In my case similar behavior was fixed by :
"The thing that is most likely the issue I believe is voxl-vision-hub. There is a program in vision-hub that will automatically do a figure 8 in offboard when it gets kicked off programatically and this is most likely conflicting with your takeoff. The parameters you needs to disable in /etc/modalai/voxl-vision-hub.conf are:

offboard_mode: off"

@enrico-bandera-0

OK got it. You alluded to this, modifying something like hub.c

(Generally if it's not showing up, we need to find some flags to add. For example, we added some USB modems like this:

https://gitlab.com/voxl-public/system-image-build/meta-voxl2-bsp/-/blob/qrb5165-ubun1.0-14.1a/recipes-kernel/linux-msm/files/patches/005-telit-option.patch
https://gitlab.com/voxl-public/system-image-build/meta-voxl2-bsp/-/blob/qrb5165-ubun1.0-14.1a/recipes-kernel/linux-msm/files/patches/004-quectel-usb-wwan.patch
)

We'll likely need to find similar for TUSB8041 and then try to add if it's not showing up by default.

Are you plugging this TUSB8041 hub into a USB port or using custom hardware?

Have you located anything from TI that tells us what flags to enable? That's where I'd go next, see if vendor has clues and then we can try it out.

@Ajay-Bidyarthy

Hey Ajay,

The Gitlab repo for tflite server actually is updated, just only for the dev branch. We're not quite ready to merge this to master yet. So you can just switch to that branch and branch your changes off of that and you should be fine.

Thanks,
Thomas

@wilkinsaf No, they are exactly the same

I will close this ticket and make a new ones. This conversations is too long, sorry for that 😕 Thanks for help so far !

@konwersa ,

Thank you for clarifying. In my testing, I have confirmed the ESC telemetry (not dshot telemetry) by repurposing J2 for UART rx that received the telemetry data. So i would request the telemetry via DSHOT commands (for one ESC at a time so that uart packets from different ESCs do not collide) and receive the packet via uart on J2 and parse it. This exists in the experimental code.

For DSHOT output, we have implemented 4x dshot outputs so far, but up to 6 should be supported by hardware. I would need to double check that you could mix dshot and pwm, there could be a limitation due to shared hardware timer between different output pins.

As for GPIO on/off, i believe it is possible to use the existing PWM functionality to just make the pulse width equal to 100% so that the pin always stays high (just need to make sure there is no glitch) or 0% for the pin to always stay low. That would be nice so that there is no need for additional GPIO interface.

Please give me a few days to check a few things, mainly to make sure that we can do 5 dshot and 3x pwm (1 pwm used as gpio)

Alex

@Amin-Bassiri RB5 uses voxl-px4-imu-server . You can verify the IMU data with voxl-inspect-imu imu_px4

@tahawaru Here is some documentation on configuring VIO https://docs.modalai.com/flying-with-vio/

PX4 does not currently handle GPS and VIO concurrently. It is something that we have worked with the PX4 developers on for more than 2 years.

It's a complicated problem though that we keep working to improve. To start experimenting, and hopefully helping to develop that feature, read through PX4's documentation on EKF2.

To debug VIO, look to this area of the documentation specifically https://docs.modalai.com/flying-with-vio/#troubleshooting-vio

I tested AR0144 with M0036 flex in the configuration shown in picture below and it works. I also have the IMX412 camera attached with its own flex. The dual flex configuration is not ideal for plugging into M0135 due to flexes pointing towards each other after being connected to M0135, but for testing purposes it is OK.

If you have AR0144 camera connected in the same way with the flex cable and the camera is not detected, then it seems like the flex cable is the issue.

IMG_3942.jpg

@Denver-Bennett,

Please check /etc/modalai/voxl-px4.conf to make sure the modal io driver is enabled.

https://docs.modalai.com/voxl-px4-config-and-startup/

https://docs.modalai.com/voxl2-io-user-guide/

Specifically, you need to set ESC=VOXL2_IO_PWM_ESC so that the voxl2 io driver is enabled in px4.

Also, before you test px4 running in the foreground, please make sure it is not already running in background. You can stop it using systemctl stop voxl-px4

@tom I had the same idea, so I directly installed Mavproxy and related packages on VOXL2, and successfully resolved the issue with the serial library. However, when running the service, I still couldn't import the Python files related to Mavproxy. Even adding the paths of those Python files to the environment variables didn't solve the problem.

@Kashish-Garg-0 Sounds like we'll have get an RMA going for this one: https://www.modalai.com/pages/rma

@Alex-Kushleyev

Hi Alex,

When I tested was with the px4 running.

That apps you said is like this?
https://docs.px4.io/main/en/modules/hello_sky.html

I’m still learning some parts of px4 itself 😅.

Ideally, I thought to connect the esp to cpu where I could to read the data coming , such as to connect a arduino board in a computer. However to control the gimbal should be using mavlink .

It’s like to learn to use the peripherals of my sentinel, because in the future I need also to connect UART lidar.

What do you recommend? Because the others UARTs ports that I have are full right now.

Best regards!