# Ubuntu 18.04 fails to boot when connected to magni on rpi, works fine when disconnected

**URL:** <https://forum.ubiquityrobotics.com/t/ubuntu-18-04-fails-to-boot-when-connected-to-magni-on-rpi-works-fine-when-disconnected/830>\
**Category:** Pi Image\
**Created:** [June 12, 2021, 12:56pm UTC](https://forum.ubiquityrobotics.com/t/ubuntu-18-04-fails-to-boot-when-connected-to-magni-on-rpi-works-fine-when-disconnected/830 "2021-06-12T12:56:00Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![IngeniousDoc](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/i/94ad74/32.png) [@IngeniousDoc](https://forum.ubiquityrobotics.com/u/IngeniousDoc)\
**Post date:** [June 12, 2021, 12:56pm UTC](https://forum.ubiquityrobotics.com/t/ubuntu-18-04-fails-to-boot-when-connected-to-magni-on-rpi-works-fine-when-disconnected/830/1 "2021-06-12T12:56:00Z")

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Hello,

We are running a magni silver robot using a raspberry pi 4 with ubuntu server 18.04 on it because we want to use an intel realsense camera and could not get it to work on the image provided by ubiquity (intel realsense d435). The camera works fine, the packages from ubiquity’s github were downloaded and compiled on the rpi but when connecting the rpi using the GPIO pins, the rpi fails to boot. I found a document made by someone who ported the magni files to ubuntu 20.04 and mentioned that it was due to a serial problem in ubuntu: “It mixed up ttyS0 and ttyAMA0” which makes the magni interrupt the boot sequence. We are trying to modify the boot/config file to see if we can fix this issue, any suggestions?

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**Author:** ![rohbotics](https://forum.ubiquityrobotics.com/user_avatar/forum.ubiquityrobotics.com/rohbotics/32/222_2.png) [@rohbotics](https://forum.ubiquityrobotics.com/u/rohbotics)\
**Post date:** [June 12, 2021, 3:33pm UTC](https://forum.ubiquityrobotics.com/t/ubuntu-18-04-fails-to-boot-when-connected-to-magni-on-rpi-works-fine-when-disconnected/830/2 "2021-06-12T15:33:33Z")

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You probably need to add `dtoverlay=miniuart-bt` to your config.txt to swap S0 and AMA0. You also need to make sure all forms of serial console are turned off, both in `/boot/cmdline.txt` and by disabling the getty serial service.

Rohan

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**Author:** ![jh\_c](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/j/a9adbd/32.png) [@jh\_c](https://forum.ubiquityrobotics.com/u/jh_c)\
**Post date:** [March 16, 2022, 7:52am UTC](https://forum.ubiquityrobotics.com/t/ubuntu-18-04-fails-to-boot-when-connected-to-magni-on-rpi-works-fine-when-disconnected/830/3 "2022-03-16T07:52:11Z")

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Hi @IngeniousDoc I want to do something similar. Do you mind sharing the documents you referred to?  
I want to run a ubuntu server 20.04 using a raspberry pi4 to control the magni over i2c.

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**Author:** ![mjstn2011](https://forum.ubiquityrobotics.com/user_avatar/forum.ubiquityrobotics.com/mjstn2011/32/30_2.png) [@mjstn2011](https://forum.ubiquityrobotics.com/u/mjstn2011)\
**Post date:** [March 20, 2022, 8:00am UTC](https://forum.ubiquityrobotics.com/t/ubuntu-18-04-fails-to-boot-when-connected-to-magni-on-rpi-works-fine-when-disconnected/830/4 "2022-03-20T08:00:14Z")

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We have a Ubuntu 20.04 image for the Magni product if you have a magni with a Pi 4 that is getting very close to release. I am thinking or at least hope that will be available in a month and would show up on our magni image download page here: [Ubiquity Robotics Downloads](https://downloads.ubiquityrobotics.com/pi.html) We would label it to be ubiquity-focal or certainly not with ‘xenial’ in the name because ‘focal’ is the 20.04 base Ubuntu. Anyway, the name of it is not decided upon but watch that page.