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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Hi @SKA
Apologies no one responded promptly.
From what I gather, these are best to be sent back as an RMA and we can try to recover them.

D1 (green) is an indication of the local 3.3V power being Good. So, that implies you have 3.8V input, and the 3.3V reg is OK.
DS2 (RGB) is controlled by Qty-3 GPIOs from the SoC. This can briefly blink on boot until the GPIOs are configured by apps software.
D2 (green) is the 5V USB VBUS USB1 (10-pin) port power indicator, which only comes ON after the QRB5165 boots and Apps controls the GPIO to turn the VBUS ON.

On failed SW loads, it is common to diagnose that by seeing DS2 or D2 blink, which indicates boot loops. D1 should NEVER go off, if so, something is wrong in HW or cabling.

We do caution any customer that sets up their own CI or internal validation automation to include a nice pause before repeated power cycles. A common 5 second rule is good to let the large caps discharge, or certain ICs will never fully reset. This is the most common cause of "bricking" devices.

The RMA is your best bet here and we can try to recover them for you, or diagnose for any other issues: https://www.modalai.com/pages/rma
Video and Image Sensors

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

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A

@mkriesel , our M0153 / M0201 adapter does have an option to connect Boson to the common sync line that is used for synchronizing AR0144 tracking cameras (GPIO 109). This line is typically driven at 30Hz, but the frequency is adjustable.

There is a resistor pad on M0153 / M0201 adapter which is DNI by default, so a 0-ohm resistor would need to be installed to enable this functionality. However, we have not verified that it works.

It is on our to-do list to verify the Boson sync. Once we confirm that it works, I can provide instructions for installing the resistor if you wanted to enable that functionality. Boson's configuration will also need to be updated to enable the sync input, but it's not a big change.

Let me get back to you next week..

Alex
GPS-denied Navigation (VIO)

Questions about developing software on the products

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I am trying to set up VIO for a custom frame which has two ar0144 (down and front) cameras.
I have followed this sequence so far:
1- voxl-camera-serveris up and running and I can see both camera feed in portal and using voxl-inspect-cam
2- saved Extrinsics to /etc/modal/extrinsics.conf
3- made sure vio_cams.conf exists and information makes sense
4- following instructions as outlined here: https://docs.modalai.com/open-vins/ (with the exception of my SDK version which in my case is 1.5.0)

here is the default content of voxl-open-vins-server.conf:
/** * This file contains configuration that's specific to voxl-open-vins-server. * * *NOTE*: all time variables are measured in seconds */ { "en_auto_reset": true, "auto_reset_max_velocity": 20, "auto_reset_max_v_cov_instant": 0.20000000298023224, "auto_reset_max_v_cov": 0.20000000298023224, "auto_reset_max_v_cov_timeout_s": 0.5, "auto_reset_min_features": 1, "auto_reset_min_feature_timeout_s": 3, "auto_fallback_timeout_s": 3, "auto_fallback_min_v": 0.600000023841858, "en_cont_yaw_checks": false, "fast_yaw_thresh": 5, "fast_yaw_timeout_s": 1.75, "yaml_folder": "/usr/share/modalai/voxl-open-vins/VoxlConfig/starling2", "using_stereo": 0, "takeoff_alt_threshold": 0.5, "takeoff_occlude_stereo_left": false, "takeoff_occlude_stereo_right": false, "sync_config": true }
5- I see voxl-open-vins-server process is not running and when I try to run it manually I get the following warning/error:
WARNING: cal file opencv_tracking_front_intrinsics.yml is missing or invalid run voxl-check-calibration to see what calibration files are missing WARNING: cal file opencv_tracking_down_intrinsics.yml is missing or invalid run voxl-check-calibration to see what calibration files are missing failed to find cam cal for vio cam tracking_front ERROR cam_config_file_read QUIT REQUESTED Shutting down cameras... Camera shutdown complete error code: -1
I am currently in the process of calibrating the camera but I am unable to complete it. I can see the overlay in the portal and all corners being detected but calibration is not progressing beyond %0
Modal Pipe Architecture (MPA)

Questions about developing software on the products

42
Topics

235
Posts

M

Thank you @Alex-Kushleyev for the clarification. Currently I just redefined the magic numbers on my own and voxl-inspect-pose works as usual. I am hoping that this breaking change only affects a small number of use cases. If anyone else faces the same issue with magic numbers theres at least the discussion that might help them as well 🙂
AprilTag Relocalization

Questions about developing software on the products

11
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55
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@tomverstappen I am unable to recreate the issue with a starling running 1.5.0 - the output from voxl-vision-hub shows the relative coordinate frame from the tag relative to the camera and was able to get the drone to offset correctly.

Are there any logs you can paste in here or video?
ROS

65
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317
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K

@Eric-Katzfey got it, thank you for the info.
Mapping and Planning

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59
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@tom can anyone help me with this
Remote ID

Questions about developing software on the products

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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

R

compiling 32-bit voxl-qvio-server code on VOXL2

• • relevinsky

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@relevinsky reposting my answer from another thread:

The VOXL SDK projects aren't meant to be built on VOXL2 itself. We offer a few different docker images to build on a PC, voxl-qvio-server on VOXL2 is built using qrb5165 emulator: https://docs.modalai.com/voxl-emulator/#install-the-voxl-emulator-docker-image

while some other projects are built using voxl-cross: https://docs.modalai.com/voxl-cross/#install-pre-built-voxl-cross
A

Baremetal peripheral interaction via the SDSP

• • Alexandre Pabouctsidis

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@Alex-Pabouctsidis Nice! That whole process and API will be cleaned up in the future but looks like you were able to figure it out. All of the actual I/O driver code is baked into the sensors DSP image. As Qualcomm licensees we have access to it (and build that image) but we cannot share it.
R

voxl2 uart mode

• • relevinsky

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@relevinsky For now your best bet will be to get an add on card that has a UART available for the applications processor. Future software releases will provide access to a UART on the DSP (As long as the flight controller isn't running) but that is not available today.
P

Voxl 1 voxl-mavlink-server bus error

• • Philemon Benner

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@Philemon-Benner Seems like some else had the same issue but there was no further investigation on the problem. https://forum.modalai.com/topic/2125/voxl-mavlink-server-external-fc-bus-error?_=1688565579723
T

voxl_vision_hub.h missing

• • Tjark

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@Tjark

Thanks for pointing this out! I applied your fix in voxl-vision-hub v1.6.7 which is now up on the staging repository and will be included in SDK 1.0.1

Best Regards,
James
S

Voxl-mapper -d error / map generation error

• • samp

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@James-Strawson ERROR fetching tf from tf ringbuffer - published constantly.

image1.png
H

Unable to use voxl-inspect-battery

• • Hersch Nathan

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yolov5_labels.txt file for yolov5_float16_quant.tflite model

• • relevinsky

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F

Custom software flashing

• • Filip Slezak 0

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@Filip-Slezak-0 The standard way to install px4 is via a Debian package. You can look at our px4 "wrapper" project to see how we create the package here: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-px4/-/blob/master/make_package.sh
M

Build modalai/px4-firmware

• • Matt Holmes

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@Matt-Holmes You have to be on the voxl-dev branch
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voxl2 flir boson and eth0

• • relevinsky

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ros on voxl2

• • relevinsky

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This topic is deleted!

• • Erik Priest

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BlueOS

• • wilkinsaf

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Looking at what BlueOS is setup to do...it might be easier to modify modalAI's voxl portal than to get this to work with the current setup.

The things I am looking to add immediatly is log download and additional ways to get information and status on voxl services such as journalctl logs
D

Fail to apply GPU delegate with custom model on voxl-tflite-server

• • dario-pisanti

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Not able to setup mavsdk

• • Jetson Nano

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@tom I sorted it out, I had to setup voxl-docker first which I hadn't done, after that I was able to continue. Thank you
R

compiling voxl-tflite-server

• • relevinsky

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?

@relevinsky

What steps are you doing to compile the voxl-tflite-server code? It should be done within the voxl-cross Docker image. Also why SDK 0.9?

Let me know how I can help.

Thomas
thomas.patton@modalai.com
Q

GPS Issue | GPS blinks red and no data

• • qpvtltd

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@Eric-Katzfey it is kind of working now using the default config file. still not able to figure out what was the actual issue. Thanks anyways.
R

voxl-logger to log files at my computer

• • riteshsharma

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@rsr4z , voxl logger will create different directories and files for different data that it will be logging, so using a single socket for this will now work.

If you REALLY want to have the log files saved directly to your PC and your network connectivity has the bandwidth to do it, then you can potentially map your desktop as a network drive (using sshfs or something like that). Then you can save your logs to the network drive. However, you should be aware of the following potential issues:
ssh is encrypted, so encryption of data will take some additional cpu usage on VOXL (proportional to the amount of data) network-mapped drives are not always reliable, especially if you connection is not reliable, but there are sshfs flags you can try to automatically reconnect, etc.. if there is not enough bandwidth to save the data over your network connection, voxl-logger can get occasionally blocked and will drop packets on the MPA side
Another option you can consider is saving the logs on voxl, and then using periodic rsync to get the data to your PC. rsync works over ssh as well. I just did a quick search and this came up (i did not try it):
fswatch -o /src | xargs -n1 -I{} rsync -a /src /dest
(https://stackoverflow.com/questions/12460279/how-to-keep-two-folders-automatically-synchronized)

you would need to copy your voxl2's key onto your desktop so that you don't need to enter your password every time..

Finally, if you did not want to write to the VOXL2's drive at all, you could save the logs to tempfs (/dev/shm) and then rsync from there to your PC and have rsync delete the files after syncing in order to avoid filling up your RAM, but you have to be careful and not delete files that are still being written by the logger..

Hopefully this gives you a few options to think about..
R

Sending TOF sensor data and existing Camera extrinsics/intrinsics parameters

• • riteshsharma

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@Moderator Thank you

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