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  VİO
  • Jonathan Jeff  

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  The algorithm is quite stable when it comes to recognizing moving objects, we regularly walk in front of or wave our hands in front of the camera to test this. It will blow up if you're completely covering the lens though.
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  Intermittent crashing of voxl-camera-server during VOA testing
  • jaredjohansen  

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  Thanks for printing out those resolutions. Very helpful! yocto:~$ voxl-camera-server -d 1 exising instance of voxl-camera-server found, attempting to stop it ------ voxl-camera-server INFO: Port J2 ------ voxl-camera-server: Done configuring hires camera Port : port_J2 Name : hires Enabled : 1 Type : hires Api : hal3 P-W : 640 P-H : 480 P-Fmt : nv21 FPS : 30 OverrideId : -1 AEAlgo : isp ------ voxl-camera-server INFO: Port J3 ------ voxl-camera-server: Done configuring stereo camera Port : port_J3 Name : stereo Enabled : 1 Type : stereo Api : hal3 P-W : 1280 P-H : 480 P-Fmt : nv21 FPS : 30 OverrideId : -1 AEAlgo : modalai =================MODALAI Auto Exposure Settings================== gain_min: 0 gain_max: 1000 exposure_min_us: 100 exposure_max_us: 33000 desired_msv: 58.000000 k_p_ns: 32000.000000 k_i_ns: 20.000000 max_i: 250.000000 p_good_thresh: 3 exposure_period: 1 gain_period: 2 display_debug: no exposure_offset_for_gain_calc: 8000 ================================================================= ------ voxl-camera-server INFO: Port J4 ------ voxl-camera-server: Done configuring tracking camera Port : port_J4 Name : tracking Enabled : 1 Type : tracking Api : hal3 P-W : 640 P-H : 480 P-Fmt : raw8 FPS : 30 OverrideId : -1 AEAlgo : modalai =================MODALAI Auto Exposure Settings================== gain_min: 0 gain_max: 1000 exposure_min_us: 100 exposure_max_us: 33000 desired_msv: 58.000000 k_p_ns: 32000.000000 k_i_ns: 20.000000 max_i: 250.000000 p_good_thresh: 3 exposure_period: 1 gain_period: 2 display_debug: no exposure_offset_for_gain_calc: 8000 ================================================================= Writing new configuration to /etc/modalai/voxl-camera-server.conf Created pipe: hires_preview channel: 0 Created pipe: stereo channel: 1 Created pipe: tracking channel: 2 Starting Camera: tracking SUCCESS: Camera module opened ----------- Number of cameras: 3 ------ voxl-camera-server INFO: Client: qvio-server0 connected to channel: 2 ------ voxl-camera-server ERROR: Client connected to invalid channel: 0 ------ voxl-camera-server ERROR: Client connected to invalid channel: 1 ----------- HiRes camera id: 0 ----------- Stereo camera id: 2 ----------- Mono camera id: 1 ------ voxl-camera-server INFO: Client: voxl-streamer0 connected to channel: 2 Available resolutions for camera: tracking: 640 x 480 320 x 240 Resolution: 640 x 480 Found! ------ voxl-camera-server: Preview buffer allocations Internal Exposure for: tracking 2 /builds/voxl-public/modal-pipe-architecture/voxl-camera-server/src/expgain_interface/expgain_interface_factory.cpp 45 Creating exposure interface Creating ModalAI exposure interface Port : port_J4 Name : tracking Enabled : 1 Type : tracking Api : hal3 P-W : 640 P-H : 480 P-Fmt : raw8 FPS : 30 OverrideId : -1 AEAlgo : modalai =================MODALAI Auto Exposure Settings================== gain_min: 0 gain_max: 1000 exposure_min_us: 100 exposure_max_us: 33000 desired_msv: 58.000000 k_p_ns: 32000.000000 k_i_ns: 20.000000 max_i: 250.000000 p_good_thresh: 3 exposure_period: 1 gain_period: 2 display_debug: no exposure_offset_for_gain_calc: 8000 ================================================================= Starting Camera: hires Available resolutions for camera: hires: 4160 x 3120 4056 x 3040 4000 x 3000 3040 x 3040 3016 x 3016 3840 x 2160 3648 x 2736 3264 x 2448 3200 x 2400 2976 x 2976 3044 x 1720 2704 x 2028 2704 x 1520 2592 x 1944 2688 x 1512 2028 x 1144 2160 x 2160 1920 x 2160 1920 x 1920 1880 x 1880 2048 x 1536 1920 x 1440 1920 x 1080 1600 x 1600 1600 x 1200 1520 x 1520 1440 x 1080 1080 x 1080 1280 x 960 1340 x 760 1280 x 768 1280 x 720 1200 x 1200 1280 x 640 1280 x 480 1040 x 780 1024 x 768 960 x 960 720 x 720 800 x 600 960 x 720 848 x 480 858 x 480 864 x 480 800 x 480 720 x 480 640 x 480 640 x 240 640 x 360 480 x 640 480 x 480 480 x 360 480 x 320 432 x 240 352 x 288 320 x 240 Resolution: 640 x 480 Found! ------ voxl-camera-server: Preview buffer allocations Port : port_J2 Name : hires Enabled : 1 Type : hires Api : hal3 P-W : 640 P-H : 480 P-Fmt : nv21 FPS : 30 OverrideId : -1 AEAlgo : isp Starting Camera: stereo Available resolutions for camera: stereo: 1280 x 480 848 x 480 858 x 480 864 x 480 800 x 480 720 x 480 640 x 480 640 x 240 640 x 360 480 x 480 480 x 360 480 x 320 432 x 240 352 x 288 320 x 240 Resolution: 1280 x 480 Found! ------ voxl-camera-server: Preview buffer allocations Internal Exposure for: stereo 1 /builds/voxl-public/modal-pipe-architecture/voxl-camera-server/src/expgain_interface/expgain_interface_factory.cpp 45 Creating exposure interface Creating ModalAI exposure interface Received raw10 frame, checking to see if is actually raw8 Frame was actually 8 bit, sending as is Port : port_J3 Name : stereo Enabled : 1 Type : stereo Api : hal3 P-W : 1280 P-H : 480 P-Fmt : nv21 FPS : 30 OverrideId : -1 AEAlgo : modalai =================MODALAI Auto Exposure Settings================== gain_min: 0 gain_max: 1000 exposure_min_us: 100 exposure_max_us: 33000 desired_msv: 58.000000 k_p_ns: 32000.000000 k_i_ns: 20.000000 max_i: 250.000000 p_good_thresh: 3 exposure_period: 1 gain_period: 2 display_debug: no exposure_offset_for_gain_calc: 8000 ================================================================= ------ voxl-camera-server: Camera server is now running
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  Integrating FLIR BOSON as USB-connected camera on VOXL
  • jaredjohansen  

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  @Eric-Katzfey Voxl-streamer has been working fine so far with our current software, and I can test against QGC 3.5.6, so the main issue to worry about is the power issue you described. Could the custom UVC driver code be made available? The Boson IR camera is currently a critical component of our project
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  voxl-tflite-server: "FATAL: Unsupported model provided!!"
  • colerose  

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  @colerose we selected mobilenetv2 because of its exceptional performance on embedded devices - currently, inference time in the voxl-tflite-server is ~22ms per frame with very high precision. Also, the mobilenet family is fairly easy to retrain with a custom dataset!
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  VOXL on Intel-Galileo & Pixhawk Cube
  • Ador  

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  Hi @Ador , Unfortunately it's not that straight forward. Most of the code won't be portable, the first candidates to be ported would be from here: https://gitlab.com/voxl-public/core-libs The system image (what Yocto is building) has many hardware dependent items, and we aren't pulling the application layer in during the bitbake process, rather later on we install on top. As an example, part of our software stack run on Hexagon DSP processor (a MAVLink parser) which wouldn't exist on RPi etc so it wouldn't work.
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  Stream from Gimbal freezes in 2 seconds
  • Daniel Ryu  

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  https://forum.modalai.com/topic/460/integrating-flir-boson-as-usb-connected-camera-on-voxl/3 Issue with UVC cameras in general has moved here
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  Rotating the tracking camera
  • Ador  

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  That should work fine, keep in mind that you should change the extrinsic with relation to imu0 as well, and that you may need to change the translation if you're not able to rotate it perfectly in place. VIO will converge internally to the actual rotation/translation values as long as they're close enough, but it can lead to errors if they're not.
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  Problems updating voxl-suite
  • Alfonso Ponce  

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  Oh thank you! I will try to flash this new image. Thanks for the fast response.
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  Gimbal camera streaming not starting
  • Daniel Ryu  

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  Solution: sometimes when just binding the RC controller, the inputs aren't shown. Make sure to restart drone after rebinding. Additionally, I've found different controllers have different lever/switch inputs, so its good to use QGC to look for the responsive switches and assign the ones you want accordingly
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  M500 Checklist
  • todd45040  

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  Thank you! Very helpful. I figured out where I had seen the checklist, it was available for download in an email you folks sent out July 20th.
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  Companion Computer NVIDIA Nano
  • simo  

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  Hi @simo , That's likely a question for NVIDIA We can help you with our companion computer though! In general, you'll want to get a 3.3V TTL port on the NVIDIA side, setup the correct baud rate, and then use their mavros software). Thanks! Travis
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  Stereo Cameras are highly inaccurate
  • Daniel Ryu  

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  @Chad-Sweet The fix in the dev branch successfully populates the 0th degree bin for obstacle detection. We are now able to run VOA mostly successfully, with one observable bug with the voxl-camera-server/voxl-dfs-server. Please see this post for details: https://forum.modalai.com/topic/450/intermittent-crashing-of-voxl-camera-server-during-voa-testing?_=1631837674205
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  Obstacle Course conference competition using the M500
  • Cool Karp  

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  Unable to ssh into voxl m500
  • Ahmed Mekky  

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  Hi Chad, I tried a different windows ssh software and it worked fine. I could ssh into the VOXL using "Termius". It could be an issue of encryption or inherent setup. Thanks,
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  how to set home position with mavros / no GPS?
  • shlee853  

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• S

  Flight Core not passing RC input PWM commands
  • schamberlin  

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  This sounds similar to the R/C passthrough instructions for the gimbal found here
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  Flying Predetermined Course in GPS-Denied Environments
  • todd45040  

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  Thanks for the info., it's not too late. We will work the task in the upcoming week. We'll make a few attempts and report back our outcome. Thanks again, -Todd
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  VideoReceiverLog: GStreamer error: Could not open resource for reading and writing on QGroundControl
  • shlee853  

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  @shlee853 I found a v3.5.6 on the github. I'll try on this version. https://github.com/mavlink/qgroundcontrol/releases/tag/v3.5.6 Thannks,
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  Mavlink Camera Manager not appearing on QGC
  • Daniel Ryu  

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  @jaredjohansen Great! Glad to hear it!
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  object avoidance feature is disabled?
  • shlee853  

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  The obstacle avoidance on voxl uses the disparity map coming out of voxl-dfs-server (so make sure this is running if you want obstacle avoidance), and passes the obstacle data into the standard px4 bins (thus using the px4 avoidance algorithm)