Compass Sensor 0 Missing

BusterB · September 19, 2023, 10:38pm

I’m working with a Cube Orange Plus mounted to a CubePilot and trying to get the internal magnetometer to be used as compass 0 for my quadcopter drone. When I attempt to calibrate the compass I receive the message “no mags found” and the calibration fails. However, I am able to see the digital displays for the compass and horizon line on QGC react to the movements of the drone. The MAVLink command “sensors status” does not appear to list any connected compass/magnetometer and the “listener sensor_mag” gives the message “never published.” I believe this issue is keeping me from properly arming the drone as well since I am receiving the “MAV_CMD_COMPONENT_ARM_DISARM command temporarily rejected” warning when I attempt to arm. Does anyone know how to solve this issue or is it a bug with the current Cube Orange Plus experimental build?

Pravin_Kumar · September 23, 2023, 3:03pm

Got the same issue myself. It seems the problem is with the latest PX4 commit. I tried uploading the cubeorangeplus firmware using an old PX4 version (downloaded in Jul-2023) and it worked fine. The “no mags found” error is gone.

JulianOes · September 23, 2023, 7:52pm

Thanks for the note @BusterB and @Pravin_Kumar. I will look into this. In the meantime, could you please paste the output of dmesg in this thread?

Just open the MAVLink shell in QGC and type dmesg.

Pravin_Kumar · September 24, 2023, 10:59am

Hi @JulianOes,

Please find the dmesg output for the scenario where ‘no mags found’ is occurring. Additionally, I’m providing the dmesg output from the previous PX4 commit where the issue did not occur.

nsh> dmesg
HW arch: CUBEPILOT_CUBEORANGEPLUS
PX4 git-hash: 61aee73b91ff76c6555173bc0c7846d7c7dab7e2
PX4 version: 1.14.0 80 (17694848)
PX4 git-branch: main
OS: NuttX
OS version: Release 11.0.0 (184549631)
OS git-hash: c23b72dffeb0de0d1a836ab561eb9169c4a9e58e
Build datetime: Sep 22 2023 23:25:05
Build uri: localhost
Build variant: default
Toolchain: GNU GCC, 10.3.1 20210621 (release)
PX4GUID: 000600000000323037343331511800340024
MCU: STM32H7[4|5]xxx, rev. V
INFO [param] selected parameter default file /fs/mtd_params
INFO [param] importing from ‘/fs/mtd_params’
INFO [parameters] BSON document size 976 bytes, decoded 976 bytes (INT32:15, FLOAT:29)
INFO [param] selected parameter backup file /fs/microsd/parameters_backup.bson
Board architecture defaults: /etc/init.d/rc.board_arch_defaults
Board defaults: /etc/init.d/rc.board_defaults
Loading airframe: /etc/init.d/airframes/4001_quad_x
INFO [dataman] data manager file ‘/fs/microsd/dataman’ size is 62584 bytes
INFO [px4io] IO FW CRC match
Board sensors: /etc/init.d/rc.board_sensors
ms5611 #0 on SPI bus 4
icm42688p #0 on SPI bus 4 rotation 10
ERROR [SPI_I2C] icm42688p: no instance started (no device on bus?)
ERROR [SPI_I2C] icm45686: no instance started (no device on bus?)
ERROR [SPI_I2C] icm45686: no instance started (no device on bus?)
icm20649 #0 on SPI bus 1
ms5611 #1 on SPI bus 1
ekf2 [718:237]
Board mavlink: /etc/init.d/rc.board_mavlink
INFO [mavlink] mode: Minimal, data rate: 2880 B/s on /dev/ttyS4 @ 57600B
Starting Main GPS on /dev/ttyS2
Starting MAVLink on /dev/ttyS0
INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS0 @ 57600B
INFO [logger] logger started (mode=all)
INFO [uavcan] Node ID 1, bitrate 1000000

NuttShell (NSH) NuttX-11.0.0
nsh> WARN [health_and_arming_checks] Preflight Fail: Compass Sensor 0 missing
WARN [health_and_arming_checks] Preflight Fail: Compass Sensor 0 missing
WARN [uORB] orb_advertise_multi: failed to set queue size
INFO [commander] [cal] calibration started: 2 mag
WARN [commander] No mags found
WARN [commander] [cal] calibration failed: mag
INFO [commander] [cal] calibration started: 2 mag
WARN [commander] No mags found
WARN [commander] [cal] calibration failed: mag
nsh>

Output from older commit:

nsh> dmesg
HW arch: CUBEPILOT_CUBEORANGEPLUS
PX4 git-hash: 57b3c26ab0048c4fa163de3074347ecfcaee440b
PX4 version: 1.14.0 0 (17694720)
PX4 git-branch: main
OS: NuttX
OS version: Release 11.0.0 (184549631)
OS git-hash: 3f77354c0dc88793a47ff3b57595195ab45f7ba9
Build datetime: Sep 23 2023 20:17:28
Build uri: localhost
Build variant: default
Toolchain: GNU GCC, 10.3.1 20210621 (release)
PX4GUID: 000600000000323037343331511800340024
MCU: STM32H7[4|5]xxx, rev. V
INFO [param] selected parameter default file /fs/mtd_params
INFO [param] importing from ‘/fs/mtd_params’
INFO [parameters] BSON document size 976 bytes, decoded 976 bytes (INT32:15, FLOAT:29)
INFO [param] selected parameter backup file /fs/microsd/parameters_backup.bson
Board architecture defaults: /etc/init.d/rc.board_arch_defaults
Board defaults: /etc/init.d/rc.board_defaults
Loading airframe: /etc/init.d/airframes/4001_quad_x
INFO [dataman] data manager file ‘/fs/microsd/dataman’ size is 62560 bytes
INFO [px4io] IO FW CRC match
Board sensors: /etc/init.d/rc.board_sensors
ms5611 #0 on SPI bus 4
icm42688p #0 on SPI bus 4 rotation 10
icm20948 #0 on SPI bus 4 rotation 10
icm20649 #0 on SPI bus 1
ms5611 #1 on SPI bus 1
ekf2 [714:237]
Board mavlink: /etc/init.d/rc.board_mavlink
WARN [mavlink] offboard mission init failed (-1)
INFO [mavlink] mode: Minimal, data rate: 2880 B/s on /dev/ttyS4 @ 57600B
Starting Main GPS on /dev/ttyS2
Starting MAVLink on /dev/ttyS0
INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS0 @ 57600B
INFO [logger] logger started (mode=all)
INFO [uavcan] Node ID 1, bitrate 1000000

NuttShell (NSH) NuttX-11.0.0
nsh>