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  Mapping
  • gauravshukla914  

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  We used the mvVM mapping feature in mvSDK. We are currently migrating to voxblox. We do not have official support for this yet, but you can see the work in progress here: https://gitlab.com/matt.turi/mavros_test it is using the roskinetic docker though too.
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  Streaming data from multiple IMUs to QGroundControl
  • Daniel Gauthier  

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  Hi @Daniel-Gauthier , Partial answers here but hopefully can git things moving. Also, I'm making assumptions here that you are OK "opening up the hood" and modifying code Consider voxl-imu-serverand the two IMUs on VOXL as not accessible via PX4/QGC. Let me reach out to a colleague who's more in this area and I'll get back to you. We have some tools in the works for logging VOXL IMUs (and other) data easily on the VOXL side. I'll need to touch base on timeline, we are looking for a mid-end Feb release but have a developer channel that you could use if you're OK with pre-release SW (e.g. not ready for prime time...). OK for the PX4 side I'm more versed on. The 42688p driver is here: At least in v1.10 and v1.11, PX4 uses a single IMU as input to EKF2. Whatever has the highest priority and is functional.... A little silly, but the two extra IMUs on there are from the v5x design spec which we were asked to try to implement, but are used as 'backups' basically.. and thus far I don't believe the backups have been used.... So it's really based on a sensor priority (which ICM42688 and ICM20648 share the same) and what sensor is started first (right now, 20602). --> https://github.com/PX4/PX4-Autopilot/blob/master/boards/modalai/fc-v1/init/rc.board_sensors#L13 You can change the order here/comment out sensors, and it will change the default IMU being used. For validation testing, I commented out the 20602 line. So, to make the 42688p default, make it startup first in that script. Here's the 42688p driver for PX4: --> https://github.com/PX4/PX4-Autopilot/tree/master/src/drivers/imu/invensense/icm42688p Here's the 42688p driver for VOXL: -> https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-imu-server/-/blob/master/server/src/icm42688.c Keep questions coming and we'll get to them!
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  GPS not acquiring
  • Daniel Ryu  

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  Resetting the parameters to outdoor mode seemed to have worked! The GPS acquired a signal and I am able to fly in Mission mode. Thank you!
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  Connecting WiFi in station mode on a secure network
  • Daniel Gauthier  

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  Thanks Chad. I was being a dunderhead. I will using the SSID and password for the drone, not my local network. Just got it working.
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  VOXL flight deck + toF Positioning
  voxl-flight tof 3d print • • gauravshukla914  

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  We don't have a production mechanical solution yet for the TOF. We have used double sided sticky tape for prototypes, picture below. An extension cable, found here, might help make things easier.
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  Implementing PX4 avoidance in mission mode using the voxl and QGC
  • scottesicdrone  

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  Not exactly familiar with that parameter. Have you seen how we implement mavros here https://docs.modalai.com/mavros? That might help. You might be able to use our voxl-vision-px4 to communicate with the flight controller, vio and mavros code: https://gitlab.com/voxl-public/ros/mavros_test
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  ToF sensor
  ros tof • • gauravshukla914  

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  Hi @gauravshukla914 , Thanks for the help with this. We've released a new beta version of the voxl-hal3-tof-cam-ros that supports auto detection of ToF and defaults the persist.camera.modalai.tof setting properly. It will be in out next voxl-suite release, but is available from our dev channel here if you are interested in using this link The updated readme is here. Thanks!
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  VOXL Flight will not flash image
  • scottesicdrone  

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  This solved the flashing issue, I thought i did this all as root but I didn't! Thank you!
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  Simulation Software for drones
  • SHAURYA PANTHRI  

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  Hi @SHAURYA-PANTHRI , We don't have a model for Gazebo, but the frame is essentially a Holybro s500, and there may be some out there. I've used JMAVSim a bit and it works well. We have a HIL tutorial here: https://www.youtube.com/watch?v=-uoIxAkiYtk That might be a little overkill and software in the loop might work: https://dev.px4.io/v1.11/en/simulation/#sitl-simulation-environment I'm actually pretty new to flying still. The m500 at first was intimidating for me (I'd come into the office early before everyone else so I could fly without any pressure haha ;). I bought a little toy $25 USD drone off amazon and flew that at home for a while, and then moving to the m500 was actually pretty easy!
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  Acidentaly deleted parttion
  flight deck • • abdullah.sorathi  

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  Hi @abdullah-sorathi , The only items 'lost' would be the stereo and tracking camera calibration, which is actually not stored right now by default to /data (it will in the future)... We have two approaches: calibrate following this: https://docs.modalai.com/calibrate-cameras/ or, provide me the serial number (on a small barcode, starts with "M2", near the front/top of the Flight Deck close to the camera backs). I can pull the info from our database and we can update the files on the device. Side notes: voxl-backup can be used to save/restore to/from /data if needed in the future
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  This topic is deleted!
  • gauravshukla914  

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  No connection to VOXL after voxl-configure-vision-px4
  • kasper-airflight  

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  Hi @modaltb , Thank you for that insight. That was indeed our intended use case, given the size of our vehicle, but as we have experienced, image quality does indeed degrade (looking at rqt-image-view) using that many extension cables. We are currently investigating placement options to see if we can fit the VOXL and sensors such that we can avoid the extensions. We have also learned about the existence of extension interfaces for MIPI CSI-2 (THine for example provides such a solution). Do you or your team have experience with these solutions?
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  • Alex123  

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  Overriding in-use UART ports
  • gus  

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  @modaltb Great, I will check this out, thanks so much.
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  Simulation for the VOXL m500 in Gazebo
  • DJ  

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  Thanks, I'll take a look to see if there are any models with the same frame around.
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  TOF v/s Stereo SLAM
  • gauravshukla914  

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  1 - Can we use Stereo cameras which is integrated in the VOXL flight deck for performing the SLAM? Yes! definitely possible. To consume the stereo frames, you'll need to disable VOA in voxl-vision-px4 if that is currently enabled. This repo should create a depth map and publish to ROS: https://github.com/ATLFlight/dfs-ros-example 2-IsTOF sensor a better choice for performing SLAM. And if yes, do we need to replace the stereo cameras with the TOF? that depends. TOF works better indoors, and stereo works better outdoors. An upcoming software release, potentially 3.1, will support stereo and TOF concurrently. One of the other image sensors will need to be removed though for support, like the 4k high-res. 3- What is the difference between SLAM performed by Stereo camera and SLAM performed by TOF sensor? Stereo works better outdoors, TOF works better indoors.
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  Getting voxl-streamer running
  • MattO  

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  Thanks for the help Eric. Currently I have pretty much the bare bones stuff installed, see screenshot below. camera-server and streamer up and running, and getting video on a host computer via VLC or QGC. I think we can consider this one solved!
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  Failed to start Stereo Camera Nodelet
  ros camera • • abdullah.sorathi  

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  @Chad-Sweet Yes I tried both setting it to true and false. But once you start launch camera and the terminated and try to launch again it does not launch.
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  This topic is deleted!
  • gus  

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  Potentially incomplete Dshot implementation?
  • gus  

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  @modaltb This is on release 1.11.1.