Software Development

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VOXL SDK

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

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@Eric-Katzfey Thanks for the response!

Are you using a recent version of VOXL SDK?

Cleo branched off of your repo at this tag: https://github.com/modalai/px4-firmware/tree/v1.14.0-2.0.36-dev

Have you made any modifications to the SDK?

Yup we actively development on the PX4 modules, including the controllers and the EKF that run on the DSP.

So it may be our code running on the DSP causing the DSP crash, or it could be related to the bugs in the https://github.com/modalai/px4-firmware/tree/v1.14.0-2.0.36-dev tag itself that you mentioned have been fixed.

As far as a path forward, are there any methods you can suggest for inspecting the DSP to find the root cause of crashes? Things we can add to the code, perhaps a debug mode we can run the DSP modules in, etc

Also, do you know of bug fix commits in your repo's mainline that we at Cleo can attempt to backport to our fork and see if we also no longer see the DSP crashes?

Thank you for your help,
Rowan
Video and Image Sensors

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

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Hello @SKA,

The replacement for OV7251 in DFS use case (Depth From Stereo) will be AR0144 which is a 1280x800 resolution global shutter sensor, compared to 640x480 OV7251. The AR0144 camera is already available and we use for VIO (tracking) cameras.

You would probably want to use the micro-coax version of AR0144 (M0166) because it will be much more flexible in terms of getting the wiring connected to VOXL2 (so M0166 + M0173 (Starling Camera Front End). Different cable lengths are available to support different base lines.

Take a look at some camera bundle options : https://docs.modalai.com/voxl2-coax-camera-bundles/

We are working on testing this configuration of dual AR0144 in DFS application and updating the DFS server to optimize performance. I expect to have an update in the next 1-2 weeks regarding the DFS performance.

Alex
GPS-denied Navigation (VIO)

Questions about developing software on the products

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@tom Thanks! I referred to this page in order to set up what I have right now.
My voxl 2 mini is connected to the external autopilot using the one exposed UART. It seems to be connected fine, since I'm receiving the voxl heartbeat on the autopilot end, and I'm receiving autopilot mavlink messages on the voxl side.

I wonder if there is anything I might be missing on the voxl-vision-hub side, or elsewhere.
Thanks for your help!
Modal Pipe Architecture (MPA)

Questions about developing software on the products

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@Alex-Kushleyev Thank you, it works!
AprilTag Relocalization

Questions about developing software on the products

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@James-Strawson @Eric-Katzfey,
Can you show a working example on a dual camera config, please?
Both flat on the ground as against a wall.
This would help us a lot!

Thanks in advance,
Maarten
ROS

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@Zachary-Lowell-0

What kind of upgrade is necessary for this Rb5? Should we upgrade the sdk?
we can run ros2 foxy with it. The dds is also working.

How did you build this ros2 packages and nodes
https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2

Thank you
Mapping and Planning

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@Käptnzursee There is no restriction for voxl-mapper running on VOXL 2 Mini. Is there any reason to believe it shouldn't?
Remote ID

Questions about developing software on the products

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@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

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An example of how to do this was created can be found here
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Where do VOXL components run

cpu gpu adsp slpi • • admin

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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

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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

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

voxl voxl-flight wlan wifi startup • • modaltb

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

voxl voxl-flight led • • modaltb

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

voxl voxl-flight fan • • modaltb

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mavros

• • vaughanje

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The change of port worked for me. Thank you for the help.
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voxl-cam-ros stereo to PCL or depth image

• • rapit

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

AprilTags do not work in voxl-vision-px4

• • rapit

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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!
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adb is not working, (No ADB device detected)

• • Alex123

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@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! 😉
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How to save images into the SD card using gphoto2.

• • Alex123

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@Alex123 Glad I could help!
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ADB not connecting

• • jacksparkman

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That worked! Thanks
A

Save camera frames using OpenCV

• • Alex123

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

Thanks!
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How to import OpenCV in Python3?

• • Alex123

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@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?
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Is Obstacle avoidance implemented?

• • Aldo Castro Freire

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Building voxl-suite on Docker Image on VOXL

• • scottesicdrone

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Need newer version of GCC on VOXL

• • Rolando Fernandez

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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

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Can you please send us the output of "ls -l /dev/frame0", the output showing hello_hal3_camera, and also ffmpeg?
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Fuse altitude measurements to state estimate

ekf2 range finders altitude • • LucasW

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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!

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