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• VOXL SDK

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

  85
  Topics
  412
  Posts

  J

  @Jskim
  Finally, I tried a test.
  I tried changing the video player and the Streamer died immediately.
  The conclusion is that the Streamer died even when it was in the foreground.
  플레이어 변경하면 바로 죽음.jpg

  Thanks,

  JS, Kim

• Video and Image Sensors

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

  5
  Topics
  32
  Posts

  A

  @Matthew-Wellner , it looks like VOXL2 never gets any frames and after 5 seconds the camera pipeline gives up.

  Here is relevant part of your output:

  Apr 24 19:32:25 m0054 kernel: [88345.361091] CAM_ERR: CAM-ISP: cam_ife_hw_mgr_print_acquire_info: 710 Successfully acquire single IFE[1 -1] with [9 pix] [0 pd] [1 rdi] ports for ctx:9 Apr 24 19:32:25 m0054 kernel: [88345.365802] CAM_INFO: CAM-CSIPHY: cam_csiphy_core_cfg: 1137 START_DEV: CSIPHY_IDX: 3, Device_slot: 0, Datarate: 2500000000, Settletime: 2200000000 Apr 24 19:32:25 m0054 kernel: [88345.374728] CAM_INFO: CAM-ISP: cam_vfe_bus_ver3_init_hw: 3659 Overriding clock gating at bus input Apr 24 19:32:25 m0054 kernel: [88345.374732] CAM_INFO: CAM-ISP: cam_vfe_top_ver3_init_hw: 246 Disable clock gating at IFE top Apr 24 19:32:25 m0054 kernel: [88345.374879] CAM_ERR: CAM-ISP: cam_ife_mgr_start_hw: 4510 ->Config HW, 0000000013f5b900 Apr 24 19:32:25 m0054 kernel: [88345.376000] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 1089 CAM_START_DEV Success, sensor_id:0x577,sensor_slave_addr:0x34 Apr 24 19:32:26 m0054 voxl-cpu-monitor[1757]: client "voxl-camera-server51691034" with id 0 has disconnected from channel 0 Apr 24 19:32:26 m0054 voxl-cpu-monitor[1757]: client "voxl-camera-server88398822" connected to channel 0 with client id 0 Apr 24 19:32:30 m0054 kernel: [88350.083476] msm_vidc: err : 00000001: h265e: undequeud vb2: CAPTURE: idx 0 fd 130 off 0 size 884736 filled 0

  Note at 25 second mark, the camera is commanded to stream (then a few messages related to camera server pipes), but then at 30 second mark, the camera pipeline collapse starts (timeout).

  Here is my ouputput:

  [ 2075.623593] CAM_ERR: CAM-ISP: cam_ife_hw_mgr_print_acquire_info: 710 Successfully acquire single IFE[1 -1] with [9 pix] [0 pd] [1 rdi] ports for ctx:0 [ 2075.632136] CAM_INFO: CAM-CSIPHY: cam_csiphy_core_cfg: 1137 START_DEV: CSIPHY_IDX: 1, Device_slot: 0, Datarate: 2500000000, Settletime: 2200000000 [ 2075.642983] CAM_INFO: CAM-ISP: cam_vfe_bus_ver3_init_hw: 3659 Overriding clock gating at bus input [ 2075.642990] CAM_INFO: CAM-ISP: cam_vfe_top_ver3_init_hw: 246 Disable clock gating at IFE top [ 2075.643255] CAM_ERR: CAM-ISP: cam_ife_mgr_start_hw: 4510 ->Config HW, 00000000e4fe1a70 [ 2075.647168] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 1089 CAM_START_DEV Success, sensor_id:0x577,sensor_slave_addr:0x34 [ 2075.655208] CAM_INFO: CAM-ISP: __cam_isp_ctx_sof_in_epoch: 1660 First SOF in EPCR ctx:2 frame_id:1 next substate EPOCH

  Note that there is a message that the First SOF (Start Of Frame) has been received, and streaming works fine.

  Can you please provide more information about your hardware:

  Specific camera module used (such as M0107, M0161) how are you connecting the camera to VOXL2 (all components between VOXL2 and Camera) it seems the camera is connected in slot 3 (VOXL2 J7U) - please confirm it seems you are using kernel config 0 (no M0173 camera front end) - please confirm.

  It is possible that if you are using an extension flex (I am guessing M0107 camera with M0036 15cm extension flex), some flexes may have high speed issues and the latest IMX412 drivers are running at the maximum MIPI rate (in this case 2.2Gbps), which may be pushing past the performance of the flex.

  Both versions of the IMX412 drivers that were posted on the Low Latency Streaming page were using 2.1Gbps speeds (and 2.2Gbps in one mode). However, the default drivers shipped with the SDK use 1.5Gbps (ones found in /usr/share/modalai/chi-cdk/imx412).

  If you want to try the slower drivers, you can make a small change in your config:

  remove the existing sensormodules from /usr/lib/camera/ copy com.qti.sensormodule.imx412_3.bin from /usr/share/modalai/chi-cdk/imx412 to /usr/lib/camera modify /etc/modalai/voxl-camera-server.conf as follows: set en_preview to false this should just enable one small encoded stream and the camera pipeline will choose some camera source resolution to satisfy 60fps and the resolution of your encoded stream.

  I just tried this on my set up and was able to get small encoded stream at 60fps with pretty low latency:

  | Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| fps | mbps | format | hires_down_small_encoded | 8976 | 1024 | 768 | 5.26 | 800 | 1000 | 23.2 | 60.0 | 4.2 | H264 (P)

  Lets try to get back to a configuration that works 🙂

• GPS-denied Navigation (VIO)

  Questions about developing software on the products

  53
  Topics
  251
  Posts

  D

  @Alex-Kushleyev Thank you very much!

• Modal Pipe Architecture (MPA)

  Questions about developing software on the products

  40
  Topics
  218
  Posts

  G

  @Zachary-Lowell-0 Hello again. I attempted to run all of these commands, but I ran into an error on Step 5, which is shown below:
  b7ca2ee2-6c4f-4b7b-9988-25c5209466e8-image.png
  I tried cloning the px4_ros_com package, but that did not help anything. I just also realized I never ran "voxl-configure-mpa-to-ros2" when setting up the SDK v1.4.1, could that be the reason why I'm experiencing so many problems and had to manually install packages I didn't have right off the bat such as Colcon, Eigen3, Netiface, and more? My last question is that do you know when the next SDK release will be out? Thanks again for all your help.

• 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
  58
  Topics
  274
  Posts

  Z

  @claw said in VOXL2 ROS2 Starling Code Inconsistencies:

  @Zachary-Lowell-0 Thank you for your help and guidance. Is there a way to get the status information like battery voltage using Python?

  Reply

  @claw yes you can follow this post to get battery over the DDS: https://forum.modalai.com/topic/4353/voxl2-px4-ros2-mpa-to-ros2-for-battery-voltage-problems/12?_=1745355297145

• Mapping and Planning
  18
  Topics
  54
  Posts

  V

  Hi, I have setup the voxl-mapper on my VOXL 2 with TOF camera. I have tested figure 8 and trajectory following. They are working perfectly.

  I would like to know how can I send the goal/ trajectory setpoints to the voxl-mapper to use rrt* to create the trajectory and to follow that.

  I don't think I can just send it to /fmu/in/trajectory_setpoint, can I?

  thanks in advance.

• 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