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  1.  
  2. [INFO] Reading from /etc/modalai/voxl-px4.conf
  3. Found DSP signature file
  4. [INFO] Disabling daemon mode
  5.  
  6. *************************
  7. AIRFRAME=MULTICOPTER
  8. GPS=AUTODETECT
  9. RC=CRSF_RAW
  10. ESC=VOXL_ESC
  11. POWER MANAGER=NONE
  12. AIRSPEED SENSOR=NONE
  13. DISTANCE SENSOR=NONE
  14. OSD=DISABLE
  15. DAEMON_MODE=DISABLE
  16. SENSOR_CAL=ACTUAL
  17. ARTIFACT_MODE=DISABLE
  18. EXTRA STEPS:
  19. *************************
  20.  
  21. INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM.
  22. INFO [px4] assuming working directory is rootfs, no symlinks needed.
  23. INFO [muorb] Got muorb init command
  24. Sending initialization request
  25. Got topic data before configuration complete
  26. Got topic data before configuration complete
  27. Got topic data before configuration complete
  28. Got topic data before configuration complete
  29. Got topic data before configuration complete
  30. Got topic data before configuration complete
  31. Got topic data before configuration complete
  32. Got topic data before configuration complete
  33. Got topic data before configuration complete
  34. Got topic data before configuration complete
  35. Got topic data before configuration complete
  36. Got topic data before configuration complete
  37. Got topic data before configuration complete
  38. INFO [muorb] [modules__muorb__slpi] muorb aggregator thread running
  39. INFO [muorb] muorb protobuf initalize method succeeded
  40. INFO [muorb] succesfully did ADVERTISE_TEST_TYPE
  41. INFO [muorb] [tasks] Creating pthread test_MUORB
  42. INFO [muorb] [tasks] Successfully created px4 task PX4_test_MUORB with tid 2097656
  43. INFO [muorb] succesfully did SUBSCRIBE_TEST_TYPE
  44. INFO [muorb] [tasks] Creating pthread test_MUORB
  45. INFO [muorb] [tasks] Successfully created px4 task PX4_test_MUORB with tid 2097655
  46. INFO [muorb] succesfully did TOPIC_TEST_TYPE
  47. INFO [muorb] [tasks] Creating pthread test_MUORB
  48. INFO [muorb] [tasks] Successfully created px4 task PX4_test_MUORB with tid 2097654
  49. INFO [muorb] succesfully did UNSUBSCRIBE_TEST_TYPE
  50. INFO [muorb] [tasks] Creating pthread test_MUORB
  51. INFO [muorb] [tasks] Successfully created px4 task PX4_test_MUORB with tid 2097653
  52. INFO [muorb] muorb test passed
  53. INFO [muorb] [uORB] Advertising remote topic log_message
  54.  
  55. ______ __ __ ___
  56. | ___ \ \ \ / / / |
  57. | |_/ / \ V / / /| |
  58. | __/ / \ / /_| |
  59. | | / /^\ \ \___ |
  60. \_| \/ \/ |_/
  61.  
  62. px4 starting.
  63.  
  64. INFO [parameters] Starting param sync THREAD
  65. INFO [px4] startup script: /bin/sh /usr/bin/voxl-px4-start 0
  66.  
  67. *************************
  68. AIRFRAME: MULTICOPTER
  69. GPS: AUTODETECT
  70. RC: CRSF_RAW
  71. ESC: VOXL_ESC
  72. POWER MANAGER: NONE
  73. AIRSPEED SENSOR: NONE
  74. DISTANCE SENSOR: NONE
  75. OSD: DISABLE
  76. ARTIFACT_MODE: DISABLE
  77. EXTRA STEPS:
  78.  
  79. *************************
  80.  
  81. Running on M0054
  82. INFO [muorb] [parameters] Starting param sync THREAD
  83. INFO [muorb] [qshell] before starting the qshell_entry task
  84. INFO [muorb] [tasks] Creating pthread qshell
  85. INFO [muorb] [qshell] qshell entry.....
  86. INFO [muorb] [tasks] Successfully created px4 task PX4_qshell with tid 2097652
  87. INFO [muorb] [qshell] Init app map initialized
  88. INFO [muorb] [qshell] after starting the qshell_entry task
  89. INFO [param] selected parameter default file /data/px4/param/parameters
  90. INFO [muorb] [uORB] Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic
  91. INFO [uORB] Marking DeviceNode(parameter_client_reset_response) as advertised in process_remote_topic
  92. INFO [muorb] [uORB] Advertising remote topic parameter_update
  93. INFO [muorb] [uORB] Marking DeviceNode(parameter_client_set_value_request) as advertised in process_remote_t
  94. INFO [uORB] Marking DeviceNode(parameter_server_set_used_request) as advertised in process_remote_topic
  95. INFO [muorb] [uORB] Marking DeviceNode(parameter_server_set_used_response) as advertised in process_remote_t
  96. INFO [uORB] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic
  97. INFO [parameters] BSON document size 3290 bytes, decoded 3290 bytes (INT32:48, FLOAT:104)
  98. Starting IMU driver with no rotation
  99. INFO [qshell] Send cmd: 'icm42688p start -s'
  100. INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  101. INFO [muorb] [qshell] qshell gotten: icm42688p start -s
  102. INFO [muorb] [qshell] arg0 = 'icm42688p'
  103. INFO [muorb] [qshell] arg1 = 'start'
  104. INFO [muorb] [qshell] arg2 = '-s'
  105. INFO [muorb] [drivers__device] *** SPI Device ID 0x26000a 2490378
  106. INFO [uORB] Advertising remote topic sensor_accel
  107. INFO [uORB] Advertising remote topic sensor_gyro
  108. INFO [muorb] [icm42688p] ICM42688P::probe successful!
  109. INFO [muorb] [drivers__device] on SPI bus 1
  110. INFO [muorb] icm42688p #0 on SPI bus 1
  111. INFO [muorb]
  112.  
  113. INFO [muorb] [icm42688p] >>> ICM42688P this: b26012c8
  114. INFO [muorb] [qshell] Ok executing command: icm42688p start -s
  115. INFO [uORB] Advertising remote topic qshell_retval
  116. INFO [qshell] qshell return value timestamp: 158259453, local time: 158261569
  117. INFO [muorb] [icm42688p] >>> ICM42688P this: b26012c8
  118. INFO [muorb] [icm42688p] >>> ICM42688P this: b26012c8
  119. INFO [muorb] [drivers__device] Register interrupt b214ec48 e61ebf5c b26012c8
  120. INFO [uORB] Advertising remote topic sensor_gyro_fifo
  121. INFO [uORB] Advertising remote topic sensor_accel_fifo
  122. INFO [qshell] Send cmd: 'icp101xx start -I -b 5'
  123. INFO [uORB] Advertising remote topic imu_server
  124. INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  125. INFO [muorb] [qshell] qshell gotten: icp101xx start -I -b 5
  126. INFO [muorb] [qshell] arg0 = 'icp101xx'
  127. INFO [muorb] [qshell] arg1 = 'start'
  128. INFO [muorb] [qshell] arg2 = '-I'
  129. INFO [muorb] [qshell] arg3 = '-b'
  130. INFO [muorb] [qshell] arg4 = '5'
  131. INFO [muorb] [drivers__device] *** I2C Device ID 0xb76329 12018473
  132. INFO [muorb] [drivers__device] Set up I2C bus mutex for bus 5
  133. INFO [muorb] icp101xx #0 on I2C bus 5
  134. INFO [muorb] address 0x63
  135. INFO [muorb]
  136.  
  137. INFO [muorb] [qshell] Ok executing command: icp101xx start -I -b 5
  138. INFO [qshell] qshell return value timestamp: 158292479, local time: 158294451
  139. INFO [qshell] Send cmd: 'temperature_compensation start'
  140. INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  141. INFO [muorb] [qshell] qshell gotten: temperature_compensation start
  142. INFO [muorb] [qshell] arg0 = 'temperature_compensation'
  143. INFO [muorb] [qshell] arg1 = 'start'
  144. INFO [uORB] Advertising remote topic sensor_correction
  145. INFO [muorb] [icm42688p] >>> ICM42688P this: b26012c8
  146. INFO [muorb] [qshell] Ok executing command: temperature_compensation start
  147. INFO [qshell] qshell return value timestamp: 158432054, local time: 158434577
  148. Looking for qmc5883l magnetometer
  149. INFO [qshell] Send cmd: 'qmc5883l start -R 10 -X -b 1'
  150. INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  151. INFO [muorb] [qshell] qshell gotten: qmc5883l start -R 10 -X -b 1
  152. INFO [muorb] [qshell] arg0 = 'qmc5883l'
  153. INFO [muorb] [qshell] arg1 = 'start'
  154. INFO [muorb] [qshell] arg2 = '-R'
  155. INFO [muorb] [qshell] arg3 = '10'
  156. INFO [muorb] [qshell] arg4 = '-X'
  157. INFO [muorb] [qshell] arg5 = '-b'
  158. INFO [muorb] [qshell] arg6 = '1'
  159. INFO [muorb] [drivers__device] *** I2C Device ID 0x80d09 527625
  160. INFO [muorb] [drivers__device] Set up I2C bus mutex for bus 1
  161. INFO [muorb] qmc5883l #0 on I2C bus 1
  162. INFO [muorb] (external)
  163. INFO [muorb] address 0xD
  164. INFO [muorb] rotation 10
  165. INFO [muorb]
  166.  
  167. INFO [muorb] [qshell] Ok executing command: qmc5883l start -R 10 -X -b 1
  168. INFO [qshell] qshell return value timestamp: 158477841, local time: 158479306
  169. Looking for ist8310 magnetometer
  170. INFO [qshell] Send cmd: 'ist8310 start -R 10 -X -b 1'
  171. INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  172. INFO [muorb] [qshell] qshell gotten: ist8310 start -R 10 -X -b 1
  173. INFO [muorb] [qshell] arg0 = 'ist8310'
  174. INFO [muorb] [qshell] arg1 = 'start'
  175. INFO [muorb] [qshell] arg2 = '-R'
  176. INFO [muorb] [qshell] arg3 = '10'
  177. INFO [muorb] [qshell] arg4 = '-X'
  178. INFO [muorb] [qshell] arg5 = '-b'
  179. INFO [muorb] [qshell] arg6 = '1'
  180. INFO [muorb] [drivers__device] *** I2C Device ID 0x60e09 396809
  181. INFO [muorb] [drivers__device] Set up I2C bus mutex for bus 1
  182. ERROR [muorb] [drivers__device] i2c probe failed
  183. INFO [muorb] [SPI_I2C] PX4_qshell: no instance started (no device on bus?)
  184. ERROR [muorb] [qshell] Failed to execute command: ist8310 start -R 10 -X -b 1
  185. INFO [uORB] Advertising remote topic sensor_baro
  186. INFO [qshell] cmd returned with: -1
  187. INFO [qshell] qshell return value timestamp: 158512222, local time: 158515583
  188. ERROR [qshell] Command failed
  189. Looking for ist8308 magnetometer
  190. INFO [qshell] Send cmd: 'ist8308 start -R 12 -X -b 1'
  191. INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  192. INFO [muorb] [qshell] qshell gotten: ist8308 start -R 12 -X -b 1
  193. INFO [muorb] [qshell] arg0 = 'ist8308'
  194. INFO [muorb] [qshell] arg1 = 'start'
  195. INFO [muorb] [qshell] arg2 = '-R'
  196. INFO [muorb] [qshell] arg3 = '12'
  197. INFO [muorb] [qshell] arg4 = '-X'
  198. INFO [muorb] [qshell] arg5 = '-b'
  199. INFO [muorb] [qshell] arg6 = '1'
  200. INFO [muorb] [drivers__device] *** I2C Device ID 0xb0c09 723977
  201. INFO [muorb] [drivers__device] Set up I2C bus mutex for bus 1
  202. ERROR [muorb] [drivers__device] i2c probe failed
  203. INFO [muorb] [SPI_I2C] PX4_qshell: no instance started (no device on bus?)
  204. ERROR [muorb] [qshell] Failed to execute command: ist8308 start -R 12 -X -b 1
  205. INFO [qshell] cmd returned with: -1
  206. INFO [qshell] qshell return value timestamp: 158552095, local time: 158555338
  207. ERROR [qshell] Command failed
  208. INFO [qshell] Send cmd: 'gps start'
  209. INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  210. INFO [muorb] [qshell] qshell gotten: gps start
  211. INFO [muorb] [qshell] arg0 = 'gps'
  212. INFO [muorb] [qshell] arg1 = 'start'
  213. INFO [muorb] [tasks] Creating pthread gps
  214. INFO [muorb] [tasks] Successfully created px4 task PX4_gps with tid 2097647
  215. INFO [muorb] [qshell] Ok executing command: gps start
  216. INFO [qshell] qshell return value timestamp: 158585800, local time: 158587830
  217. Looking for ncp5623c RGB LED
  218. INFO [uORB] Advertising remote topic sensor_mag
  219. INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  220. INFO [muorb] [qshell] qshell gotten: rgbled_ncp5623c start -X -b 1 -f 400 -a 56
  221. INFO [muorb] [qshell] arg0 = 'rgbled_ncp5623c'
  222. INFO [qshell] Send cmd: 'rgbled_ncp5623c start -X -b 1 -f 400 -a 56'
  223. INFO [muorb] [qshell] arg1 = 'start'
  224. INFO [muorb] [qshell] arg2 = '-X'
  225. INFO [muorb] [qshell] arg3 = '-b'
  226. INFO [muorb] [qshell] arg4 = '1'
  227. INFO [muorb] [qshell] arg5 = '-f'
  228. INFO [muorb] [qshell] arg6 = '400'
  229. INFO [muorb] [qshell] arg7 = '-a'
  230. INFO [muorb] [qshell] arg8 = '56'
  231. INFO [muorb] [drivers__device] *** I2C Device ID 0x7b3809 8075273
  232. INFO [muorb] [drivers__device] Set up I2C bus mutex for bus 1
  233. INFO [muorb] [gps] GPS UART baudrate set to 115200
  234. INFO [muorb] [drivers__device] Set i2c address 0x38, fd 4
  235. ERROR [muorb] [drivers__device] i2c probe failed
  236. INFO [muorb] [SPI_I2C] PX4_qshell: no instance started (no device on bus?)
  237. ERROR [muorb] [qshell] Failed to execute command: rgbled_ncp5623c start -X -b 1 -f 400 -a 56
  238. INFO [qshell] cmd returned with: -1
  239. INFO [qshell] qshell return value timestamp: 158624142, local time: 158625754
  240. ERROR [qshell] Command failed
  241. Starting VOXL ESC driver
  242. INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  243. INFO [muorb] [qshell] qshell gotten: voxl_esc start
  244. INFO [muorb] [qshell] arg0 = 'voxl_esc'
  245. INFO [muorb] [qshell] arg1 = 'start'
  246. INFO [qshell] Send cmd: 'voxl_esc start'
  247. INFO [uORB] Advertising remote topic actuator_outputs
  248. INFO [muorb] [voxl_esc] Starting VOXL ESC driver
  249. INFO [muorb] [voxl_esc] Params: VOXL_ESC_CONFIG: 1
  250. INFO [muorb] [voxl_esc] Params: VOXL_ESC_MODE: 0
  251. INFO [muorb] [voxl_esc] Params: VOXL_ESC_BAUD: 2000000
  252. INFO [muorb] [voxl_esc] Params: VOXL_ESC_FUNC1: 102
  253. INFO [muorb] [voxl_esc] Params: VOXL_ESC_FUNC2: 103
  254. INFO [muorb] [voxl_esc] Params: VOXL_ESC_FUNC3: 101
  255. INFO [muorb] [voxl_esc] Params: VOXL_ESC_FUNC4: 104
  256. INFO [muorb] [voxl_esc] Params: VOXL_ESC_SDIR1: 0
  257. INFO [muorb] [voxl_esc] Params: VOXL_ESC_SDIR2: 0
  258. INFO [muorb] [voxl_esc] Params: VOXL_ESC_SDIR3: 0
  259. INFO [muorb] [voxl_esc] Params: VOXL_ESC_SDIR4: 0
  260. INFO [muorb] [voxl_esc] Params: VOXL_ESC_RPM_MIN: 2000
  261. INFO [muorb] [voxl_esc] Params: VOXL_ESC_RPM_MAX: 12000
  262. INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_PERC: 90
  263. INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_DEAD: 20
  264. INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_EXPO: 35
  265. INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_MINF: 0.150000
  266. INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_COSP: 0.990000
  267. INFO [muorb] [voxl_esc] Params: VOXL_ESC_VLOG: 1
  268. INFO [muorb] [voxl_esc] Params: VOXL_ESC_PUB_BST: 1
  269. INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_WARN: 0
  270. INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_OVER: 0
  271. INFO [muorb] [voxl_esc] Params: GPIO_CTL_CH: 0
  272. INFO [muorb] [qshell] Ok executing command: voxl_esc start
  273. INFO [muorb] [voxl_esc] Opening UART ESC device 2, baud rate 2000000
  274. INFO [muorb] [voxl_esc] Successfully opened UART ESC device
  275. INFO [muorb] [voxl_esc] Detecting ESCs...
  276. INFO [muorb] [voxl_esc] ESC ID : 0
  277. INFO [muorb] [voxl_esc] Board Type : 44: Unknown Board
  278. INFO [muorb] [voxl_esc] Unique ID : 0x203933355755530B00340043
  279. INFO [muorb] [voxl_esc] Firmware : version 39, hash cdf22149
  280. INFO [muorb] [voxl_esc] Bootloader : version 184, hash 25d5036d
  281. INFO [muorb] [voxl_esc] Reply time : 108us
  282. INFO [muorb] [voxl_esc] VOXL_ESC:
  283. INFO [muorb] [voxl_esc] ESC ID : 1
  284. INFO [muorb] [voxl_esc] Board Type : 44: Unknown Board
  285. INFO [muorb] [voxl_esc] Unique ID : 0x203933355755530B00330043
  286. INFO [muorb] [voxl_esc] Firmware : version 39, hash cdf22149
  287. INFO [muorb] [voxl_esc] Bootloader : version 184, hash 25d5036d
  288. INFO [muorb] [voxl_esc] Reply time : 717us
  289. INFO [muorb] [voxl_esc] VOXL_ESC:
  290. INFO [muorb] [voxl_esc] ESC ID : 2
  291. INFO [muorb] [voxl_esc] Board Type : 44: Unknown Board
  292. INFO [muorb] [voxl_esc] Unique ID : 0x203933355755530B00330041
  293. INFO [muorb] [voxl_esc] Firmware : version 39, hash cdf22149
  294. INFO [muorb] [voxl_esc] Bootloader : version 184, hash 25d5036d
  295. INFO [muorb] [voxl_esc] Reply time : 719us
  296. INFO [muorb] [voxl_esc] VOXL_ESC:
  297. INFO [muorb] [voxl_esc] ESC ID : 3
  298. INFO [qshell] qshell return value timestamp: 158778105, local time: 158782185
  299. INFO [muorb] [voxl_esc] Board Type : 44: Unknown Board
  300. INFO [muorb] [voxl_esc] Unique ID : 0x203933355755530B00340042
  301. INFO [muorb] [voxl_esc] Firmware : version 39, hash cdf22149
  302. INFO [muorb] [voxl_esc] Bootloader : version 184, hash 25d5036d
  303. INFO [muorb] [voxl_esc] Reply time : 118us
  304. INFO [muorb] [voxl_esc] VOXL_ESC:
  305. INFO [muorb] [voxl_esc] Use extened rpm packet : 1
  306. INFO [muorb] [voxl_esc] All ESCs successfully detected
  307. Starting CRSF RC driver
  308. INFO [qshell] Send cmd: 'crsf_rc start -d 7'
  309. INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  310. INFO [muorb] [qshell] qshell gotten: crsf_rc start -d 7
  311. INFO [muorb] [qshell] arg0 = 'crsf_rc'
  312. INFO [muorb] [qshell] arg1 = 'start'
  313. INFO [muorb] [qshell] arg2 = '-d'
  314. INFO [muorb] [qshell] arg3 = '7'
  315. INFO [muorb] [qshell] Ok executing command: crsf_rc start -d 7
  316. INFO [muorb] [crsf_rc] Crsf serial opened sucessfully
  317. INFO [muorb] [crsf_rc] Crsf serial is single wire. Telemetry disabled
  318. INFO [uORB] Advertising remote topic input_rc
  319. INFO [qshell] qshell return value timestamp: 158828829, local time: 158831788
  320. INFO [uORB] Advertising remote topic actuator_outputs_debug
  321. INFO [uORB] Advertising remote topic esc_status
  322. INFO [qshell] Send cmd: 'sensors start'
  323. INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  324. INFO [muorb] [qshell] qshell gotten: sensors start
  325. INFO [muorb] [qshell] arg0 = 'sensors'
  326. INFO [muorb] [qshell] arg1 = 'start'
  327. INFO [uORB] Advertising remote topic sensor_selection
  328. INFO [uORB] Advertising remote topic sensors_status_imu
  329. INFO [uORB] Advertising remote topic vehicle_acceleration
  330. INFO [uORB] Advertising remote topic vehicle_angular_velocity
  331. INFO [uORB] Advertising remote topic sensor_combined
  332. INFO [uORB] Advertising remote topic vehicle_air_data
  333. INFO [uORB] Advertising remote topic vehicle_magnetometer
  334. INFO [uORB] Advertising remote topic sensor_preflight_mag
  335. INFO [uORB] Advertising remote topic sensors_status_mag
  336. INFO [uORB] Advertising remote topic vehicle_imu
  337. INFO [uORB] Advertising remote topic vehicle_imu_status
  338. INFO [muorb] [qshell] Ok executing command: sensors start
  339. INFO [qshell] qshell return value timestamp: 159014047, local time: 159017038
  340. INFO [uORB] Advertising remote topic sensors_status_baro
  341. INFO [qshell] Send cmd: 'ekf2 start'
  342. INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  343. INFO [muorb] [qshell] qshell gotten: ekf2 start
  344. INFO [muorb] [qshell] arg0 = 'ekf2'
  345. INFO [muorb] [qshell] arg1 = 'start'
  346. INFO [uORB] Advertising remote topic vehicle_attitude
  347. INFO [uORB] Advertising remote topic vehicle_local_position
  348. INFO [uORB] Advertising remote topic estimator_event_flags
  349. INFO [uORB] Advertising remote topic estimator_innovation_test_ratios
  350. INFO [uORB] Advertising remote topic estimator_innovation_variances
  351. INFO [uORB] Advertising remote topic estimator_innovations
  352. INFO [uORB] Advertising remote topic estimator_sensor_bias
  353. INFO [uORB] Advertising remote topic estimator_states
  354. INFO [uORB] Advertising remote topic estimator_status_flags
  355. INFO [uORB] Advertising remote topic estimator_status
  356. INFO [muorb] [qshell] Ok executing command: ekf2 start
  357. INFO [qshell] qshell return value timestamp: 159413222, local time: 159416308
  358. INFO [uORB] Advertising remote topic ekf2_timestamps
  359. INFO [uORB] Advertising remote topic vehicle_odometry
  360. INFO [uORB] Advertising remote topic estimator_aid_src_baro_hgt
  361. INFO [uORB] Advertising remote topic estimator_aid_src_fake_pos
  362. INFO [uORB] Advertising remote topic estimator_aid_src_fake_hgt
  363. INFO [uORB] Advertising remote topic estimator_aid_src_mag_heading
  364. INFO [uORB] Advertising remote topic estimator_aid_src_mag
  365. INFO [uORB] Advertising remote topic estimator_aid_src_gravity
  366. INFO [qshell] Send cmd: 'mc_pos_control start'
  367. INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  368. INFO [muorb] [qshell] qshell gotten: mc_pos_control start
  369. INFO [muorb] [qshell] arg0 = 'mc_pos_control'
  370. INFO [muorb] [qshell] arg1 = 'start'
  371. INFO [uORB] Advertising remote topic takeoff_status
  372. INFO [muorb] [qshell] Ok executing command: mc_pos_control start
  373. INFO [qshell] qshell return value timestamp: 159527085, local time: 159528872
  374. INFO [qshell] Send cmd: 'mc_att_control start'
  375. INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  376. INFO [muorb] [qshell] qshell gotten: mc_att_control start
  377. INFO [muorb] [qshell] arg0 = 'mc_att_control'
  378. INFO [muorb] [qshell] arg1 = 'start'
  379. INFO [muorb] [qshell] Ok executing command: mc_att_control start
  380. INFO [qshell] qshell return value timestamp: 159577451, local time: 159580063
  381. INFO [qshell] Send cmd: 'mc_rate_control start'
  382. INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  383. INFO [muorb] [qshell] qshell gotten: mc_rate_control start
  384. INFO [muorb] [qshell] arg0 = 'mc_rate_control'
  385. INFO [muorb] [qshell] arg1 = 'start'
  386. INFO [muorb] [gps] u-blox firmware version: SPG 5.10
  387. INFO [uORB] Advertising remote topic rate_ctrl_status
  388. INFO [muorb] [qshell] Ok executing command: mc_rate_control start
  389. INFO [qshell] qshell return value timestamp: 159697798, local time: 159699799
  390. INFO [muorb] [gps] u-blox protocol version: 34.10
  391. INFO [muorb] [gps] u-blox module: MAX-M10S
  392. INFO [qshell] Send cmd: 'mc_hover_thrust_estimator start'
  393. INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  394. INFO [muorb] [qshell] qshell gotten: mc_hover_thrust_estimator start
  395. INFO [muorb] [qshell] arg0 = 'mc_hover_thrust_estimator'
  396. INFO [muorb] [qshell] arg1 = 'start'
  397. INFO [muorb] [qshell] Ok executing command: mc_hover_thrust_estimator start
  398. INFO [qshell] qshell return value timestamp: 159754350, local time: 159758298
  399. INFO [qshell] Send cmd: 'mc_autotune_attitude_control start'
  400. INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  401. INFO [muorb] [qshell] qshell gotten: mc_autotune_attitude_control start
  402. INFO [muorb] [qshell] arg0 = 'mc_autotune_attitude_control'
  403. INFO [muorb] [qshell] arg1 = 'start'
  404. INFO [uORB] Advertising remote topic autotune_attitude_control_status
  405. INFO [muorb] [qshell] Ok executing command: mc_autotune_attitude_control start
  406. INFO [qshell] qshell return value timestamp: 159813426, local time: 159815796
  407. INFO [qshell] Send cmd: 'land_detector start multicopter'
  408. INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  409. INFO [muorb] [qshell] qshell gotten: land_detector start multicopter
  410. INFO [muorb] [qshell] arg0 = 'land_detector'
  411. INFO [muorb] [qshell] arg1 = 'start'
  412. INFO [muorb] [qshell] arg2 = 'multicopter'
  413. INFO [muorb] [qshell] Ok executing command: land_detector start multicopter
  414. INFO [uORB] Advertising remote topic vehicle_land_detected
  415. INFO [qshell] qshell return value timestamp: 159865375, local time: 159868504
  416. INFO [qshell] Send cmd: 'manual_control start'
  417. INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  418. INFO [muorb] [qshell] qshell gotten: manual_control start
  419. INFO [muorb] [qshell] arg0 = 'manual_control'
  420. INFO [muorb] [qshell] arg1 = 'start'
  421. INFO [muorb] [qshell] Ok executing command: manual_control start
  422. INFO [uORB] Advertising remote topic manual_control_setpoint
  423. INFO [qshell] qshell return value timestamp: 159918386, local time: 159920141
  424. INFO [qshell] Send cmd: 'control_allocator start'
  425. INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  426. INFO [muorb] [qshell] qshell gotten: control_allocator start
  427. INFO [muorb] [qshell] arg0 = 'control_allocator'
  428. INFO [muorb] [qshell] arg1 = 'start'
  429. INFO [uORB] Advertising remote topic control_allocator_status
  430. INFO [uORB] Marking DeviceNode(control_allocator_status) as advertised in process_remote_topic
  431. INFO [uORB] Advertising remote topic actuator_motors
  432. INFO [uORB] Advertising remote topic actuator_servos
  433. INFO [uORB] Advertising remote topic actuator_servos_trim
  434. INFO [muorb] [ekf2] resetQuatStateYaw called: 0.929260 (0.090000)
  435.  
  436. INFO [muorb] [qshell] Ok executing command: control_allocator start
  437. INFO [qshell] qshell return value timestamp: 160296044, local time: 160298601
  438. INFO [qshell] Send cmd: 'load_mon start'
  439. INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  440. INFO [muorb] [qshell] qshell gotten: load_mon start
  441. INFO [muorb] [qshell] arg0 = 'load_mon'
  442. INFO [muorb] [qshell] arg1 = 'start'
  443. INFO [muorb] [qshell] Ok executing command: load_mon start
  444. INFO [uORB] Advertising remote topic cpuload
  445. INFO [qshell] qshell return value timestamp: 160337709, local time: 160341097
  446. INFO [qshell] Send cmd: 'rc_update start'
  447. INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  448. INFO [muorb] [qshell] qshell gotten: rc_update start
  449. INFO [muorb] [qshell] arg0 = 'rc_update'
  450. INFO [muorb] [qshell] arg1 = 'start'
  451. INFO [muorb] [gps] GPS UART baudrate set to 115200
  452. INFO [muorb] [qshell] Ok executing command: rc_update start
  453. INFO [qshell] qshell return value timestamp: 160726013, local time: 160728564
  454. INFO [uORB] Advertising remote topic rc_channels
  455. INFO [qshell] Send cmd: 'commander start'
  456. INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  457. INFO [muorb] [qshell] qshell gotten: commander start
  458. INFO [muorb] [qshell] arg0 = 'commander'
  459. INFO [muorb] [qshell] arg1 = 'start'
  460. INFO [muorb] [tasks] Creating pthread commander
  461. INFO [muorb] [tasks] Successfully created px4 task PX4_commander with tid 2097641
  462. INFO [uORB] Advertising remote topic led_control
  463. INFO [muorb] [commander] LED: open /dev/led0 failed (22)
  464. INFO [uORB] Advertising remote topic tune_control
  465. INFO [muorb] [qshell] Ok executing command: commander start
  466. INFO [qshell] qshell return value timestamp: 160991383, local time: 160992258
  467. INFO [uORB] Advertising remote topic event
  468. INFO [uORB] Advertising remote topic health_report
  469. INFO [uORB] Advertising remote topic failsafe_flags
  470. INFO [uORB] Advertising remote topic actuator_armed
  471. INFO [uORB] Advertising remote topic vehicle_control_mode
  472. INFO [uORB] Advertising remote topic vehicle_status
  473. INFO [uORB] Advertising remote topic failure_detector_status
  474. INFO [uORB] Advertising remote topic vehicle_thrust_setpoint
  475. INFO [uORB] Advertising remote topic vehicle_torque_setpoint
  476. INFO [uORB] Advertising remote topic vehicle_attitude_setpoint
  477. INFO [uORB] Advertising remote topic vehicle_rates_setpoint
  478. INFO [qshell] Send cmd: 'flight_mode_manager start'
  479. INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  480. INFO [muorb] [qshell] qshell gotten: flight_mode_manager start
  481. INFO [muorb] [qshell] arg0 = 'flight_mode_manager'
  482. INFO [muorb] [qshell] arg1 = 'start'
  483. INFO [uORB] Advertising remote topic vehicle_command
  484. INFO [muorb] [qshell] Ok executing command: flight_mode_manager start
  485. INFO [qshell] qshell return value timestamp: 161121024, local time: 161123846
  486. INFO [dataman] data manager file '/data/px4/dataman' size is 7866640 bytes
  487. INFO [muorb] [uORB] Advertising remote topic transponder_report
  488. INFO [muorb] [uORB] Advertising remote topic rtl_time_estimate
  489. INFO [muorb] [uORB] Advertising remote topic position_setpoint_triplet
  490. INFO [mavlink] mode: Onboard, data rate: 100000 B/s on udp port 14556 remote port 14557
  491. INFO [muorb] [uORB] Advertising remote topic telemetry_status
  492. INFO [mavlink] partner IP: 127.0.0.1
  493. INFO [muorb] [uORB] Advertising remote topic offboard_control_mode
  494. INFO [muorb] [uORB] Advertising remote topic obstacle_distance
  495. INFO [muorb] [uORB] Advertising remote topic distance_sensor
  496. INFO [muorb] [uORB] Advertising remote topic vehicle_visual_odometry
  497. INFO [muorb] [uORB] Advertising remote topic timesync_status
  498. INFO [uORB] Advertising remote topic estimator_aid_src_rng_hgt
  499. INFO [uORB] Advertising remote topic actuator_controls_status_0
  500. INFO [uORB] Advertising remote topic estimator_aid_src_ev_hgt
  501. INFO [uORB] Advertising remote topic estimator_aid_src_ev_pos
  502. INFO [uORB] Advertising remote topic estimator_aid_src_ev_vel
  503. INFO [uORB] Advertising remote topic estimator_aid_src_ev_yaw
  504. INFO [mavlink] mode: Normal, data rate: 100000 B/s on udp port 14558 remote port 14559
  505. INFO [muorb] [uORB] Marking DeviceNode(telemetry_status) as advertised in process_remote_topic
  506. INFO [muorb] [ekf2] resetQuatStateYaw called: -0.000000 (0.100000)
  507.  
  508. INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
  509. INFO [mavlink] partner IP: 127.0.0.1
  510. INFO [px4] Startup script returned successfully
  511. pxh> INFO [logger] logger started (mode=all)
  512. INFO [uORB] Advertising remote topic estimator_ev_pos_bias
  513. INFO [muorb] [uORB] Marking DeviceNode(vehicle_command_ack) as advertised in process_remote_topic
  514. INFO [uORB] Advertising remote topic home_position
  515. INFO [muorb] [gps] GPS UART baudrate set to 9600
  516. INFO [muorb] [uORB] Advertising remote topic ping
  517. INFO [muorb] [gps] GPS UART baudrate set to 38400
  518. INFO [muorb] [gps] Got ack to initial CFG_VALSET!
  519. INFO [muorb] [gps] u-blox firmware version: SPG 5.10
  520. INFO [muorb] [gps] u-blox protocol version: 34.10
  521. INFO [muorb] [gps] u-blox module: MAX-M10S
  522. INFO [uORB] Advertising remote topic sensor_gps
  523.  
  524. pxh> ver all
  525. HW arch: MODALAI_VOXL2
  526. PX4 git-hash: 8ec5981737fd2ecf28c5c1888d3e99ec166010cb
  527. PX4 version: 1.14.0 0 (17694720)
  528. Vendor version: 2.0.105 0 (33581312)
  529. OS: Linux
  530. OS version: Release 4.19.125 (68386303)
  531. Build datetime: Jun 5 2025 15:23:35
  532. Build uri: localhost
  533. Build variant: default
  534. Toolchain: GNU GCC, 7.5.0
  535. PX4GUID: 100a41444f4d5649414c324c584f30303030
  536. UNKNOWN MCU
  537. pxh> qshell voxl_esc status
  538. INFO [qshell] Send cmd: 'voxl_esc status'
  539. INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic
  540. INFO [muorb] [qshell] qshell gotten: voxl_esc status
  541. INFO [muorb] [qshell] arg0 = 'voxl_esc'
  542. INFO [muorb] [qshell] arg1 = 'status'
  543. INFO [muorb] [voxl_esc] Max update rate: 0 Hz
  544. INFO [muorb] [voxl_esc] Outputs on: no
  545. INFO [muorb] [voxl_esc] UART port: 2
  546. INFO [muorb] [voxl_esc] UART open: yes
  547. INFO [muorb] [voxl_esc]
  548. INFO [muorb] [voxl_esc] Params: VOXL_ESC_CONFIG: 1
  549. INFO [muorb] [voxl_esc] Params: VOXL_ESC_MODE: 0
  550. INFO [muorb] [voxl_esc] Params: VOXL_ESC_BAUD: 2000000
  551. INFO [muorb] [voxl_esc] Params: VOXL_ESC_FUNC1: 102
  552. INFO [muorb] [voxl_esc] Params: VOXL_ESC_FUNC2: 103
  553. INFO [muorb] [voxl_esc] Params: VOXL_ESC_FUNC3: 101
  554. INFO [muorb] [voxl_esc] Params: VOXL_ESC_FUNC4: 104
  555. INFO [muorb] [voxl_esc] Params: VOXL_ESC_SDIR1: 0
  556. INFO [muorb] [voxl_esc] Params: VOXL_ESC_SDIR2: 0
  557. INFO [muorb] [voxl_esc] Params: VOXL_ESC_SDIR3: 0
  558. INFO [muorb] [voxl_esc] Params: VOXL_ESC_SDIR4: 0
  559. INFO [muorb] [voxl_esc] Params: VOXL_ESC_RPM_MIN: 2000
  560. INFO [muorb] [voxl_esc] Params: VOXL_ESC_RPM_MAX: 12000
  561. INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_PERC: 90
  562. INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_DEAD: 20
  563. INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_EXPO: 35
  564. INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_MINF: 0.150000
  565. INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_COSP: 0.990000
  566. INFO [muorb] [voxl_esc] Params: VOXL_ESC_VLOG: 1
  567. INFO [muorb] [voxl_esc] Params: VOXL_ESC_PUB_BST: 1
  568. INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_WARN: 0
  569. INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_OVER: 0
  570. INFO [muorb] [voxl_esc] Params: GPIO_CTL_CH: 0
  571. INFO [muorb] [voxl_esc]
  572. INFO [muorb] [voxl_esc] -- ID: 0
  573. INFO [muorb] [voxl_esc] Motor: 2
  574. INFO [muorb] [voxl_esc] Direction: 1
  575. INFO [muorb] [voxl_esc] State: 0
  576. INFO [muorb] [voxl_esc] Requested: 0 RPM
  577. INFO [muorb] [voxl_esc] Measured: 0 RPM
  578. INFO [muorb] [voxl_esc] Command Counter: 23
  579. INFO [muorb] [voxl_esc] Voltage: 15.634001 VDC
  580. INFO [muorb] [voxl_esc]
  581. INFO [muorb] [voxl_esc] -- ID: 1
  582. INFO [muorb] [voxl_esc] Motor: 3
  583. INFO [muorb] [voxl_esc] Direction: 1
  584. INFO [muorb] [voxl_esc] State: 0
  585. INFO [muorb] [voxl_esc] Requested: 0 RPM
  586. INFO [muorb] [voxl_esc] Measured: 0 RPM
  587. INFO [muorb] [voxl_esc] Command Counter: 24
  588. INFO [muorb] [voxl_esc] Voltage: 15.626000 VDC
  589. INFO [muorb] [voxl_esc]
  590. INFO [muorb] [voxl_esc] -- ID: 2
  591. INFO [muorb] [voxl_esc] Motor: 1
  592. INFO [muorb] [voxl_esc] Direction: 1
  593. INFO [muorb] [voxl_esc] State: 0
  594. INFO [muorb] [voxl_esc] Requested: 0 RPM
  595. INFO [muorb] [voxl_esc] Measured: 0 RPM
  596. INFO [muorb] [voxl_esc] Command Counter: 25
  597. INFO [muorb] [voxl_esc] Voltage: 15.641001 VDC
  598. INFO [muorb] [voxl_esc]
  599. INFO [muorb] [voxl_esc] -- ID: 3
  600. INFO [muorb] [voxl_esc] Motor: 4
  601. INFO [muorb] [voxl_esc] Direction: 1
  602. INFO [muorb] [voxl_esc] State: 0
  603. INFO [muorb] [voxl_esc] Requested: 0 RPM
  604. INFO [muorb] [voxl_esc] Measured: 0 RPM
  605. INFO [muorb] [voxl_esc] Command Counter: 26
  606. INFO [muorb] [voxl_esc] Voltage: 15.626000 VDC
  607. INFO [muorb] [voxl_esc]
  608. INFO [muorb] voxl_esc: cycle: 39331 events, 174895796us elapsed, 4446.77us avg, min 121us max 158784805us 80
  609. INFO [muorb] voxl_esc: output update interval: 39329 events, 1274.64us avg, min 373us max 50528us 1637.223us
  610. INFO [muorb] [mixer_module] Param prefix: VOXL_ESC
  611. INFO [muorb] control latency: 39283 events, 28232828us elapsed, 718.70us avg, min 513us max 2248us 219.252us
  612. INFO [muorb] [mixer_module] Switched to rate_ctrl work queue
  613. INFO [muorb] Channel Configuration:
  614.  
  615. INFO [muorb] Channel 0: func: 102, value: 0, failsafe: 0, disarmed: 0, min: 2000, max: 12000
  616.  
  617. INFO [muorb] Channel 1: func: 103, value: 0, failsafe: 0, disarmed: 0, min: 2000, max: 12000
  618.  
  619. INFO [muorb] Channel 2: func: 101, value: 0, failsafe: 0, disarmed: 0, min: 2000, max: 12000
  620.  
  621. INFO [muorb] Channel 3: func: 104, value: 0, failsafe: 0, disarmed: 0, min: 2000, max: 12000
  622.  
  623. INFO [muorb] [qshell] Ok executing command: voxl_esc status
  624. INFO [qshell] qshell return value timestamp: 208966780, local time: 208973096
  625. pxh>
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