Software Development

Your browser does not seem to support JavaScript. As a result, your viewing experience will be diminished, and you have been placed in read-only mode.

Please download a browser that supports JavaScript, or enable it if it's disabled (i.e. NoScript).

Subcategories

VOXL SDK

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

99
Topics

461
Posts

E

@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

18
Topics

114
Posts

M

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

59
Topics

283
Posts

M

@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

41
Topics

232
Posts

R

@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

11
Topics

50
Posts

T

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

65
Topics

310
Posts

T

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
Topics

59
Posts

M

@tom can anyone help me with this
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

R

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

• • relevinsky

2

0
Votes

2
Posts

242
Views

T

@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

9

0
Votes

9
Posts

619
Views

E

@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

2

0
Votes

2
Posts

256
Views

E

@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

2

0
Votes

2
Posts

369
Views

P

@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

2

0
Votes

2
Posts

277
Views

J

@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

5

0
Votes

5
Posts

468
Views

S

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

image1.png
H

Unable to use voxl-inspect-battery

• • Hersch Nathan

1

0
Votes

1
Posts

146
Views

No one has replied
R

yolov5_labels.txt file for yolov5_float16_quant.tflite model

• • relevinsky

1

0
Votes

1
Posts

208
Views

No one has replied
F

Custom software flashing

• • Filip Slezak 0

2

0
Votes

2
Posts

298
Views

E

@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

2

0
Votes

2
Posts

223
Views

E

@Matt-Holmes You have to be on the voxl-dev branch
R

voxl2 flir boson and eth0

• • relevinsky

1

0
Votes

1
Posts

274
Views

No one has replied
R

ros on voxl2

• • relevinsky

1

0
Votes

1
Posts

293
Views

No one has replied
E

This topic is deleted!

• • Erik Priest

2

0
Votes

2
Posts

12
Views
W

BlueOS

• • wilkinsaf

2

0
Votes

2
Posts

251
Views

W

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

1

0
Votes

1
Posts

471
Views

No one has replied
J

Not able to setup mavsdk

• • Jetson Nano

3

0
Votes

3
Posts

314
Views

J

@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

2

0
Votes

2
Posts

384
Views

?

@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

10

0
Votes

10
Posts

490
Views

Q

@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

9

0
Votes

9
Posts

832
Views

A

@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

3

0
Votes

3
Posts

321
Views

R

@Moderator Thank you

4 / 6

This topic is deleted!