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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@ashwin I'm not really understanding the issue. Mavlink has no limitation to send packets to a localhost address. On VOXL 2 we configure voxl-px4 to send to localhost but that is because voxl-mavlink-server is the application that actually sends the data to the GCS. At the GCS you will see each connection with a unique IP address.
Video and Image Sensors

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

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Subject: Frame Dropping with PMD TOF LIOW2 (M0169) on VOXL2 Flight Deck - Royale SDK Warnings Persist After Troubleshooting
Hi ModalAI Community/Support,
I'm working with a VOXL2 Flight Deck and trying to integrate the PMD TOF LIOW2 sensor (part number M0169). Originally, I removed the hi-res camera from J7 Upper and connected the TOF there, but after advice, I switched it to J6 Lower and disabled all other cameras. Unfortunately, I'm still seeing severe frame dropping via Royale SDK warnings in the voxl-camera-server logs.
Setup Details:

Hardware: VOXL2 Flight Deck + PMD TOF LIOW2 on J6 Lower (flex cable checked and reseated). I'm using the dual cable which was previously used by the tracking and hi-res cameras.
Software: voxl-sdk is 1.5
No other cameras connected/enabled.
Power: Stable bench supply (5V/3A+).

What I've Tried:

Connected TOF to J7U initially (camId:3), saw drops.
Moved to J6L (camId:0), disabled all other cams—same issue.
Updated config to minimal TOF-only (tried FPS 15/20/5, decimator 1/2, pre_height 172/180/1629, exposure max 2000-3000).
Ran voxl-configure-cameras and selected a TOF preset (e.g., C-26 or similar).
Checked for overheating: Monitored temps via VOXL Portal/voxl-inspect-cam -a—[add your temp readings here, e.g., ~50-60°C with heatsink?].
Debug mode: voxl-camera-server -d 0 to list modes.
Updated SDK via apk update && apk upgrade (if applicable).
Tested in low-light to avoid saturation.
Logs from Camera Server are:
existing instance of voxl-camera-server found, attempting to stop it configuration for 1 cameras: [TOF config as above]
thread is locked to cores: 4 5 6 7
connected to mavlink pipe
Connected to cpu-monitor
Starting Camera: tof (id #0)
gbm_create_device(156): Info: backend name is: msm_drm

------ voxl-camera-server: Started 1 of 1 cameras

------ voxl-camera-server: Camera server is now running
WARNING: [ROYALE_WARNING] {ROYALE_FRAME_DROP}: Dropped 20834 frame(s).
WARNING: [ROYALE_WARNING] {ROYALE_RAW_FRAME_STATS}: Raw frame drop stats: Bridge 20834 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, 171 frames delivered

The initial massive drop (20k+ frames) happens on startup, then smaller ongoing drops. No frames are usable in apps like VOXL Portal or downstream pipes.
Has anyone encountered similar Royale bridge/FC drops with this TOF module? Could it be related to using the dual cable from the tracking/hi-res setup? Maybe a cable mismatch, firmware issue, power ripple, or faulty hardware? Any specific config tweaks or SDK versions that fixed this? Appreciate any insights!
Thanks,
GPS-denied Navigation (VIO)

Questions about developing software on the products

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283
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@Moderator Even I am facing the same issue. Did everything as per the instructions on the official website. But unable to calibrate the stereo front. I was able to calibrate stereo back though. I have attached the error along for your reference.
Modal Pipe Architecture (MPA)

Questions about developing software on the products

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@Jeffrey-Mao Hello Jeffery, We are currently working on implementing SLAM for the Starling 2 platform. Our initial approach involved using the available ROS 2 topics provided by voxl_mpa_to_ros2, installing standard SLAM packages, and using RViz for visualization. However, we've encountered a major issue: most of the topics do not have a frame_id defined, and there is no existing transform (TF) tree that can be used with RViz.

So far, we've only been able to visualize the tof_pc (Time-of-Flight point cloud) data. To do this, we had to manually publish a static transform between the TOF frame (which is named world) and map. However, in this setup, the drone's location does not update dynamically. To address this, we're considering writing a transformation node to define the relationships between coordinate frames (e.g., map, odom, base_link, tof, etc.). However, developing this from scratch is proving to be time-consuming and error-prone.

I also noticed that you were able to generate a map using voxl-mapper and et the map in ROS2 with the mpa_ros2 interface. This could be a much more efficient path for us to pursue. Could you please explain in detail:

What exact steps you followed to export the map using voxl-mapper?

Is it possible to regenerate or update the map in real-time in RViz, or export it to another visualization tool?

Thanks
AprilTag Relocalization

Questions about developing software on the products

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Is there already a solution for the problem from Kessie?

Is there anyone that has a working setup for AprilTag relocalization on the tracking_down camera?
ROS

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Hi @taiwohazeez,

The " /fmu/in" prefix is used for sending data to the autopilot - you're never going to receive data from the autopilot listening to that topic.

Look at the "/fmu/out" topics to see messages coming from the autopilot.

Best,
Ted
Mapping and Planning

19
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@tom can anyone help me with this
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

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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.
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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!
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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!
A

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?
A

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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