No PWM output after short time

Hello everybody,
I think it is a mistake on my side but I don’t get any further.
I have an old Graupner mc-10 with a R700 receiver (there I soldered a wire to the PPM output).

The Board should be used on a rover and the initial setup on using the emlidtool has been done.
The important lines of /etc/default/ardurover:

# Default settings for ArduPilot for Linux.
# The file is sourced by systemd from ardurover.service

# 192.168.178.80 - INS Laptop
TELEM1="-A udp:192.168.178.80:14550"
TELEM2="-C /dev/ttyAMA0"
# 192.168.178.81 - C. Sonnleitner Laptop
TELEM3="-A udp:192.168.178.81:14550"

# Options to pass to ArduPilot
ARDUPILOT_OPTS="$TELEM1 $TELEM2 $TELEM3"
  1. After booting the Raspi+Navio2 i can see for a short time at the beginning a PPM output on channel 01 using an oscilloscope. The LED on the Navio2 is blinking (I suppose searching for a GNSS link which it won’t get in a building).
  2. After short time the LED turns off and the PWM output on the oscillocope also goes off. I also cannot see anymore anymore signals on the “Radio Calibration” Screen in Mission Planner or APM Planner. (But I can see at the oscilloscope that the PPM input is changing when using the remote control)
  3. Is this an expected behaviour due to missing GNSS, Accel Calibration etc? Why can’t I steer the rover “by hand”? And why is it possible in the beginning?

Thanks for your help.

Hi @q-wertz,

May I ask you to run the ADC example and post the output here?

Hello,

the output is (on Port1 there is an external DC Power Supply to simulate a BEC):

pi@navio:~/Navio2/Python $ python ADC.py
A0: 4.9440V A1: 5.0040V A2: 0.0380V A3: 0.0160V A4: 0.0240V A5: 0.0240V
A0: 4.9560V A1: 5.0160V A2: 0.0400V A3: 0.0160V A4: 0.0240V A5: 0.0240V
A0: 4.9560V A1: 5.0160V A2: 0.0380V A3: 0.0160V A4: 0.0220V A5: 0.0240V
A0: 4.9560V A1: 5.0130V A2: 0.0380V A3: 0.0140V A4: 0.0160V A5: 0.0240V
A0: 4.9590V A1: 5.0160V A2: 0.0380V A3: 0.0160V A4: 0.0200V A5: 0.0240V
A0: 4.9620V A1: 5.0130V A2: 0.0400V A3: 0.0140V A4: 0.0160V A5: 0.0240V
A0: 4.9620V A1: 5.0130V A2: 0.0380V A3: 0.0140V A4: 0.0240V A5: 0.0240V
A0: 4.9590V A1: 5.0130V A2: 0.0380V A3: 0.0160V A4: 0.0160V A5: 0.0240V

Here is also the output of RCInput.py (which shows that it is receiving something):

pi@navio:~/Navio2/Python $ sudo python RCInput.py
1490
1492
1492
1493
1494
1491
1492
1492
1503
1899
1907
1116
1115
1112
1110
1492
1798
1114
1496
1497

and when I run the Servo.py script I also see changes on the Oszilloscope attached to Channel 1

I also attached a journalctl report. One thing that always seems strange to me:
It takes very long to kill the ardurover process (sudo systemctl stop ardurover) and one can see, that there is a timeout 15:31:51

May 28 15:29:45 navio systemd-timesyncd[322]: Synchronized to time server for the first time
May 28 15:29:45 navio systemd[1]: Starting Rotate log files…
May 28 15:29:45 navio systemd[1]: Starting Daily man-db regeneration…
May 28 15:29:45 navio systemd[1]: Starting Daily apt download activities…
May 28 15:29:45 navio rsyslogd[368]: [origin software=“rsyslogd” swVersion=“8.1901.0” x-pid=“368” x-info="https://www.rsyslog.c
May 28 15:29:45 navio systemd[1]: logrotate.service: Succeeded.
May 28 15:29:45 navio systemd[1]: Started Rotate log files.
May 28 15:29:48 navio systemd[1]: man-db.service: Succeeded.
May 28 15:29:48 navio systemd[1]: Started Daily man-db regeneration.
May 28 15:29:49 navio systemd[1]: apt-daily.service: Succeeded.
May 28 15:29:49 navio systemd[1]: Started Daily apt download activities.
May 28 15:29:49 navio systemd[1]: Starting Daily apt upgrade and clean activities…
May 28 15:29:51 navio systemd[1]: apt-daily-upgrade.service: Succeeded.
May 28 15:29:51 navio systemd[1]: Started Daily apt upgrade and clean activities.
May 28 15:29:53 navio sshd[693]: Accepted password for pi from 192.168.178.81 port 33030 ssh2
May 28 15:29:53 navio sshd[693]: pam_unix(sshd:session): session opened for user pi by (uid=0)
May 28 15:29:53 navio systemd[1]: Created slice User Slice of UID 1000.
May 28 15:29:53 navio systemd[1]: Starting User Runtime Directory /run/user/1000…
May 28 15:29:53 navio systemd-logind[369]: New session c1 of user pi.
May 28 15:29:53 navio systemd[1]: Started User Runtime Directory /run/user/1000.
May 28 15:29:53 navio systemd[1]: Starting User Manager for UID 1000…
May 28 15:29:53 navio systemd[729]: pam_unix(systemd-user:session): session opened for user pi by (uid=0)
May 28 15:29:53 navio systemd[729]: Listening on GnuPG cryptographic agent (ssh-agent emulation).
May 28 15:29:53 navio systemd[729]: Reached target Timers.
May 28 15:29:53 navio systemd[729]: Starting D-Bus User Message Bus Socket.
May 28 15:29:53 navio systemd[729]: Listening on GnuPG cryptographic agent and passphrase cache (restricted).
May 28 15:29:53 navio systemd[729]: Listening on GnuPG cryptographic agent and passphrase cache.
May 28 15:29:53 navio systemd[729]: Reached target Paths.
May 28 15:29:53 navio systemd[729]: Listening on GnuPG network certificate management daemon.
May 28 15:29:53 navio systemd[729]: Listening on GnuPG cryptographic agent and passphrase cache (access for web browsers).
May 28 15:29:53 navio systemd[729]: Listening on D-Bus User Message Bus Socket.
May 28 15:29:53 navio systemd[729]: Reached target Sockets.
May 28 15:29:53 navio systemd[729]: Reached target Basic System.
May 28 15:29:53 navio systemd[729]: Reached target Default.
May 28 15:29:53 navio systemd[729]: Startup finished in 315ms.
May 28 15:29:53 navio systemd[1]: Started User Manager for UID 1000.
May 28 15:29:53 navio systemd[1]: Started Session c1 of user pi.
May 28 15:30:21 navio sudo[773]: pi : TTY=pts/0 ; PWD=/home/pi/Navio2/Python ; USER=root ; COMMAND=/usr/bin/systemctl stop
May 28 15:30:21 navio sudo[773]: pam_unix(sudo:session): session opened for user root by pi(uid=0)
May 28 15:30:21 navio systemd[1]: Stopping ArduPilot for Linux…
May 28 15:30:21 navio systemd[1]: ardurover.service: Main process exited, code=killed, status=15/TERM
May 28 15:31:51 navio systemd[1]: ardurover.service: State ‘stop-final-sigterm’ timed out. Killing.
May 28 15:31:51 navio systemd[1]: ardurover.service: Killing process 390 (ardurover) with signal SIGKILL.
May 28 15:31:51 navio systemd[1]: ardurover.service: Failed with result ‘timeout’.
May 28 15:31:51 navio systemd[1]: Stopped ArduPilot for Linux.
May 28 15:31:51 navio sudo[773]: pam_unix(sudo:session): session closed for user root
May 28 15:32:51 navio sudo[796]: pi : TTY=pts/0 ; PWD=/home/pi/Navio2/Python ; USER=root ; COMMAND=/usr/bin/journalctl hel
May 28 15:32:51 navio sudo[796]: pam_unix(sudo:session): session opened for user root by pi(uid=0)
May 28 15:32:51 navio sudo[796]: pam_unix(sudo:session): session closed for user root
May 28 15:32:54 navio sudo[805]: pi : TTY=pts/0 ; PWD=/home/pi/Navio2/Python ; USER=root ; COMMAND=/usr/bin/journalctl -he
May 28 15:32:54 navio sudo[805]: pam_unix(sudo:session): session opened for user root by pi(uid=0)
May 28 15:32:59 navio sudo[805]: pam_unix(sudo:session): session closed for user root
May 28 15:33:20 navio sudo[815]: pi : TTY=pts/0 ; PWD=/home/pi/Navio2/Python ; USER=root ; COMMAND=/usr/bin/journalctl
May 28 15:33:20 navio sudo[815]: pam_unix(sudo:session): session opened for user root by pi(uid=0)

Is there any chance that some "security-"check is intercepting, as more or less nothing is connected to the Navio at the moment?

some strange lines on raspberry startup in /var/log/syslog:

May 29 12:49:37 navio systemd[1]: ardupilot.service: Service has no ExecStart=, ExecStop=, or SuccessAction=. Refusing.
May 29 12:49:37 navio systemd[1]: ardurover.service: Current command vanished from the unit file, execution of the command list won’t be resumed.
May 29 12:49:37 navio systemd[1]: getty@tty1.service: Current command vanished from the unit file, execution of the command list won’t be resumed.
May 29 12:49:38 navio systemd[1]: Reloading.
May 29 12:49:38 navio systemd[1]: ardupilot.service: Service has no ExecStart=, ExecStop=, or SuccessAction=. Refusing.
May 29 12:49:39 navio systemd[1]: Reloading.
May 29 12:49:40 navio systemd[1]: ardupilot.service: Service has no ExecStart=, ExecStop=, or SuccessAction=. Refusing.
May 29 12:49:40 navio systemd[1]: Reloading.
May 29 12:49:41 navio systemd[1]: ardupilot.service: Service has no ExecStart=, ExecStop=, or SuccessAction=. Refusing.
May 29 12:49:42 navio systemd[1]: Reloading.
May 29 12:49:43 navio systemd[1]: ardupilot.service: Service has no ExecStart=, ExecStop=, or SuccessAction=. Refusing.
May 29 12:49:44 navio systemd[1]: Reloading.
May 29 12:49:45 navio systemd[1]: ardupilot.service: Service has no ExecStart=, ExecStop=, or SuccessAction=. Refusing.
May 29 12:50:18 navio systemd[1]: Reloading.
May 29 12:50:18 navio systemd[1]: ardupilot.service: Service has no ExecStart=, ExecStop=, or SuccessAction=. Refusing.
May 29 12:51:19 navio systemd[1]: Reloading.
May 29 12:51:19 navio systemd[1]: ardupilot.service: Service has no ExecStart=, ExecStop=, or SuccessAction=. Refusing.
May 29 12:51:22 navio systemd[1]: Reloading.
May 29 12:51:22 navio systemd[1]: ardupilot.service: Service has no ExecStart=, ExecStop=, or SuccessAction=. Refusing.
May 29 12:51:25 navio systemd[1]: Reloading.
May 29 12:51:26 navio systemd[1]: ardupilot.service: Service has no ExecStart=, ExecStop=, or SuccessAction=. Refusing.
May 29 12:51:27 navio systemd[1]: rpi-eeprom-update.service: Succeeded.

May 29 12:57:10 navio systemd[1]: ardupilot.service: Service has no ExecStart=, ExecStop=, or > SuccessAction=. Refusing.
May 29 12:57:18 navio systemd[1]: Stopping ArduPilot for Linux…
May 29 12:57:18 navio systemd[1]: ardurover.service: Main process exited, code=killed, status=15/TERM
May 29 12:58:48 navio systemd[1]: ardurover.service: State ‘stop-final-sigterm’ timed out. Killing.
May 29 12:58:48 navio systemd[1]: ardurover.service: Killing process 369 (ardurover) with signal SIGKILL.
May 29 12:58:48 navio systemd[1]: ardurover.service: Failed with result ‘timeout’.
May 29 12:58:48 navio systemd[1]: Stopped ArduPilot for Linux.
May 29 12:58:48 navio systemd[1]: Started ArduPilot for Linux.
May 29 12:58:48 navio sh[1829]: 0 0 0 AP_Logger_File: buffer size=51200
May 29 12:58:48 navio sh[1829]: AK09916: Reset Failed
May 29 12:58:48 navio sh[1829]: AK09916: Reset Failed
May 29 12:58:49 navio sh[1829]: �
May 29 12:58:49 navio sh[1829]: #001#001
May 29 12:58:49 navio sh[1829]: #020
May 29 12:58:49 navio sh[1829]: #003A#002#003#017;�#011#001#001#001
May 29 12:58:49 navio sh[1829]: #020
May 29 12:58:50 navio sh[1829]: #003A#002#003�E�#011#002#001#001
May 29 12:58:50 navio sh[1829]: #020
May 29 12:58:50 navio sh[1829]: #003A#002#003���3#003#001#001�#006Barometer 1 calibration complete
May 29 12:58:50 navio sh[1829]: #015U�3#004#001#001�#006<startup_ground> Ground start
May 29 12:58:50 navio sh[1829]: X#025�3#005#001#001�#006Beginning INS calibration. Do not move vehicle
May 29 12:58:50 navio sh[1829]: ��Init Gyro*�#011#006#001#001
May 29 12:58:50 navio sh[1829]: #020
May 29 12:58:51 navio sh[1829]: #003A#002#003b5**
May 29 12:58:51 navio sh[1829]: �3#007#001#001�#006Ready to drive
May 29 12:58:51 navio sh[1829]: ^?�#011#010#001#001
May 29 12:58:51 navio sh[1829]: #003A#004#003���#034#011#001#001#036x#013
May 29 12:58:51 navio sh[1829]: v#033#025=s����5�>#002�ڸPܙ��~99uh�#024
May 29 12:58:51 navio sh[1829]: #001#001J
May 29 12:58:51 navio sh[1829]: �#036�?
May 29 12:58:51 navio sh[1829]: �#025
May 29 12:58:51 navio sh[1829]: l|�3#013#001#001�#006GPS 1: detected as u-blox at 115200 baud
May 29 12:58:51 navio sh[1829]: m��#011#014#001#001
May 29 12:58:51 navio sh[1829]: #003A#004#003^#�#034#015#001#001!h#014
May 29 12:58:51 navio sh[1829]: �c#023#035�vw#005��������#017

Weird outputs of navio sh to syslog (is this usual?)
Sometimes in between some human readable stuff.
Looks like it finds the different sensors, LED is flashing, I can connect via APM Planner and after few seconds LED turns off and the device appears unresponsive on APM planner (red flashing square) (but ssh still works)

anyone with some guidance/hints?
also the log files seem normal to me…

Is the Ardupilot expecting ANYTHING and goes into a failsafe mode if this is not fulfilled?

Brought this also to

@tatiana.andreeva Do you know if any of these errors or hex data in log is a showstopper?

AK09916: Reset Failed
AK09916: Reset Failed
AK8963: Unable to get bus semaphore

Hi @q-wertz,

I’m sorry it took so long to get back to you.

I’ve looked into all the data you provided and noticed that you specify several telemetry options. In this case, it’s better to use different flags for each of them. I’d recommend trying the following configuration:

TELEM1="-A udp:192.168.178.80:14550"
TELEM2="-C /dev/ttyAMA0"
TELEM3="-D udp:192.168.178.81:14550"

ARDUPILOT_OPTS="$TELEM1 $TELEM2 $TELEM3"

Hello @tatiana.andreeva

at the moment I cannot check it because the board is in a test bed, but I’m quite sure I also tested it with the preconfigured values.

In the meantime we received a new Navio2 board and with that the first tests worked without problems. So I think it’s a problem with this specific device…

I will let you know as soon as I tested the old one with your suggested settings.

Hi @q-wertz,

Sure, please keep me posted.