Autopilot_Vehicle_Type_Fetch_Fail Fatal Error

Blue Robotics Software BlueOS
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Summary: When I follow the instructions on the Blue Robotics website for setting up the software for my Navigator board with Raspberry Pi 4B while connecting to it through a Fathom-X tether, I end up stuck with a flood of error notifications, and none of the features function.

Initial point of failure: I successfully set up the Navigator the first time, everything was working fine for several days, and I was able to drive the robot with Cockpit, then when I power cycled it like I had done many times before, it failed to boot (the status light never came on), and when I connected to it through the tether/ethernet connection, I got a flood of error notifications, primarily AUTOPILOT_VEHICLE_TYPE_FETCH_FAIL.

What I have tried:

  • Power cycling makes no difference. The 4s lipo battery I am using was charged and in good condition. Switching batteries did not help. Unplugging everything except power from the Navigator did not help. Neither did fully isolating the navigator on its own circuit separate from any other electronics.
  • I have tried manually reflashing the Pi’s SD card with multiple different versions of BlueOS using BalenaEtcher, as well as trying multiple different versions through the BlueOS interface.
  • I have tried flashing default firmware and the latest 2 stable sub firmwares (4.5.6 and 4.5.7). I tried running the wizard afterwards to re-setup as an ROV. I tried every combination of power cycle, reflash firmware, and run wizard that I could think of. The firmware I flash never seems to “stick”.
  • I tried connecting the robot to Cockpit and QGroundControl in case the errors weren’t important. Cockpit recognized the vehicle but could not connect, and QGroundControl couldn’t find it at all.

Whatever I do, I always end up back at the same place with a flood of errors and nothing working. If I let the board sit while powered on, the status light will come on after about an hour, and it shows an actual Ardusub firmware as installed instead of “Unknown”, but nothing else happens.

I attempted to attach photos, but it says I can only post one though I have many more. Pictures are of the state of the robot when I gave up. Any advice is greatly appreciated.

BlueOS Problems
BlueOS Problems1907×875 252 KB

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Quick update, after leaving the board on for about 45 minutes while typing this post, the status light once again came on, it showed that the Ardupilot submarine firmware is installed, gives me a filled out vehicle parameters page, and stopped giving me error notifications in the BlueOS interface, but when I open up Cockpit or QGroundControl I get the same error repeated over and over again:

Not sure what this means.

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Hi @brightonl -
Sorry for the issue! It sounds like your Navigator may have an issue. Please use the help center to report a problem with a product, and include your order #.

For reference, you’re not actually “flashing” the Navigator - it doesn’t have anything but sensors and output controllers! The firmware is loaded into a docker container that communicates with those peripherals, so if that’s not completing successfully there is likely an issue with some aspect of the autopilot process and those items.

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Thank you for getting back to me! Unfortunately the Navigator/Pi and peripherals were taken from an old Blue ROV that the lab inherited and we do not have receipts for, and we are attempting to use it for a fully custom ROV. I will still submit a report in case they are able to tell me what parts I should buy replacements for.