR [muorb] SLPI: Open failed on 8 ERROR [muorb] SLPI: dsm init failed INFO [qshell] qshell return value timestamp: 81177434, local time: 81180285 INFO [qshell] Send cmd: 'sensors start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: sensors start INFO [muorb] SLPI: Creating qurt thread wq_nav_and_controllers INFO [muorb] SLPI: Successfully created px4 task PX4_wq_nav_and_controllers with tid 4163 INFO [muorb] SLPI: Ok executing command: sensors start INFO [muorb] SLPI: Sending qshell retval with timestamp 82265425, current timestamp 82265426 INFO [uorb] Advertising remote topic vehicle_angular_acceleration INFO [uorb] Advertising remote topic vehicle_angular_velocity INFO [qshell] qshell return value timestamp: 82265425, local time: 82269473 INFO [muorb] SLPI: Creating qurt thread wq_INS0 INFO [muorb] SLPI: Successfully created px4 task PX4_wq_INS0 with tid 66 INFO [uorb] Advertising remote topic vehicle_imu INFO [uorb] Advertising remote topic vehicle_imu_status INFO [uorb] Advertising remote topic sensors_status_imu INFO [uorb] Advertising remote topic vehicle_acceleration INFO [uorb] Advertising remote topic vehicle_magnetometer INFO [uorb] Advertising remote topic sensor_preflight_mag INFO [uorb] Advertising remote topic vehicle_air_data INFO [qshell] Send cmd: 'ekf2 start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: ekf2 start INFO [uorb] Advertising remote topic sensor_selection INFO [uorb] Advertising remote topic sensor_combined INFO [muorb] SLPI: Ok executing command: ekf2 start INFO [muorb] SLPI: Sending qshell retval with timestamp 82536895, current timestamp 82536896 INFO [qshell] qshell return value timestamp: 82536895, local time: 82539136 ERROR [muorb] SLPI: 0 - vehicle_magnetometer lost, generation 0 -> 12 INFO [uorb] Advertising remote topic ekf2_timestamps INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mc_pos_control start INFO [qshell] Send cmd: 'mc_pos_control start' INFO [muorb] SLPI: Ok executing command: mc_pos_control start INFO [muorb] SLPI: Sending qshell retval with timestamp 82596219, current timestamp 82596219 INFO [qshell] qshell return value timestamp: 82596219, local time: 82598209 INFO [qshell] Send cmd: 'mc_att_control start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mc_att_control start INFO [muorb] SLPI: Ok executing command: mc_att_control start INFO [muorb] SLPI: Sending qshell retval with timestamp 82672105, current timestamp 82672106 INFO [qshell] qshell return value timestamp: 82672105, local time: 82676085 INFO [qshell] Send cmd: 'mc_rate_control start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mc_rate_control start INFO [muorb] SLPI: Ok executing command: mc_rate_control start INFO [muorb] SLPI: Sending qshell retval with timestamp 82779424, current timestamp 82779425 INFO [qshell] qshell return value timestamp: 82779424, local time: 82783625 INFO [qshell] Send cmd: 'mc_hover_thrust_estimator start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mc_hover_thrust_estimator start INFO [muorb] SLPI: Ok executing command: mc_hover_thrust_estimator start INFO [muorb] SLPI: Sending qshell retval with timestamp 82819473, current timestamp 82819474 INFO [qshell] qshell return value timestamp: 82819473, local time: 82821069 INFO [qshell] Send cmd: 'land_detector start multicopter' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: land_detector start multicopter INFO [muorb] SLPI: Ok executing command: land_detector start multicopter INFO [muorb] SLPI: Sending qshell retval with timestamp 82868826, current timestamp 82868827 INFO [qshell] qshell return value timestamp: 82868826, local time: 82872765 INFO [uorb] Advertising remote topic vehicle_land_detected INFO [muorb] SLPI: 83015116: reset position to last known position INFO [muorb] SLPI: 83015116: reset velocity to zero INFO [uorb] Advertising remote topic vehicle_local_position INFO [uorb] Advertising remote topic vehicle_odometry INFO [uorb] Advertising remote topic estimator_states INFO [uorb] Advertising remote topic estimator_status INFO [uorb] Advertising remote topic estimator_status_flags INFO [uorb] Advertising remote topic estimator_innovations INFO [uorb] Advertising remote topic estimator_innovation_test_ratios INFO [uorb] Advertising remote topic estimator_innovation_variances INFO [dataman] Unknown restart, data manager file '/data/px4/dataman' size is 11798680 bytes INFO [muorb] SLPI: Advertising remote topic position_setpoint_triplet INFO [commander] Mission #3 loaded, 1 WPs, curr: 0 INFO [muorb] SLPI: Advertising remote topic mission INFO [commander] LED: open /dev/led0 failed (22) INFO [muorb] SLPI: Advertising remote topic led_control INFO [muorb] SLPI: Advertising remote topic tune_control INFO [PreFlightCheck] Failed system power preflight check INFO [PreFlightCheck] Failed EKF health preflight check while waiting for filter to settle INFO [muorb] SLPI: Advertising remote topic vehicle_control_mode INFO [muorb] SLPI: Advertising remote topic vehicle_status INFO [muorb] SLPI: Advertising remote topic actuator_armed INFO [PreFlightCheck] Failed system power preflight check INFO [muorb] SLPI: Advertising remote topic commander_state INFO [uorb] Advertising remote topic rate_ctrl_status INFO [uorb] Advertising remote topic actuator_controls_0 INFO [muorb] SLPI: Advertising remote topic vehicle_status_flags INFO [muorb] SLPI: Advertising remote topic vehicle_command INFO [commander] Handling Commander command 176 INFO [muorb] SLPI: Advertising remote topic vehicle_command_ack INFO [PreFlightCheck] Failed system power preflight check INFO [PreFlightCheck] Failed system power preflight check INFO [mavlink] mode: Onboard, data rate: 100000 B/s on udp port 14556 remote port 14557 INFO [muorb] SLPI: Marking DeviceNode(vehicle_command) as advertised in process_remote_topic INFO [uorb] Advertising remote topic estimator_sensor_bias INFO [PreFlightCheck] Failed system power preflight check INFO [PreFlightCheck] Failed system power preflight check INFO [PreFlightCheck] Failed system power preflight check INFO [PreFlightCheck] Failed system power preflight check INFO [muorb] SLPI: Advertising remote topic telemetry_status INFO [px4] Startup script returned successfully pxh> INFO [PreFlightCheck] Failed system power preflight check INFO [PreFlightCheck] Failed system power preflight check INFO [PreFlightCheck] Failed system power preflight check INFO [PreFlightCheck] Failed system power preflight check INFO [PreFlightCheck] Failed system power preflight check INFO [PreFlightCheck] Failed system power preflight check INFO [PreFlightCheck] Failed system power preflight check INFO [muorb] SLPI: 90040983: EKF aligned, (baro hgt, IMU buf: 11, OBS buf: 8) INFO [PreFlightCheck] Failed system power preflight check INFO [uorb] Advertising remote topic vehicle_attitude INFO [uorb] Advertising remote topic vehicle_attitude_setpoint INFO [uorb] Advertising remote topic vehicle_rates_setpoint -
RE: VOXL2 mavlink topic streaming modificationsposted in VOXL 2
@JoeC @Eric-Katzfey following. I'm using the VOXL 2 flight deck, Spektrum receiver, and Spektrum DXs transmitter. They are bound and I'm getting MAVLink messages in QGC, but no RC channels. PX4 is not publishing RC messages. Any feedback is appreciated!
voxl2:/$ px4-listener input_rc never published -
RE: Spektrum reciever won't bind using Sentinelposted in Ask your questions right here!
@Isaac_j did you figure out a solution to this issue? I'm running into the same problem also using the Spektrum DSMX receiver and transmitter. QGC doesn't see any radio channels even though the transmitter/receiver pair are bound.
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RE: HITL with VOXL 2 Serial Port Closedposted in Ask your questions right here!
@Zachary-Lowell I have two instances setup, one for SITL with ROS, gazebo, and PX4 firmware, and another following the VOXL 2 PX4 HITL User Guide. I'm not sure why, but when I deleted the bashrc sources to the SITL catkin_ws and ROS package paths, and then followed the instructions, I was able to connect to gazebo with HITL and takeoff/land. Gazebo now prints 'Opened serial device /dev/ttyUSB0.' Thanks!
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RE: HITL with VOXL 2 Serial Port Closedposted in Ask your questions right here!
@Zachary-Lowell have you had a chance to investigate? Is there any additional information I could provide that would help?
Thanks,
Taylor -
RE: HITL with VOXL 2 Serial Port Closedposted in Ask your questions right here!
Zach,
Thanks for taking the time to look at this! Yes, see snippets below:
mdr@mdr:~$ lsusb Bus 001 Device 002: ID 0403:6001 Future Technology Devices International, Ltd FT232 Serial (UART) ICmdr@mdr:~$ dmesg | grep ttyUSB [ 3.219261] usb 1-2: FTDI USB Serial Device converter now attached to ttyUSB0 -
HITL with VOXL 2 Serial Port Closedposted in Ask your questions right here!
Hey good afternoon,
I'm following this user guide and Zach's YT tutorial to setup HITL. I modified iris_hitl.sdf serialDevice to /dev/ttyUSB0, but continue to receive "Serial port closed!" message instead of expected "Opened serial device /dev/ttyUSB0" after running 'gazebo Tools/sitl_gazebo/worlds/hitl_iris.world'
I've included PX4 output on target and QGC output below. I think I have cabling correct because QGC reads mavlink messages (and doesn't when I switch TX/RX).
I'm using VOXL 2 Flight Deck, Ubuntu 20.04, ROS Noetic, Gazebo 11, QGC daily build.
How can I fix this?
mdr@mdr:~$ adb shell voxl2:/$ voxl-px4-hitl -v Found DSP signature file Setting VIO Parameters for HITL INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM. INFO [px4] assuming working directory is rootfs, no symlinks needed. ______ __ __ ___ | ___ \ \ \ / / / | | |_/ / \ V / / /| | | __/ / \ / /_| | | | / /^\ \ \___ | \_| \/ \/ |_/ px4 starting. INFO [px4] Calling startup script: /bin/sh /etc/modalai/voxl-px4-hitl-vio-parameters.config 0 CBRK_SUPPLY_CHK: curr: 0 -> new: 894281 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CBRK_SUPPLY_CHK COM_DISARM_PRFLT: curr: 10.0000 -> new: -1.0000 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for COM_DISARM_PRFLT COM_RC_IN_MODE: curr: 0 -> new: 1 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for COM_RC_IN_MODE NAV_RCL_ACT: curr: 2 -> new: 0 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for NAV_RCL_ACT EKF2_AID_MASK: curr: 1 -> new: 280 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_AID_MASK SYS_HAS_MAG: curr: 1 -> new: 0 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for SYS_HAS_MAG EKF2_MAG_TYPE: curr: 0 -> new: 5 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_MAG_TYPE EKF2_HGT_MODE: curr: 0 -> new: 3 ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_HGT_MODE Exiting NOW. INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM. INFO [px4] assuming working directory is rootfs, no symlinks needed. ______ __ __ ___ | ___ \ \ \ / / / | | |_/ / \ V / / /| | | __/ / \ / /_| | | | / /^\ \ \___ | \_| \/ \/ |_/ px4 starting. INFO [px4] Calling startup script: /bin/sh /etc/modalai/voxl-px4-hitl.config 0 INFO [muorb] SLPI: Creating qurt thread hpwork INFO [muorb] SLPI: Successfully created px4 task PX4_hpwork with tid 82 INFO [muorb] SLPI: Creating qurt thread lpwork INFO [muorb] SLPI: Successfully created px4 task PX4_lpwork with tid 81 INFO [muorb] SLPI: Creating qurt thread wkr_hrt INFO [muorb] SLPI: Successfully created px4 task PX4_wkr_hrt with tid 80 INFO [muorb] SLPI: Creating qurt thread client_sync_thread INFO [muorb] SLPI: Successfully created px4 task PX4_client_sync_thread with tid 79 INFO [muorb] SLPI: Creating qurt thread wq_manager INFO [muorb] SLPI: Successfully created px4 task PX4_wq_manager with tid 78 INFO [muorb] SLPI: Creating qurt thread qshell INFO [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 77 INFO [muorb] SLPI: muorb aggregator thread running INFO [logger] logger started (mode=all) INFO [logger] Start file log (type: full) INFO [logger] [logger] /data/px4/log/sess011/log001.ulg INFO [logger] Opened full log file: /data/px4/log/sess011/log001.ulg INFO [muorb] SLPI: Advertising remote topic mavlink_log ERROR [logger] No subscriptions added INFO [muorb] SLPI: Advertising remote topic logger_status INFO [qshell] Send cmd: 'icm42688p start -s -h' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: icm42688p start -s -h INFO [muorb] SLPI: Creating qurt thread wq_SPI1 INFO [muorb] SLPI: Successfully created px4 task PX4_wq_SPI1 with tid 76 INFO [muorb] SLPI: *** SPI Device ID 0x26000a 2490378 INFO [muorb] SLPI: on SPI bus 1 INFO [muorb] SLPI: icm42688p #0 on SPI bus 1 (devid=0x0) INFO [muorb] SLPI: INFO [muorb] SLPI: Ok executing command: icm42688p start -s -h INFO [muorb] SLPI: Sending qshell retval with timestamp 388011943, current timestamp 388011944 INFO [uorb] Advertising remote topic qshell_retval INFO [qshell] qshell return value timestamp: 388011943, local time: 388014777 INFO [muorb] SLPI: Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic ERROR [muorb] SLPI: Cannot reset all parameters on client side INFO [uorb] Marking DeviceNode(parameter_client_reset_response) as advertised in process_remote_topic INFO [muorb] SLPI: Advertising remote topic parameter_update INFO [muorb] SLPI: Marking DeviceNode(parameter_client_set_value_request) as advertised in process_remote_to INFO [uorb] Marking DeviceNode(parameter_server_set_used_request) as advertised in process_remote_topic INFO [muorb] SLPI: Marking DeviceNode(parameter_server_set_used_response) as advertised in process_remote_to INFO [uorb] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic INFO [dataman] Unknown restart, data manager file '/data/px4/dataman' size is 11798680 bytes INFO [qshell] Send cmd: 'sensors start -h' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: sensors start -h INFO [muorb] SLPI: Creating qurt thread wq_nav_and_controllers INFO [muorb] SLPI: Successfully created px4 task PX4_wq_nav_and_controllers with tid 75 INFO [muorb] SLPI: Creating qurt thread wq_rate_ctrl INFO [muorb] SLPI: Successfully created px4 task PX4_wq_rate_ctrl with tid 74 INFO [muorb] SLPI: Ok executing command: sensors start -h INFO [muorb] SLPI: Sending qshell retval with timestamp 390387672, current timestamp 390387673 INFO [uorb] Advertising remote topic sensors_status_imu INFO [qshell] qshell return value timestamp: 390387672, local time: 390391251 INFO [muorb] SLPI: Advertising remote topic mission INFO [commander] LED: open /dev/led0 failed (22) INFO [muorb] SLPI: Advertising remote topic led_control INFO [muorb] SLPI: Advertising remote topic tune_control INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed EKF health preflight check while waiting for filter to settle INFO [muorb] SLPI: Advertising remote topic vehicle_control_mode INFO [muorb] SLPI: Advertising remote topic vehicle_status INFO [muorb] SLPI: Advertising remote topic actuator_armed INFO [PreFlightCheck] Failed barometer preflight check INFO [muorb] SLPI: Advertising remote topic commander_state INFO [muorb] SLPI: Advertising remote topic vehicle_status_flags INFO [muorb] SLPI: Advertising remote topic vehicle_command INFO [commander] Handling Commander command 176 INFO [muorb] SLPI: Advertising remote topic vehicle_command_ack INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [muorb] SLPI: Advertising remote topic position_setpoint_triplet INFO [PreFlightCheck] Failed barometer preflight check INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mc_pos_control start INFO [qshell] Send cmd: 'mc_pos_control start' INFO [muorb] SLPI: Ok executing command: mc_pos_control start INFO [muorb] SLPI: Sending qshell retval with timestamp 391611165, current timestamp 391611166 INFO [qshell] qshell return value timestamp: 391611165, local time: 391614168 INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [qshell] Send cmd: 'mc_att_control start' INFO [muorb] SLPI: qshell gotten: mc_att_control start INFO [muorb] SLPI: Ok executing command: mc_att_control start INFO [muorb] SLPI: Sending qshell retval with timestamp 391695176, current timestamp 391695177 INFO [qshell] qshell return value timestamp: 391695176, local time: 391696851 INFO [qshell] Send cmd: 'mc_rate_control start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mc_rate_control start INFO [muorb] SLPI: Ok executing command: mc_rate_control start INFO [muorb] SLPI: Sending qshell retval with timestamp 391819694, current timestamp 391819695 INFO [qshell] qshell return value timestamp: 391819694, local time: 391821826 INFO [qshell] Send cmd: 'mc_hover_thrust_estimator start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mc_hover_thrust_estimator start INFO [muorb] SLPI: Ok executing command: mc_hover_thrust_estimator start INFO [muorb] SLPI: Sending qshell retval with timestamp 391884503, current timestamp 391884503 INFO [qshell] qshell return value timestamp: 391884503, local time: 391887045 INFO [PreFlightCheck] Failed barometer preflight check INFO [qshell] Send cmd: 'land_detector start multicopter' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: land_detector start multicopter INFO [muorb] SLPI: Ok executing command: land_detector start multicopter INFO [muorb] SLPI: Sending qshell retval with timestamp 391986368, current timestamp 391986369 INFO [qshell] qshell return value timestamp: 391986368, local time: 391987655 INFO [uorb] Advertising remote topic vehicle_land_detected INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [qshell] Send cmd: 'pwm_out_sim start -m hil' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: pwm_out_sim start -m hil INFO [muorb] SLPI: Creating qurt thread wq_hp_default INFO [muorb] SLPI: Successfully created px4 task PX4_wq_hp_default with tid 73 INFO [uorb] Advertising remote topic test_motor INFO [muorb] SLPI: Ok executing command: pwm_out_sim start -m hil INFO [muorb] SLPI: Sending qshell retval with timestamp 393044419, current timestamp 393044420 INFO [qshell] qshell return value timestamp: 393044419, local time: 393045458 INFO [qshell] Send cmd: 'mixer load /dev/pwm_output0 quad_x.main.mix' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: mixer load /dev/pwm_output0 quad_x.main.mix INFO [muorb] SLPI: Ok executing command: mixer load /dev/pwm_output0 quad_x.main.mix INFO [muorb] SLPI: Sending qshell retval with timestamp 393105036, current timestamp 393105037 INFO [qshell] qshell return value timestamp: 393105036, local time: 393107031 INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [qshell] Send cmd: 'ekf2 start' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: ekf2 start INFO [muorb] SLPI: Creating qurt thread wq_INS0 INFO [muorb] SLPI: Successfully created px4 task PX4_wq_INS0 with tid 4169 INFO [muorb] SLPI: Ok executing command: ekf2 start INFO [muorb] SLPI: Sending qshell retval with timestamp 394406195, current timestamp 394406196 INFO [qshell] qshell return value timestamp: 394406195, local time: 394407062 INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [qshell] Send cmd: 'modalai_dsp start -v -p 2 -b 921600' INFO [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] SLPI: qshell gotten: modalai_dsp start -v -p 2 -b 921600 INFO [muorb] SLPI: Creating qurt thread modalai_dsp__main INFO [muorb] SLPI: Successfully created px4 task PX4_modalai_dsp__main with tid 72 INFO [muorb] SLPI: Ok executing command: modalai_dsp start -v -p 2 -b 921600 INFO [muorb] SLPI: Sending qshell retval with timestamp 395459398, current timestamp 395459399 ERROR [muorb] SLPI: Port is open: 0 INFO [uorb] Advertising remote topic sensor_accel INFO [uorb] Advertising remote topic sensor_gyro INFO [muorb] SLPI: Got 5 from orb_subscribe INFO [muorb] SLPI: Got 6 from orb_subscribe INFO [muorb] SLPI: Got 7 from orb_subscribe INFO [muorb] SLPI: Got 8 from orb_subscribe INFO [qshell] qshell return value timestamp: 395459398, local time: 395467699 INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [mavlink] mode: Onboard, data rate: 100000 B/s on udp port 14556 remote port 14557 INFO [muorb] SLPI: Marking DeviceNode(vehicle_command) as advertised in process_remote_topic INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [px4] Startup script returned successfully pxh> INFO [muorb] SLPI: Advertising remote topic telemetry_status INFO [mavlink] partner IP: 127.0.0.1 INFO [muorb] SLPI: Advertising remote topic timesync_status INFO [muorb] SLPI: Advertising remote topic vehicle_visual_odometry INFO [muorb] SLPI: Advertising remote topic obstacle_distance INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check INFO [PreFlightCheck] Failed barometer preflight check pxh> parmaINFO [PreFlightCheck] Failed barometer preflight check pxh> parINFO [PreFlightCheck] Failed barometer preflight check pxh> param INFO [PreFlightCheck] Failed barometer preflight check pxh> param setINFO [PreFlightCheck] Failed barometer preflight check pxh> param set INFO [PreFlightCheck] Failed barometer preflight check pxh> param set SYINFO [PreFlightCheck] Failed barometer preflight check pxh> param set SYS_INFO [PreFlightCheck] Failed barometer preflight check pxh> param set SYS_HAINFO [PreFlightCheck] Failed barometer preflight check pxh> param set SYS_HAS_INFO [PreFlightCheck] Failed barometer preflight check pxh> param set SYS_HAS_BAINFO [PreFlightCheck] Failed barometer preflight check pxh> param set SYS_HAS_BAROINFO [PreFlightCheck] Failed barometer preflight check pxh> param set SYS_HAS_BARO 0INFO [PreFlightCheck] Failed barometer preflight check SYS_HAS_BARO: curr: 1 -> new: 0 pxh> commander check ERROR [PreFlightCheck] Preflight Fail: no valid data from Accel 0 INFO [PreFlightCheck] Preflight Fail: no valid data from Accel 0 ERROR [PreFlightCheck] Preflight Fail: Accel Range, hold still on arming ERROR [PreFlightCheck] Preflight Fail: no valid data from Gyro 0 INFO [PreFlightCheck] Preflight Fail: no valid data from Gyro 0 INFO [commander] Preflight check: FAILED INFO [commander] Prearm check: OK INFO [HealthFlags] DEVICE STATUS INFO [HealthFlags] ---------------------------------- INFO [HealthFlags] GYRO: INFO [HealthFlags] ACC: INFO [HealthFlags] MAG: INFO [HealthFlags] PRESS: INFO [HealthFlags] AIRSP: INFO [HealthFlags] GPS: OK INFO [HealthFlags] OPT: INFO [HealthFlags] VIO: INFO [HealthFlags] LASER: INFO [HealthFlags] GTRUTH: INFO [HealthFlags] RATES: INFO [HealthFlags] ATT: INFO [HealthFlags] YAW: INFO [HealthFlags] ALTCTL: INFO [HealthFlags] POS: INFO [HealthFlags] MOT: INFO [HealthFlags] RC : EN OFF INFO [HealthFlags] GYRO2: INFO [HealthFlags] ACC2: INFO [HealthFlags] MAG2: INFO [HealthFlags] GEOFENCE: INFO [HealthFlags] AHRS: EN ERR INFO [HealthFlags] TERRAIN: INFO [HealthFlags] REVMOT: INFO [HealthFlags] LOGGIN: INFO [HealthFlags] BATT: INFO [HealthFlags] PROX: INFO [HealthFlags] SATCOM: INFO [HealthFlags] PREARM: EN ERR INFO [HealthFlags] OBSAVD:mdr@mdr:~/Downloads$ ./QGroundControl.AppImage Settings location "/home/mdr/.config/QGroundControl.org/QGroundControl Daily.ini" Is writable?: true Filter rules "*Log.debug=false\nGStreamerAPILog.debug=true\nqt.qml.connections=false" System reported locale: QLocale(English, Latin, United States) ; Name "en_US" ; Preffered (used in maps): "en-US" serialnmea: No known GPS device found. Specify the COM port via QT_NMEA_SERIAL_PORT. MAVLinkLogManagerLog: MAVLink logs directory: "/home/mdr/Documents/QGroundControl Daily/Logs" Map Cache in: "/home/mdr/.cache/QGCMapCache300" / "qgcMapCache.db" setCurrentPlanViewSeqNum setCurrentPlanViewSeqNum Adding target QHostAddress("192.168.0.2") 14550 setCurrentPlanViewSeqNum setCurrentPlanViewSeqNum ParameterManagerLog: Attemping load from cache ParameterManagerLog: Parameters cache match failed /home/mdr/.config/QGroundControl.org/ParamCache/1_1.v2 FactPanelControllerLog: Missing parameter: "1:SYS_AUTOSTART" FactPanelControllerLog: Missing parameter: "1:SYS_AUTOCONFIG" FactPanelControllerLog: Missing parameter: "1:SYS_AUTOSTART" FactPanelControllerLog: Missing parameter: "1:BAT1_N_CELLS" FactPanelControllerLog: Missing parameter: "1:BAT1_V_EMPTY" FactPanelControllerLog: Missing parameter: "1:BAT1_V_CHARGED" setCurrentPlanViewSeqNum setCurrentPlanViewSeqNum