@tom ubuntu 22.04
Latest posts made by yashas katte
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RE: VOXL Sentinel Drone adb shell not workingposted in Sentinel
@tom
If you are telling me to turn off the drone and turn it on again, I did that and it did not work.
If that what power cycling the drone means. -
VOXL2 IMU server not workingposted in VOXL 2
Hello,
I have VOXL 2(M0054) board, with VOXL suite version : 0.9.5.
My imu0 is not working, when i directly run the inu server with this commnadvoxl-imu-server voxl2:/$ voxl-imu-server loading calibration file ================================================================= calibration for IMU0: Gyro Offsets (rad/s): X: 0.000 Y: 0.000 Z: 0.000 Accl Offsets (m/s^2): X: 0.000 Y: 0.000 Z: 0.000 Accl Scale : X: 1.000 Y: 1.000 Z: 1.000 has_baseline_temp: 0 gyro_baseline_temp (C): 30.000 accl_baseline_temp (C): 30.000 has_temp_cal: 0 gyro_drift_coeff: X: 0.000000 0.000000 0.000000 gyro_drift_coeff: Y: 0.000000 0.000000 0.000000 gyro_drift_coeff: Z: 0.000000 0.000000 0.000000 accl_drift_coeff: X: 0.000000 0.000000 0.000000 accl_drift_coeff: Y: 0.000000 0.000000 0.000000 accl_drift_coeff: Z: 0.000000 0.000000 0.000000 calibration for IMU1: Gyro Offsets (rad/s): X: 0.000 Y: 0.000 Z: 0.000 Accl Offsets (m/s^2): X: 0.000 Y: 0.000 Z: 0.000 Accl Scale : X: 1.000 Y: 1.000 Z: 1.000 has_baseline_temp: 0 gyro_baseline_temp (C): 30.000 accl_baseline_temp (C): 30.000 has_temp_cal: 0 gyro_drift_coeff: X: 0.000000 0.000000 0.000000 gyro_drift_coeff: Y: 0.000000 0.000000 0.000000 gyro_drift_coeff: Z: 0.000000 0.000000 0.000000 accl_drift_coeff: X: 0.000000 0.000000 0.000000 accl_drift_coeff: Y: 0.000000 0.000000 0.000000 accl_drift_coeff: Z: 0.000000 0.000000 0.000000 calibration for IMU2: Gyro Offsets (rad/s): X: 0.000 Y: 0.000 Z: 0.000 Accl Offsets (m/s^2): X: 0.000 Y: 0.000 Z: 0.000 Accl Scale : X: 1.000 Y: 1.000 Z: 1.000 has_baseline_temp: 0 gyro_baseline_temp (C): 30.000 accl_baseline_temp (C): 30.000 has_temp_cal: 0 gyro_drift_coeff: X: 0.000000 0.000000 0.000000 gyro_drift_coeff: Y: 0.000000 0.000000 0.000000 gyro_drift_coeff: Z: 0.000000 0.000000 0.000000 accl_drift_coeff: X: 0.000000 0.000000 0.000000 accl_drift_coeff: Y: 0.000000 0.000000 0.000000 accl_drift_coeff: Z: 0.000000 0.000000 0.000000 calibration for IMU3: Gyro Offsets (rad/s): X: 0.000 Y: 0.000 Z: 0.000 Accl Offsets (m/s^2): X: 0.000 Y: 0.000 Z: 0.000 Accl Scale : X: 1.000 Y: 1.000 Z: 1.000 has_baseline_temp: 0 gyro_baseline_temp (C): 30.000 accl_baseline_temp (C): 30.000 has_temp_cal: 0 gyro_drift_coeff: X: 0.000000 0.000000 0.000000 gyro_drift_coeff: Y: 0.000000 0.000000 0.000000 gyro_drift_coeff: Z: 0.000000 0.000000 0.000000 accl_drift_coeff: X: 0.000000 0.000000 0.000000 accl_drift_coeff: Y: 0.000000 0.000000 0.000000 accl_drift_coeff: Z: 0.000000 0.000000 0.000000 ================================================================= loading config file ================================================================= imu_apps_enable: 1 imu_apps_bus: 3 imu_apps_sample_rate_hz: 1000.0 imu_apps_lp_cutoff_freq_hz: 92.0 imu_apps_rotate_common_frame: 1 imu_apps_fifo_poll_rate_hz: 100.0 aux_imu1_enable: 0 aux_imu1_bus: 1 aux_imu1_sample_rate_hz: 1000.0 aux_imu1_lp_cutoff_freq_hz: 92.0 aux_imu1_fifo_poll_rate_hz: 100.0 aux_imu2_enable: 0 aux_imu2_spi_bus: 14 aux_imu2_sample_rate_hz: 1000.0 aux_imu2_lp_cutoff_freq_hz: 92.0 aux_imu2_fifo_poll_rate_hz: 100.0 aux_imu3_enable: 0 aux_imu3_spi_bus: 5 aux_imu3_sample_rate_hz: 1000.0 aux_imu3_lp_cutoff_freq_hz: 92.0 aux_imu3_fifo_poll_rate_hz: 100.0 ================================================================= detected ICM42688 on spi bus[id] 3 Detected board M0054 Initializing IMU0 using ODR=1000.00hz which is the nearest the icm42688 can get to 1000.0 ERROR: in icm42688_basic_read read all 0's ERROR: failed to read data from IMU0 ERROR: failed to init at least one IMUI have tried flashing previous versions of voxl suite but its same result.
It was working perfectly before, but suddenly it stopped working.
So flashed suite again.Please help
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RE: VOXL Sentinel Drone adb shell not workingposted in Sentinel
@tom
Hello, I tired un-bricking VOXL2, but it failed. I followed the steps mentioned in the document.
while executingsudo qdl --debug --storage ufs --include . prog_firehose_ddr.elf rawprogram_unsparse0.xml rawprogram1.xml rawprogram2.xml rawprogram3.xml rawprogram4.xml rawprogram5.xml patch0.xml patch1.xml patch2.xml patch3.xml patch4.xml patch5.xmlI get error output log
sudo qdl --debug --storage ufs --include . prog_firehose_ddr.elf rawprogram_unsparse0.xml rawprogram1.xml rawprogram2.xml rawprogram3.xml rawprogram4.xml rawprogram5.xml patch0.xml patch1.xml patch2.xml patch3.xml patch4.xml patch5.xml HELLO version: 0x2 compatible: 0x1 max_len: 1024 mode: 0 READ64 image: 13 offset: 0x0 length: 0x40 READ64 image: 13 offset: 0x40 length: 0x310 READ64 image: 13 offset: 0x1000 length: 0x1000 READ64 image: 13 offset: 0x2000 length: 0xc48 READ64 image: 13 offset: 0x3000 length: 0x1000 READ64 image: 13 offset: 0x4000 length: 0x1000 READ64 image: 13 offset: 0x5000 length: 0x1000 READ64 image: 13 offset: 0x6000 length: 0x1000 READ64 image: 13 offset: 0x7000 length: 0x1000 READ64 image: 13 offset: 0x8000 length: 0x1000 READ64 image: 13 offset: 0x9000 length: 0x1000 READ64 image: 13 offset: 0xa000 length: 0x1000 READ64 image: 13 offset: 0xb000 length: 0x1000 READ64 image: 13 offset: 0xc000 length: 0x1000 READ64 image: 13 offset: 0xd000 length: 0x1000 READ64 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image: 13 offset: 0x9a278 length: 0x1000 READ64 image: 13 offset: 0x9b278 length: 0x1000 READ64 image: 13 offset: 0x9c278 length: 0x1000 READ64 image: 13 offset: 0x9d278 length: 0x1000 READ64 image: 13 offset: 0x9e278 length: 0x1000 READ64 image: 13 offset: 0x9f278 length: 0x1000 READ64 image: 13 offset: 0xa0278 length: 0x1000 READ64 image: 13 offset: 0xa1278 length: 0x1000 READ64 image: 13 offset: 0xa2278 length: 0x1000 READ64 image: 13 offset: 0xa3278 length: 0x1000 READ64 image: 13 offset: 0xa4278 length: 0x1000 READ64 image: 13 offset: 0xa5278 length: 0x1000 READ64 image: 13 offset: 0xa6278 length: 0x1000 READ64 image: 13 offset: 0xa7278 length: 0x1000 READ64 image: 13 offset: 0xa8278 length: 0x1000 READ64 image: 13 offset: 0xa9278 length: 0x1000 READ64 image: 13 offset: 0xaa278 length: 0x1000 END OF IMAGE image: 13 status: 0 DONE status: 1 FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: Binary build date: Aug 17 2021 @ 23:37:37" /></data> LOG: INFO: Binary build date: Aug 17 2021 @ 23:37:37 FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: Binary build date: Aug 17 2021 @ 23:37:37 " /></data> LOG: INFO: Binary build date: Aug 17 2021 @ 23:37:37 FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: Chip serial num: 967560625 (0x39abcdb1)" /></data> LOG: INFO: Chip serial num: 967560625 (0x39abcdb1) FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: Supported Functions (15):" /></data> LOG: INFO: Supported Functions (15): FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: program" /></data> LOG: INFO: program FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: read" /></data> LOG: INFO: read FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: nop" /></data> LOG: INFO: nop FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: patch" /></data> LOG: INFO: patch FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: configure" /></data> LOG: INFO: configure FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: setbootablestoragedrive" /></data> LOG: INFO: setbootablestoragedrive FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: erase" /></data> LOG: INFO: erase FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: power" /></data> LOG: INFO: power FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: firmwarewrite" /></data> LOG: INFO: firmwarewrite FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: getstorageinfo" /></data> LOG: INFO: getstorageinfo FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: benchmark" /></data> LOG: INFO: benchmark FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: emmc" /></data> LOG: INFO: emmc FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: ufs" /></data> LOG: INFO: ufs FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: fixgpt" /></data> LOG: INFO: fixgpt FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: getsha256digest" /></data> LOG: INFO: getsha256digest FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: End of supported functions 15" /></data> LOG: INFO: End of supported functions 15 qdl: firehose operation timed out FIREHOSE WRITE: <?xml version="1.0"?> <data><configure MemoryName="ufs" MaxPayloadSizeToTargetInBytes="1048576" verbose="0" ZLPAwareHost="1" SkipStorageInit="0"/></data> FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: Calling handler for configure" /></data> LOG: INFO: Calling handler for configure FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: Storage type set to value UFS" /></data> LOG: INFO: Storage type set to value UFS FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <response value="ACK" MemoryName="UFS" MinVersionSupported="1" Version="1" MaxPayloadSizeToTargetInBytes="1048576" MaxPayloadSizeToTargetInBytesSupported="1048576" MaxXMLSizeInBytes="4096" DateTime="Aug 17 2021 - 23:37:37" /></data> [CONFIGURE] max payload size: 1048576 FIREHOSE WRITE: <?xml version="1.0"?> <data><program SECTOR_SIZE_IN_BYTES="4096" num_partition_sectors="32776" physical_partition_number="0" start_sector="3154440" filename="qti-ubuntu-robotics-image-qrb5165-rb5-sysfs_1.ext4"/></data> FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: Calling handler for program" /></data> LOG: INFO: Calling handler for program FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="ERROR: Failed to initialize (open whole lun) UFS Device slot 0 partition 0" /></data> LOG: ERROR: Failed to initialize (open whole lun) UFS Device slot 0 partition 0 FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="ERROR: Failed to open the device:3 slot:0 partition:0 error:0" /></data> LOG: ERROR: Failed to open the device:3 slot:0 partition:0 error:0 FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="ERROR: OPEN handle NULL and no error, weird 344489460" /></data> LOG: ERROR: OPEN handle NULL and no error, weird 344489460 FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="ERROR: Failed to open device, type:UFS, slot:0, lun:0 error:3" /></data> LOG: ERROR: Failed to open device, type:UFS, slot:0, lun:0 error:3 FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <response value="NAK" rawmode="false" /></data> [PROGRAM] failed to setup programmingVOXL2 is in EDL mode only , SW2 switch is in on position.
Please help ASAP
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RE: VOXL Sentinel Drone adb shell not workingposted in Sentinel
@tom,
It will not be possible to go with the RMA. As I am in India, It will take a lot of time and money to ship the drone.
But also, What is the problem with the drone, if it has been tested for flight upto 30 mins before shipping, why I am facing this problem?
Let's say, I follow the un-bricking process, this will delete all the Ready to fly configurations provided by the Modal AI. Making the purchase of this drone redundant.
Would you provide me any support like video call/remote access to proceed with un-bricking the drone and further making the drone function, how it should have been after shipment?I express, disappointment with this product as we did not receive drone as promised by the website!
Please let me know a solution that is beneficial for both of us.
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RE: VOXL Sentinel Drone adb shell not workingposted in Sentinel
@tom
It came straight out of the box, did not open anything -
VOXL Sentinel Drone adb shell not workingposted in Sentinel
I bought the Sentinel Drone from Modal AI, Just unpacked it today. I ran adb shell after connecting the board type c to my laptop, but it says no devices found.
Also, when I do lsusb it says :
Though , its detected, it says its in QDL Mode.
Even Fastboot devices does not workI even sent a mail to Modal AI team asking about the issue, they said that the drone is tested for 30 mins before testing.
Please help ASAP.
Thank you -
RE: VOXL2 ESC calibration issueposted in Ask your questions right here!
Yes , I just changed num_per_cycle , re calibrated the esc. It flew!
Did not do any calibration from PX4 side.
Is there any PX4 calibration tool? -
RE: VOXL2 ESC calibration issueposted in Ask your questions right here!
Thank you @Alex-Kushleyev , your solution works.
I changed all the params and calibratied again.
It worked. I am attaching the video again.https://drive.google.com/file/d/1lZ5AZj1xFoN48AhW3gvqxc2g21uIb-cC/view?usp=sharing
Thanks again!
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RE: VOXL2 ESC calibration issueposted in Ask your questions right here!
We calibrated using props again , and we got the following curve
Here is the calibaration curve
Also we uploaded new params file after changing the pwm_rpm curve values in the params file
esc_params_modalai_4_in_1_reva <?xml version="1.0" encoding="UTF-8"?> <!-- Copyright (c) 2020 ModalAI Inc. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. 4. The Software is used solely in conjunction with devices provided by ModalAI Inc. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. For a license to use on non-ModalAI hardware, please contact license@modalai.com --> <EscParameters> <IdParams> <param name="id" value="127"/> <!-- 0-7 .. 127 means use hardware ID pins to read ID--> <param name="dir" value="2"/> <!-- 0=fwd, 1=rev, 2=fwd id-based, 3=rev id-based --> </IdParams> <BoardParams> <param name="id_map" value="[0, 1, 2, 3, 4, 5, 6, 7]"/> <!-- reserved for future use --> <param name="vsense_scale" value="6.0"/> <!-- voltage_mv = adc_val_mv * vsense_mult / vsense_ div --> <param name="isense_scale" value="10.35"/> <!-- Ima * 0.002 * 50 = Vmv, so mult is 1 / (0.002 * 50) = 10 . Note that actual gain is a bit off --> <param name="isense_zero_mv" value="550"/> <!-- voltage offset of current sensor when current is zero (0.55V by design) --> </BoardParams> <UartParams> <param name="protocol_version" value="2"/> <!-- reserved for future use --> <param name="input_mode" value="0"/> <!-- reserved for future use --> <param name="baud_rate" value="250000"/> <!-- communication bit rate --> <param name="char_timeout_ns" value="0"/> <!-- not used --> <param name="cmd_timeout_ns" value="100000000"/> <!-- timeout for incoming commands before ESC will stop the motor --> </UartParams> <TuneParams> <param name="pwm_frequency" value="48000"/> <!-- switching freqency of PWM signal going to motors. 24Khz and 48Khz are only options for now --> <param name="vbat_nominal_mv" value="14800"/> <!-- used for sanity checking and limiting of voltage-dependent funcions --> <param name="num_cycles_per_rev" value="12"/> <!-- number of pole pairs in the motor. used for converting electrical frequency to mechanical rpm --> <param name="min_rpm" value="2000"/> <!-- minimum RPM that will be attempted, otherwise capped --> <param name="max_rpm" value="14000"/> <!-- maximum RPM that will be attempted, otherwise capped --> <param name="min_pwm" value="50"/> <!-- cap for minimum power to be ever applied. max is 999 --> <param name="max_pwm" value="999"/> <!-- cap for maximum power to be ever applied. max is 999 --> <param name="pwm_vs_rpm_curve_a0" value="820.9319894407308"/> <!-- this is actually motor_voltage vs rpm curve.. using legacy naming --> <param name="pwm_vs_rpm_curve_a1" value="0.32413781010302617"/> <!-- Emax RS1306 3300KV with tri-blade 3x3x3 --> <param name="pwm_vs_rpm_curve_a2" value="4.3083453074080803e-05"/> <param name="kp" value="130"/> <!-- RPM controller proportional gain --> <param name="ki" value="30"/> <!-- RPM controller proportional gain --> <param name="max_kpe" value="300"/> <!-- maximum proportional erorr term (max is 999) --> <param name="max_kie" value="100"/> <!-- maximum integral error term (max is 999) --> <param name="max_rpm_delta" value="1200"/> <!-- cap for maximum rpm error used in RPM controller --> <param name="alignment_time_ns" value="0"/> <param name="spinup_power" value="50"/> <!-- power used to give the motor initial kick (out of 999) --> <param name="latch_power" value="60"/> <!-- power used during latching stage of spin-up (out of 999)--> <param name="min_num_cross_for_closed_loop" value="50"/> <!-- exit latching mode of fixed power after this number of zero crossings --> <param name="brake_to_stop" value="0"/> <!-- apply brake when stopping motor (or not) --> <param name="stall_timeout_ns" value="20000000"/> <!-- after spin-up, if no zero crossing is not detected for this amount of time, motor is considered stalled --> <param name="require_reset_if_stalled" value="0"/> <!-- require sending an array of zero commands to reset before next spin-up, if motor stalled --> <param name="tone_freqs_10hz" value="[200, 215, 225, 250]"/> <!-- 200 is 2000Hz, max 255 --> <param name="tone_times_ms" value="[10, 10, 10, 10]"/> <!-- duration of each tone in units of 10 milli-seconds. Poor naming!!! --> <param name="tone_powers" value="[100, 100, 100, 100]"/> <!-- max is 255 --> <param name="dt_threshold_ns" value="150000"/> <!-- during start up, ignore inter-commutation times less than this val, probably noise --> <param name="max_dt_ns" value="2500000"/> <!-- min and max values for time between two commutations. these are used as caps --> <param name="min_dt_ns" value="10000"/> <param name="dt_bootstrap_ns" value="2000000"/> <!-- filter bootstrap value for commutation dt during start up --> <param name="spinup_stall_dt_ns" value="6000000"/> <!-- during spin-up, if no zero crossing is not detected for this amount of time, motor is considered stalled --> <param name="spinup_stall_check_ns" value="30000000"/> <!-- time after beginning of spinup to start checking for spinup stall --> <param name="timing_advance" value="0"/> <param name="sense_advance" value="0"/> <param name="demag_timing" value="0"/> <!-- unused --> </TuneParams> </EscParameters>When we did tried testing with rc (TBS CRSF)
The motors stated to jerk a after a particular value. But now its able to hover.
Due to this the motors are getting hot.
Here is video of the testing https://drive.google.com/file/d/1AI8XXBeXe78EUSjfSondXSTwdiGqmcOd/view?usp=sharingThanks for your help