@modaltb Thanks, despite the delay, for the response! I only have one last question in this regard: is it possible to rotate the stereo ov7251 by 90 degrees or currently it is only possible to flip them by 180?
This info would help me a lot. Thanks!

@Moderator I see, thank you for the clarification - I think I was confused because I saw the HW info returned Flight Core V2.

I will try to run everything from /data/ , but I was initially worried about path errors because the other ROS packages and Python dependencies appeared to be installed in root. Will update here.

@tom
Yeah definitely not ideal, actually setting up an orange pie on linux right now to handle the flashing in the future, haha

@hmlow ,

I know your post was a while ago.. But I wanted to add some detail.

Going to 15Hz is going to reduce the maximum exposure (duration of emitted IR signal) to about 1/3 of the maximum which would be for 5Hz. This is due to the fact that maximum power output remains the same and increasing FPS means less power is emitted during each frame. Longer exposure / IR pulse means the sensor can achieve higher signal to noise ratio and pick up returns at longer distances.

So that would make sense that you may see less phantom obstacles at 15hz compared to 5hz, if these obstacles are indeed coming from multi-path returns (weaker / shorter IR signal has less chance of being picked up by the sensor)

@Darshit-Desai what do you have set for ekf2_aid_mask. The fact that you cannot go into position mode means something is barring you from moving into position mode, aka a specific parameter. If your QVIO quality is good, then a parameter in your PX4 isntance is off.

@Pooyan Interesting, systemd is ideal way for it to be running

@Moderator

For the LTE Modem on the Sentinel will the Modem cover European bands for operation? (normally there is US and European Variant).

Do you have any LEPTON Thermal sensor ready for the Sentinel without disabling or modify the drone? Will a USB connection to the drone simply be viewed as an additional camera (FLIR C5) in the OS or will we have to solder the connections on the flight controller?

@kerct But I would strongly suggest moving to SDK 1.1.2. It's very hard for us to support customers using older SDK versions.

@Isaac-Stephan-Remy please pull down the most recent iteration of https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2/-/tree/dev and build within the qrb5165 docker image and deploy the deb. This will allow you to convert UVC 422/UYVY images from the MPA to ros2. In the meantime I am working on the fix for ros1 as well.

Zach

@Moderator Great, thanks!

@Moderator I was thinking details, like at what speed and altitude etc.?

Hi @tcg6000
We understand your urgency, and an RMA will take some days to complete on our end.
I can provide you with a part number, but you need to be aware of a couple things:

We will not just check and replace (as needed) the TVS diode, we will run a full factory test and check for other issues. Should any arise that seem to be related to the over-voltage, we will fix and credit accordingly. If we could not find the root cause of other potential downstream failures, we will replace the ESC(s) Please note soldering to replace parts will void any warranties on that board, S/N M2300000M81. And if you decide to do that on the other one, please share that S/N. So, if you do replace those parts yourself, and you find you still have other issues, we cannot honor the warranty and RMA credits I just mentioned above. Basically, replacing parts now makes the whole process "at your own risk".

That part number, should you still wish to replace on your own is (here is a digikey link):
https://www.digikey.com/en/products/detail/littelfuse-inc/SMF4L17CA/10710004
If you review the specs, you'll note it starts to conduct ~19V, hence why @21V if it was sustained, effectively looked like a short circuit to the power supply, and the TVS was exposed to the condition long enough to short it out too... (at least that is my opinion)

I will follow-up internally on that free replacement power supply order today. I'll try to make sure it get's processed today or tomorrow.

Let us know what you decide, and if you do replace it, let us know if that fixed everything for you.

Thanks!
Vinny

@tom Thank you so much. It is done.

@Darshit-Desai when you are subscribing to /hires_large_color or /hires_large_grey are you planning to do some kind of image processing on these image messages in ROS? These are huge 4k images and I'm not sure how much the ros CV bridge can handle. One option is to resize the images since that typically complements image processing for whatever consumer subscribes to these image topics and will result in a speed up. Rectification also can be used to reduce the image warp.

Another option is to play with the image sensor encodings and find something more manageable in ROS and computational power required.

@Gary-Holmgren Hi Gary, we do not have a recommended baseline. Generally you can measure distance ~100x baseline. So the wider the baseline, the further you can measure distance. The trade off is you lose near field perception the wider you go.

There is nothing atypical about the implementation on VOXL. If you search Google you will find abundant resources on stereo baseline.

@Alex-Kushleyev Thanks for taking the time Alex this was very helpful!

@JoshRebello Our only office is in San Diego.

@rsr4z

Yeah no worries, let me know if I can help out with anything else!

Hi @Ivan-Gambit
Good questions.
M0078 Tech Docs Reference: https://docs.modalai.com/usb-epxansion-with-fastboot-v2-datasheet/

Yes, if you have a Voxl or Voxl-Flight in an M500, you will need the M0078 PCB to expose the USB host port from J13. You will not use the provided MCBL-00009 in the M0078 kit. Yes, Voxl or Voxl-Flight J13 port was not designed with Doodle in mind, so you are best to use a splice direct from the power cable. The way to do this is as follows: Use the D+/D- and GND from the M0078 4-pin JST "J3" to the Doodle USB D+/D- and one GND
af2cb12a-9843-46f2-b691-8db5c063c365-image.png use the 5VDC and a GND from the Power Module to the Doodle 5V input and GND. In your case, you can remove the jumper from M0078 "J2" since you are not using any VBUS from the M0078 USB connector. If you remove the jumper on M0078 J2, that allows you to use a simple 4-pin JST to JST cable to the Doodle such as https://docs.modalai.com/cable-datasheets/#mcbl-00015 , or convert it to a breakout cable to connect to the Doodle (Sorry I do not know how to advise further since I am not familiar with the socketed versions) Note: Yes, we have that jumper on M0078 to provide an easy way to access the 5V from the power module, but we did also not design that jumper and the traces with Doodle in mind. It was more for devices needing 1A of USB VBUS, not 2A+ that Doodle requires. You can try it, but you may have limited range at the highest power modes, and most of our cables that you would then use are also 1A limited, so problems like voltage droops/sags may occur with that approach.

The key thing in all of this is to make sure you have a common GND, and the return current for USB will go where it needs and the return current for the 5V will follow it's associated GND return path. Also make sure you do not short VBUS to the 5VDC of your splice if you use that jumper J2. Might be best to just leave it off, but since those pins are "HOT" maybe add a bit of Kapton over them to protect against inadvertent shorts.

If you are hesitant to make splices in the power feed for Voxl, you can see if one of our pre-spliced power cables we offer can give you a jump start, such as: https://docs.modalai.com/cable-datasheets/#mcbl-00211 and then remove the JST to provide what you need on the Doodle side. But, if you need all 4 wires for the I2C port on Voxl, you can start with an MCBL-00001 and then just move contacts from one cable to another.... https://docs.modalai.com/cable-datasheets/#mcbl-00001 There really are a lot of ways to do this (sorry if it's info overload).

I'm happy to review your final solution. If you want some extra support we can email you if you want to share more non-public drawings or such. Just let us know! But, if you are willing to share your setup and pics, it would be faster and you'd be helping others in the same situation 🙂

Thanks!