Software Development

Your browser does not seem to support JavaScript. As a result, your viewing experience will be diminished, and you have been placed in read-only mode.

Please download a browser that supports JavaScript, or enable it if it's disabled (i.e. NoScript).

Subcategories

VOXL SDK

General questions regarding the VOXL SDK that do not fit into other categories

89
Topics

419
Posts

J

@James-Strawson

hmmm, by any chance are you failing to link against symbols from libgmb.so? That is a new library dependency of libmodal_pipe. Most of our packages use the following linker flags to avoid recursive linking, I think this would be a better solution than specifying the libmodal_pipe version in install_build_deps.sh

set(CMAKE_C_FLAGS "-Wl,--unresolved-symbols=ignore-in-shared-libs ${CMAKE_C_FLAGS}")
set(CMAKE_CXX_FLAGS "-Wl,--unresolved-symbols=ignore-in-shared-libs ${CMAKE_CXX_FLAGS}")
Video and Image Sensors

General questions regarding the VOXL SDK that do not fit into other categories

13
Topics

82
Posts

A

Hello @Kerry-Snyder,

This has been on our todo list for a while, but the Boson units we had at the time of integration did not support switching to 16-bit MIPI stream due to an issue in the Boson firmware (well, it is really a 14 bit packed into 16 bit data). While MIPI 16 bit stream did not work, it was working via USB (linux uvc)

Some of the newer versions of the Boson firmware have fixed the issue, but we have not tested it. Can you check which version of Boson firmware you have?

If the Boson firmware supports the 16 bit output, in order to test this with VOXL2, a new sensormodule bin file would be required as well as an update to voxl-camera-server, which is pretty easy to do, but we cannot test it at the moment.

If your firmware does support the 16 bit mipi output and you are willing to help with beta testing, I could update the camera server and provide the sensormodule driver for testing.

Alex
GPS-denied Navigation (VIO)

Questions about developing software on the products

55
Topics

262
Posts

J

Re: CAM_MISSING_STALLED

@Alex-Kushleyev @tom @modaltb @Eric-Katzfey

I would like to reopen the query , which i was never able to solve .
I am still facing the same error. this time i am using the new PMD TOF LIOW , with old tracking camer and old hires.
The TOF is working perfect but tracking camera is getting stalled. Also this time hires is not at all starting.
Starting Camera: hires (id #1) ERROR: Camera 1 failed to find supported stream config: 1024x768 WARNING: Failed to start cam hires due to invalid resolution WARNING: assuming cam is missing and trying to compensate Starting Camera: tracking (originally id #2) with id offset: 1 setting ov7251 BLC register for cam id 1 ------ voxl-camera-server: Started 2 of 3 cameras ------ voxl-camera-server: Camera server is now running WARNING: [ROYALE_WARNING] {ROYALE_FRAME_DROP}: Dropped 5561 frame(s). WARNING: [ROYALE_WARNING] {ROYALE_RAW_FRAME_STATS}: Raw frame drop stats: Bridge 5561 frames dropped, FC 0 frames dropped, 9 frames delivered. WARNING: [ROYALE_WARNING] {ROYALE_FRAME_DROP}: Dropped 9 frame(s). WARNING: [ROYALE_WARNING] {ROYALE_RAW_FRAME_STATS}: Raw frame drop stats: Bridge 9 frames dropped, FC 0 frames dropped, 81 frames delivered. voxl2:/$ voxl-camera-server existing instance of voxl-camera-server found, attempting to stop it detected system image 1.7.10 using new imx214 defaults ================================================================= configuration for 3 cameras: cam #0 name: tof sensor type: pmd-tof-liow2 isEnabled: 1 camId: 0 camId2: -1 fps: 10 en_rotate: 1 en_rotate2: 0 en_preview: 1 pre_width: 240 pre_height: 1629 en_raw_preview: 1 en_small_video: 0 small_video_width: -1 small_video_height: -1 en_large_video: 0 large_video_width: -1 large_video_height: -1 en_snapshot: 0 snap_width: -1 snap_height: -1 exif_focal_length: 0.000000 exif_focal_len_35mm_format:0 exif_fnumber: 0.000000 ae_mode: off msv_exposure_min_us: 0 msv_exposure_max_us: 6000 standby_enabled: 0 decimator: 5 independent_exposure:0 cam #1 name: hires sensor type: imx214 isEnabled: 1 camId: 1 camId2: -1 fps: 30 en_rotate: 0 en_rotate2: 0 en_preview: 0 pre_width: 640 pre_height: 480 en_raw_preview: 0 en_small_video: 1 small_video_width: 1920 small_video_height: 1080 en_large_video: 1 large_video_width: 4208 large_video_height: 3120 en_snapshot: 1 snap_width: 4208 snap_height: 3120 exif_focal_length: 0.000000 exif_focal_len_35mm_format:0 exif_fnumber: 0.000000 ae_mode: isp msv_exposure_min_us: 20 msv_exposure_max_us: 33000 standby_enabled: 0 decimator: 1 independent_exposure:0 cam #2 name: tracking sensor type: ov7251 isEnabled: 1 camId: 2 camId2: -1 fps: 30 en_rotate: 0 en_rotate2: 0 en_preview: 1 pre_width: 640 pre_height: 480 en_raw_preview: 1 en_small_video: 0 small_video_width: -1 small_video_height: -1 en_large_video: 0 large_video_width: -1 large_video_height: -1 en_snapshot: 0 snap_width: -1 snap_height: -1 exif_focal_length: 0.000000 exif_focal_len_35mm_format:0 exif_fnumber: 0.000000 ae_mode: lme_msv msv_exposure_min_us: 20 msv_exposure_max_us: 33000 standby_enabled: 0 decimator: 1 independent_exposure:0 fsync_en: 0 fsync_gpio: 109 ================================================================= connected to mavlink pipe Starting Camera: tof (id #0) Connected to cpu-monitor gbm_create_device(156): Info: backend name is: msm_drm Starting Camera: hires (id #1) ERROR: Camera 1 failed to find supported stream config: 1920x1080 WARNING: Failed to start cam hires due to invalid resolution WARNING: assuming cam is missing and trying to compensate Starting Camera: tracking (originally id #2) with id offset: 1 setting ov7251 BLC register for cam id 1 ------ voxl-camera-server: Started 2 of 3 cameras ------ voxl-camera-server: Camera server is now running WARNING: [ROYALE_WARNING] {ROYALE_FRAME_DROP}: Dropped 44792 frame(s). WARNING: [ROYALE_WARNING] {ROYALE_RAW_FRAME_STATS}: Raw frame drop stats: Bridge 44792 frames dropped, FC 0 frames dropped, 9 frames delivered. WARNING: [ROYALE_WARNING] {ROYALE_FRAME_DROP}: Dropped 9 frame(s). WARNING: [ROYALE_WARNING] {ROYALE_RAW_FRAME_STATS}: Raw frame drop stats: Bridge 9 frames dropped, FC 0 frames dropped, 81 frames delivered. ^C received SIGINT Ctrl-C ------ voxl-camera-server: Camera server is now stopping WARNING: Deleting buffers: 6 of 16 still in use WARNING: Deleting buffers: 6 of 16 still in use ------ voxl-camera-server: Camera server exited gracefully, returning 0
Help me to solve this error .
Modal Pipe Architecture (MPA)

Questions about developing software on the products

40
Topics

226
Posts

G

@tom @Zachary-Lowell-0 Looks like I got it to work, I was just running the wrong command. Is there an existing topic called "tag_detections" that should be appearing or is there another repository I need to download in order to obtain that? Thank you.
ca188661-3943-4bac-beb5-16765bb7f96b-image.png
05a2c723-dd2b-4f8d-a243-3f6e61a9c56d-image.png
AprilTag Relocalization

Questions about developing software on the products

10
Topics

43
Posts

Q

@Eric-Katzfey Thank you for the reply,
If I understand correctly, the example you provided shows MAVSDK running directly on the VOXL — so on the drone itself. However, we want to run our script on a separate PC to be able to control all drones at once. We're not sure which port to use to communicate with PX4 while also taking advantage of the relocalization handled by VOXL.

Thank you again for your help!
ROS

59
Topics

279
Posts

V

I am following this tutorial (https://docs.px4.io/main/en/ros2/offboard_control.html#humble) which uses ROS 2 and uXRCE-DDS. My Starling drone is running on PX4 v1.14 which is compatible with uXRCE-DDS and the offboard code works in the PX4-Autopilot simulation using the command "make px4_sitl gz_x500".

I would like to run this offboard code in my physical drone but I couldn't find a step by step guide on how to do so. I'm totally new to drone development overall and am quite lost to how to upload or run my offboard cpp code on the drone. Any guidance is appreciated, thank you.
Mapping and Planning

19
Topics

57
Posts

M

What should be the best Voxel size and Esdf Max distance as our drone radius is 0.25
Remote ID

Questions about developing software on the products

1
Topics

2
Posts

M

@Mastermind That sounds like it would be possible, but obviously depends on the driver of the wlan adapter you choose. You would need to implement the bluetooth broadcast portion of Remote ID. The source code for voxl-remote-id is here and only currently supports the Wifi portion of Remote ID

M

Instructions needed on how to add new recipes to voxl-build to generate IPKs

bitbake ipk poky voxl-build • • modaltb

2

0
Votes

2
Posts

274
Views

A

An example of how to do this was created can be found here
A

Where do VOXL components run

cpu gpu adsp slpi • • admin

2

0
Votes

2
Posts

273
Views

A

Answers to some of your questions:

The VOXL is meant to be a flexible development platform that allows developers to choose where best to run the components of their application. There is documentation describing various CPU and DSP development paradigms. The GPU is typically accessed via OpenCL and OpenGL. In general, the CPU is used for most things, the "sensors DSP" (aka SLPI, SDSP) runs the flight controller (SNAV, PX4 in the near future), and the GPU offloads certain OpenCV or other applications via OpenCL / OpenGL. The "applications DSP" (aka ADSP) is not really used for anything right now but is accessible. There is also a hardware video accelerator known as "Venus" that can offload certain tasks via OpenMAX.

There is flexibility with how sensors are attached to the system. Cameras primarily come in via the MIPI connectors. Each camera, however, requires custom support. There are some supported "out of the box" (eg OV7251, IMX214, etc.), while new ones would have to be developed. Cameras can also come in via USB using UVC. There are IMUs on the VOXL that can be accessed directly via the SDSP. There is GPS capability directly on VOXL (See the GPS antenna connector) that can be accessed via SNAV or else an external GPS unit can be attached via the J7 connector. There are other lots of other options as well depending on the application.

Load on CPU and GPU can be monitored using our voxl-perfmon python script (https://gitlab.com/voxl-public/voxl-utils/-/blob/master/bin/voxl-perfmon). We will add DSP to this as well.
A

Cannot initialize git submodules on VOXL Emulator Docker Image (1.0.0)

docker voxl-emulator git git-submodules • • admin

2

0
Votes

2
Posts

276
Views

A

We've posted a git-perltools package that should provide a workaround for this issue if you install on the either the emulator image or the target. Note at this time, when using on the emulator, you'll need to run it again after exiting...

Download the git-pertools package from here: https://docs.modalai.com/docs/resources/downloads/#additional-packages

Copy to the emulator (place in directory where you run the emulator from) or target (using adb push)

Install using `opkg install lib32-git-perltools_2.5.0-r0_armv7a-vfp-neon.ipk' (note: some opkg warnings will display but can be ignored)

You should be able to use the submodule command after this. Please let us know if you have any problems.
A

Installing OpenCV-3.4.6.ipk fails on VOXL Emulator Docker Image (1.0.0)

opencv docker voxl-emulator • • admin

2

0
Votes

2
Posts

306
Views

A

Total hack, but this just worked. We still need a clean way of uninstalling opencv2.4
$ opkg list | grep opencv $ opkg remove lib32-opencv --force-removal-of-dependent-packages $ opkg list | grep opencv $ opkg remove lib32-opencv-dbg --force-removal-of-dependent-packages $ opkg remove lib32-opencv-calib3d2.4 --force-removal-of-dependent-packages $ opkg list | grep opencv $ opkg remove lib32-libopencv-calib3d2.4 --force-removal-of-dependent-packages $ opkg list | grep opencv $ opkg remove lib32-libopencv-core2.4 --force-removal-of-dependent-packages $ opkg install opencv_3.4.6_8x96.ipk $ /usr/bin/opencv_version 3.4.6
M

How do you disable WLAN from starting on VOXL and VOXL-Flight

voxl voxl-flight wlan wifi startup • • modaltb

1

0
Votes

1
Posts

274
Views

No one has replied
M

How do you control the LED on VOXL and VOXL-Flight?

voxl voxl-flight led • • modaltb

1

0
Votes

1
Posts

236
Views

No one has replied
M

How do you control the cooling fan on VOXL and VOXL-Flight?

voxl voxl-flight fan • • modaltb

1

0
Votes

1
Posts

238
Views

No one has replied
V

mavros

• • vaughanje

3

0
Votes

3
Posts

340
Views

V

The change of port worked for me. Thank you for the help.
R

voxl-cam-ros stereo to PCL or depth image

• • rapit

3

0
Votes

3
Posts

346
Views

R

That node works like a charm, thank you so much!
R

AprilTags do not work in voxl-vision-px4

• • rapit

5

0
Votes

5
Posts

488
Views

J

Glad you got it working, let me know if you have any more questions. Apriltag relocalization is still a fairly new feature with only me and a few other customers really using it extensively so any feedback is appreciated. Thank you!
A

adb is not working, (No ADB device detected)

• • Alex123

12

0
Votes

12
Posts

1039
Views

M

@Alex123 I just realized right now when I was powering up my m500 that I said to use 24VDC in an email.... this is OK for that power module, but the max is 25.2VDC, so no problem dropping it to say 16VDC! 😉
A

How to save images into the SD card using gphoto2.

• • Alex123

9

0
Votes

9
Posts

1146
Views

T

@Alex123 Glad I could help!
J

ADB not connecting

• • jacksparkman

5

0
Votes

5
Posts

478
Views

J

That worked! Thanks
A

Save camera frames using OpenCV

• • Alex123

5

0
Votes

5
Posts

528
Views

A

@Eric-Katzfey
Yes! There is no direct interface with the hires camera in OpenCV.
I'll follow the steps as you suggested.

Thanks!
A

How to import OpenCV in Python3?

• • Alex123

11

0
Votes

11
Posts

1085
Views

T

@Alex123 here is the exact command I tested with on a VOXL.

docker run -it --rm --privileged --net=host --name roskinetic -v /home/root:/root/yoctohome/:rw -v /sdcard:/sdcard -w /root/ roskinetic-xenial:v1.0 /bin/bash

Can you try this?
A

Is Obstacle avoidance implemented?

• • Aldo Castro Freire

1

1
Votes

1
Posts

220
Views

No one has replied
S

Building voxl-suite on Docker Image on VOXL

• • scottesicdrone

1

1
Votes

1
Posts

201
Views

No one has replied
R

Need newer version of GCC on VOXL

• • Rolando Fernandez

9

0
Votes

9
Posts

597
Views

C

libvoxl_io unfortunately won't work inside of a Docker. Are you communicating via MAVLink? If so, you can send mavlink commands to voxl-vision-px4 to be forwarded on the the flight controller over serial.
R

Example to stream video via ffmpeg

• • Ruijie Geng

9

0
Votes

9
Posts

660
Views

E

Can you please send us the output of "ls -l /dev/frame0", the output showing hello_hal3_camera, and also ffmpeg?
L

Fuse altitude measurements to state estimate

ekf2 range finders altitude • • LucasW

3

0
Votes

3
Posts

327
Views

L

I do not think I have access to this slack. It seems restricted to a few specific people only. But I tried their forum. Thanks anyway!

1 / 6