@james-emi ,

In our voxl-camera-server, we have a default intrinsics config for the IMX412 camera / lens as follows (focal length approximation is based on a several calibrations). Basically it is a fisheye lens with about 2000px focal length at full resolution (half of that at half resolution, etc). The camera full sensor width is 4056 (hence the x principal point is exactly half of that 2028). In some cases we use slightly trimmed frame (4040 in width). But in any case, that should be enough for a good starting point.

lens_cal.width = 4040; lens_cal.height = 3040; lens_cal.fx = 1999.0; lens_cal.fy = 1999.0; lens_cal.cx = 2028.0; lens_cal.cy = 1520.0; lens_cal.is_fisheye = 1;

Alex

@Matt69 , Do you need the additional PWM outputs to be connected via PX4? If not, perhaps connecting M0065 to a cpu uart and communicating directly would be the simplest (i can help you with that).

Do you have spare SLPI UARTs?

Not sure if PX4 would support multiple voxl2-io drivers running, i guess that should work? I don't think we have tried it. if you have spare slpi uart ports, just give it a shot? There may be a problem with two actuator drivers having the same name.

Alex

@Eric-Katzfey I’m looking for the voxl-emulator Docker image referenced in the documentation:

VOXL Emulator Documentation: https://docs.modalai.com/voxl-emulator/#install-the-voxl-emulator-docker-image

However, in the Development Sources / Developer Portal there doesn’t seem to be any Docker image available for voxl-emulator.

Could you please confirm if the image is still available, or if there is an updated download location for it?

@Eric-Katzfey
I'm not sure what may have changed, before when setting BATT_MONITOR to 21 the param would write but we wouldn't get the additional parameters that that setting should have enabled. Last week I tried it again to reply to your last message and we got the BATT_I2C_BUS parameter and were able to get it all working. Gotta love when things seem to magically fix themselves, thanks for the support.

PS, we have built a parallel system on the latest SDK and will be migrating the current one over to match.

@jameskuesel , i have been testing a version of camera server that supports independent zoom / drag on each of the 4 misp channels and also independent EIS modes. This means that you can have one full size unstabilized image and one or more stabilized with EIS and arbitrary zoom and look-at positions for each stream.

There is also an updated voxl-portal version that has the multi view that supports showing and interactive with multiple streams at the same time.

If you would like to test it, let me know, i will need to document a bit. Please provide some more information such as what camera you use and what use cases you need, so i can provide an exact camera server config to test (basically specs for each misp channel, - fps, dims, eis/on off and eis mode)

Alex

@jon And you can find a lot of detailed information about the agent, including the start options, here: https://docs.px4.io/main/en/middleware/uxrce_dds