Software Development

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Subcategories

VOXL SDK

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

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@Samuel-Lehman If you re-install the SDK you will be asked which kernel you'd like to flash, choose the one that has support for the M0173 camera breakout board, this will unlock the camera config options you want to use
Video and Image Sensors

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

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Hi @Rowan-Dempster,

Thanks for the reminder. I will try to get this in by early next week. Sorry for the delay!

Happy New Year!

Alex
GPS-denied Navigation (VIO)

Questions about developing software on the products

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Hi everyone,

we managed to get OpenVINS running on our setup (similar to a Starling C27). In the VOXL Portal, under the VIO tab, the trajectories and motion estimates look good so far, so OpenVINS itself seems to be working correctly.

However, we can’t find the ov_overlay in the Camera tab to visualize the tracked features from the tracking cameras. According to the documentation
(https://docs.modalai.com/voxl-open-vins-server), there should be an ov_overlay available in the camera view, but it doesn’t appear for us.

Has anyone encountered this issue before or knows what might be missing or misconfigured on our side?

Thanks a lot for your help!
Modal Pipe Architecture (MPA)

Questions about developing software on the products

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@l05 , when in doubt, you can add a print statement in your app as a sanity check to make sure you are running the correct version of the application. Then check your print statement at run time.

If you are modifying an existing app in voxl-mpa-tools, you just need to use the voxl-cross docker image to
build the source code build the package (deb) deploy the package (either manually pushing and dpkg -i <package.deb> on target) or using a convenience script deploy_to_voxl.sh which is typically present in most voxl projects -- this script will push the deb to voxl2 and install the deb. run your new application on voxl and confirm functionality
If you are adding a new app to voxl-mpa-tools project, you will need to modify the CMakeLists.txt file in the tools folder, it should be self explanatory how to add a simple app. Once you build and deploy, your new app will be installed into /usr/bin on voxl2.

If you have any other questions, let me know.

Alex
AprilTag Relocalization

Questions about developing software on the products

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@kgn-mdlai Thank you for bringing this up, a fix to this is currently being worked on.
Thanks
ROS

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@Zachary-Lowell-0

Thank you for the feedback! This was very helpful
Mapping and Planning

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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.
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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
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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?
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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.
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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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