@Chad-Sweet

Update:

I have performed the calibration process as you mentioned for both Stereo camera and tracking camera by following the calibration documentation https://docs.modalai.com/calibrate-cameras/ though they are not moved from their original position of VOXL flight deck.
2744ae31-4605-48ab-be86-bbdcc97f51cf-image.png

While performing the calibration for stereo cameras I have also fixed the focus for both left and right camera. But after the calibration process the collision prevention does not seem to be working any more.

By that I mean the the obstacle topic does not seems to detect anything even it is very close or far from the wall. I also tried with different object to see if the camera can pick up the difference but it does not seems to be consistent any more.

At 0 degree angle it mostly shows 0 m. It only shows some value while it is in the ground but once flying it is completely 0 m in withing +- 30 deg angle range.

After several try I decided to perform the calibration process again, and after the process I found same result. I also tried to change the CP_dist from QGC parameter ranging from 0.5- 10 meter but it does not seems to work anymore.

Then i realized I have made a big mistake by not saving the default calibration.stereo.xml file for calibration and then I found the sample calibration file in the voxl-camera-calibration git folder which then I replaced it with the calibrated file.

Once this process is complete I then fly the Modal AI m500 and it worked almost as before but the CP_dist value of 1.5 m seems now too much and we reduced it to 0.8 meter.

This the sample calibration.xml snippet from the git hub link:
1362c676-a1ef-4bae-85b4-ee0e6799befa-image.png

I also noticed the focal_length_x and y for calibrated camera is ranging from 488-490 for both camera value which is much higher value after the calibration process compared with the sample calibration file shown above.

Please let us know what can be done to correct this calibration problem or at least how I can obtain the default factory calibration data from modal ai.

@manzur Interesting, thank you for the information! Perhaps I was wrong about the default Network ID, I will take a note of that.

Hi @Chad-Sweet it appears that I am on voxl-suite 0.2.0 as indicated above. However, if QGC reports that avoidance system is unavailable and the vehicle will not arm. If I run

voxl-vision -s

I can see the obstacle debug info on the terminal, also I set

"en_voa": true,

Any suggestions as to what I am doing wrong?

Hi @shlee853 ,

There's a pretty good tutorial from our Guru here: https://www.youtube.com/watch?v=0j7CjmDvluM

-Travis

@mvxl500 like Chad mentioned, typically with the PX4/QGC setup you have to power cycle PX4 after binding:

From: https://docs.modalai.com/configure-rc-radio/

569470cd-1d23-44ba-8696-ab557b906e80-image.png

TBC is the translation from IMU to camera, OMBC is the rotation

You can see 2D and 3D drawings on the datasheets page which should help you make the measurements

https://docs.modalai.com/voxl-datasheet-functional-description/

Start by trying to recreate the known sets on the Flight Deck, and then make adjustments from there.

@PawelJ Maybe. I couldn't test VOA and apriltag function with version 0.3.4.

We have the same issue here with the Microhard pairing as posted in this https://forum.modalai.com/topic/251/issue-in-microhard-paring-with-slave-unit. We also tried to follow the instruction but its not paring.

@Alfonso-Ponce You can disable the WiFi (ifconfig wlan0 down) so that LTE is your only connection. Then try to ping something like www.modalai.com and see if that works. If so, then the LTE connection is up properly.

That is what I thought. I have not updated the system yet. Please let me know when this update is available!

@Voxlady Thank you! In the end I was finally able to understand better how the VOXL shell and the Docker image/container were working together. I was able to mount the volume just like they recommended and I could send my .py files and execute them.

@modaltb Yes you're right. Its not connecting to QGC via usb too.

It is possible to run concurrent LTE and Microhard connections on VOXL.

This can be accomplished using a combination of the two modems, either with an add-on LTE modem and a standalone Microhard modem plugged in to the add-on or an add-on Microhard modem with a standalone LTE modem plugged in to the add-on.

In order for both networks to start correctly, the LTE network will need to be brought up first, then the Microhard network. This can be set up easily by creating a custom startup service.

The LTE network will use the wwan0 network interface while the Microhard network will use the eth0 network interface.

@Alfonso-Ponce We don't have any recommendations on how to create such a mobile application. However, whatever path you choose, you will most likely need the app to be sending Mavlink packets to the drone to carry out the instructions. Also, QGroundControl can be run as a mobile app and it is open source so you could look to that as an example.

The only lower bound I've seen is 20cm here:
https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-vision-px4/-/blob/master/src/voa_manager.c#L165

So I'm still puzzled.

If you debug stereo, what kind of data are you seeing? https://docs.modalai.com/voxl-vision-px4-collision-prevention/#debug-tools

You could also convert the script into a Windows batch file or some other Windows scripting language. But there are Debian specific things in the script file that you would need to convert to the Windows alternative. For example, there are package management commands (apt) that would need to be changed into something for Windows and you would need to use the Windows version of QEMU. This could be a challenging task!

@Voxlady Thanks for the clarification I'll report my findings here.

A lot of effort goes in to supporting a new modem on a companion computer. The kernel needs to be modified, drivers need to be developed. We sell specific accessories that we put that effort in to so they can work with VOXL.

Without knowing what type of modem you are trying to connect, it is difficult to suggest where to begin.

Some things that might help:

What type of modem is it? What interface are you connecting with? USB, serial or Ethernet? Does it have an available Linux driver? If it is USB, and you type 'lsusb', does it appear?

The short answer is yes, the long answer is that it is probably a decent amount of work.

PX4 1.9 builds and runs for this platform, but may not fly. With that build, you need UART based ESCs like we have here: https://modalai.com/esc

Mid-PX4 1.10 development c++14 was introduced. The SLPI compiler does not support c++14. IMO it would be fairly straight-forward to either comment out that code (it's for simulation), or just use boost to fix the issue. We just haven't done that or put much effort into it.

You can take a look here:
branch https://github.com/PX4/Firmware/commits/excelsior_1.9

Build the firmware with "make atlflight_excelsior_default" to build the posix side and "make atlflight_execelsior_qurt-default"