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Support Request Format for Best Results

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@yardy ,

I believe the issue is that when using M0173, you need to use the .1 kernel variant (mach.var: 1.0.1) because M0173 uses different GPIO for camera resets, including some other changes specific to signal routing on M0173,

When using M0172, the adapter acts similar to M0135 dual sensor expander, so you would need to switch to kernel variant 1.0.0. You can select the kernel variant when you install the SDK but there is also a way to just install the kernel variant directly (let me know if you need more info).

My suggestion is to switch to kernel variant 1.0.0 and use J7. On M0172 J1L should map to slot id 2 and J2U would map to the upper slot id 3 (when connected to J7). You would need AR0144 sernsormodule id 3 and irs2975c sensormodule id 2.

The reason why you should not use J6 or J8 is because in the 1.0.0 kernel variant, the J6U and J8U camera slots (slots 1 and 5) are configured for a OV7251 stereo set up with lane merging using a single CSI port (combo mode with slots 0 and 4 respectively), so you technically cannot use 6 independent cameras with 1.0.0 kernel variant.

Please try and let me know if it works or if you have more questions. I will double check this myself as well.

Alex
Feature Requests

Do you have a great idea for our products you would like to see implemented?

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Hello @Kiran , the only TOF sensor that we currently sell is the following:

https://www.modalai.com/products/m0178?variant=48528287793456

https://docs.modalai.com/M0178/

In terms of identifying unique features of individuals, you will have you decide whether this works for you. Here is a typical output of the this TOF sensor looking at a person. This is a depth image, but a point cloud output (for each frame) is also available. In order to build a map, you would need to use some mapper software (we provide a reference such as https://docs.modalai.com/voxl-mapper/). However you would need to be familiar with mapping algorithm(s) and learn how the software components work in order to get mapping to work well and tune it for your application.

9b4bee44-2643-4aed-a20f-4ec2592af56b-image.png

Alex
3D Models

Are you looking for a 3D model of one of our products?

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@chenzhe that is a Sentinel, you can find the 3D models here: https://docs.modalai.com/sentinel-functional-description/#sentinel-3d-step

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Stereo Cameras are highly inaccurate

• • Daniel Ryu

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@Chad-Sweet The fix in the dev branch successfully populates the 0th degree bin for obstacle detection. We are now able to run VOA mostly successfully, with one observable bug with the voxl-camera-server/voxl-dfs-server. Please see this post for details: https://forum.modalai.com/topic/450/intermittent-crashing-of-voxl-camera-server-during-voa-testing?_=1631837674205
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Companion Computer NVIDIA Nano

• • simo

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Hi @simo ,

That's likely a question for NVIDIA 😉 We can help you with our companion computer though!

In general, you'll want to get a 3.3V TTL port on the NVIDIA side, setup the correct baud rate, and then use their mavros software).

Thanks!
Travis
T

M500 Checklist

• • todd45040

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Thank you! Very helpful.

I figured out where I had seen the checklist, it was available for download in an email you folks sent out July 20th.
D

Gimbal camera streaming not starting

• • Daniel Ryu

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Solution: sometimes when just binding the RC controller, the inputs aren't shown. Make sure to restart drone after rebinding. Additionally, I've found different controllers have different lever/switch inputs, so its good to use QGC to look for the responsive switches and assign the ones you want accordingly
A

Problems updating voxl-suite

• • Alfonso Ponce

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Oh thank you! I will try to flash this new image.
Thanks for the fast response.
A

Rotating the tracking camera

• • Ador

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That should work fine, keep in mind that you should change the extrinsic with relation to imu0 as well, and that you may need to change the translation if you're not able to rotate it perfectly in place. VIO will converge internally to the actual rotation/translation values as long as they're close enough, but it can lead to errors if they're not.
D

Stream from Gimbal freezes in 2 seconds

• • Daniel Ryu

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https://forum.modalai.com/topic/460/integrating-flir-boson-as-usb-connected-camera-on-voxl/3 Issue with UVC cameras in general has moved here
A

VOXL on Intel-Galileo & Pixhawk Cube

• • Ador

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Hi @Ador ,

Unfortunately it's not that straight forward. Most of the code won't be portable, the first candidates to be ported would be from here: https://gitlab.com/voxl-public/core-libs

The system image (what Yocto is building) has many hardware dependent items, and we aren't pulling the application layer in during the bitbake process, rather later on we install on top.

As an example, part of our software stack run on Hexagon DSP processor (a MAVLink parser) which wouldn't exist on RPi etc so it wouldn't work.
C

voxl-tflite-server: "FATAL: Unsupported model provided!!"

• • colerose

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@colerose we selected mobilenetv2 because of its exceptional performance on embedded devices - currently, inference time in the voxl-tflite-server is ~22ms per frame with very high precision. Also, the mobilenet family is fairly easy to retrain with a custom dataset!
J

Intermittent crashing of voxl-camera-server during VOA testing

• • jaredjohansen

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Thanks for printing out those resolutions. Very helpful!
yocto:~$ voxl-camera-server -d 1 exising instance of voxl-camera-server found, attempting to stop it ------ voxl-camera-server INFO: Port J2 ------ voxl-camera-server: Done configuring hires camera Port : port_J2 Name : hires Enabled : 1 Type : hires Api : hal3 P-W : 640 P-H : 480 P-Fmt : nv21 FPS : 30 OverrideId : -1 AEAlgo : isp ------ voxl-camera-server INFO: Port J3 ------ voxl-camera-server: Done configuring stereo camera Port : port_J3 Name : stereo Enabled : 1 Type : stereo Api : hal3 P-W : 1280 P-H : 480 P-Fmt : nv21 FPS : 30 OverrideId : -1 AEAlgo : modalai =================MODALAI Auto Exposure Settings================== gain_min: 0 gain_max: 1000 exposure_min_us: 100 exposure_max_us: 33000 desired_msv: 58.000000 k_p_ns: 32000.000000 k_i_ns: 20.000000 max_i: 250.000000 p_good_thresh: 3 exposure_period: 1 gain_period: 2 display_debug: no exposure_offset_for_gain_calc: 8000 ================================================================= ------ voxl-camera-server INFO: Port J4 ------ voxl-camera-server: Done configuring tracking camera Port : port_J4 Name : tracking Enabled : 1 Type : tracking Api : hal3 P-W : 640 P-H : 480 P-Fmt : raw8 FPS : 30 OverrideId : -1 AEAlgo : modalai =================MODALAI Auto Exposure Settings================== gain_min: 0 gain_max: 1000 exposure_min_us: 100 exposure_max_us: 33000 desired_msv: 58.000000 k_p_ns: 32000.000000 k_i_ns: 20.000000 max_i: 250.000000 p_good_thresh: 3 exposure_period: 1 gain_period: 2 display_debug: no exposure_offset_for_gain_calc: 8000 ================================================================= Writing new configuration to /etc/modalai/voxl-camera-server.conf Created pipe: hires_preview channel: 0 Created pipe: stereo channel: 1 Created pipe: tracking channel: 2 Starting Camera: tracking SUCCESS: Camera module opened ----------- Number of cameras: 3 ------ voxl-camera-server INFO: Client: qvio-server0 connected to channel: 2 ------ voxl-camera-server ERROR: Client connected to invalid channel: 0 ------ voxl-camera-server ERROR: Client connected to invalid channel: 1 ----------- HiRes camera id: 0 ----------- Stereo camera id: 2 ----------- Mono camera id: 1 ------ voxl-camera-server INFO: Client: voxl-streamer0 connected to channel: 2 Available resolutions for camera: tracking: 640 x 480 320 x 240 Resolution: 640 x 480 Found! ------ voxl-camera-server: Preview buffer allocations Internal Exposure for: tracking 2 /builds/voxl-public/modal-pipe-architecture/voxl-camera-server/src/expgain_interface/expgain_interface_factory.cpp 45 Creating exposure interface Creating ModalAI exposure interface Port : port_J4 Name : tracking Enabled : 1 Type : tracking Api : hal3 P-W : 640 P-H : 480 P-Fmt : raw8 FPS : 30 OverrideId : -1 AEAlgo : modalai =================MODALAI Auto Exposure Settings================== gain_min: 0 gain_max: 1000 exposure_min_us: 100 exposure_max_us: 33000 desired_msv: 58.000000 k_p_ns: 32000.000000 k_i_ns: 20.000000 max_i: 250.000000 p_good_thresh: 3 exposure_period: 1 gain_period: 2 display_debug: no exposure_offset_for_gain_calc: 8000 ================================================================= Starting Camera: hires Available resolutions for camera: hires: 4160 x 3120 4056 x 3040 4000 x 3000 3040 x 3040 3016 x 3016 3840 x 2160 3648 x 2736 3264 x 2448 3200 x 2400 2976 x 2976 3044 x 1720 2704 x 2028 2704 x 1520 2592 x 1944 2688 x 1512 2028 x 1144 2160 x 2160 1920 x 2160 1920 x 1920 1880 x 1880 2048 x 1536 1920 x 1440 1920 x 1080 1600 x 1600 1600 x 1200 1520 x 1520 1440 x 1080 1080 x 1080 1280 x 960 1340 x 760 1280 x 768 1280 x 720 1200 x 1200 1280 x 640 1280 x 480 1040 x 780 1024 x 768 960 x 960 720 x 720 800 x 600 960 x 720 848 x 480 858 x 480 864 x 480 800 x 480 720 x 480 640 x 480 640 x 240 640 x 360 480 x 640 480 x 480 480 x 360 480 x 320 432 x 240 352 x 288 320 x 240 Resolution: 640 x 480 Found! ------ voxl-camera-server: Preview buffer allocations Port : port_J2 Name : hires Enabled : 1 Type : hires Api : hal3 P-W : 640 P-H : 480 P-Fmt : nv21 FPS : 30 OverrideId : -1 AEAlgo : isp Starting Camera: stereo Available resolutions for camera: stereo: 1280 x 480 848 x 480 858 x 480 864 x 480 800 x 480 720 x 480 640 x 480 640 x 240 640 x 360 480 x 480 480 x 360 480 x 320 432 x 240 352 x 288 320 x 240 Resolution: 1280 x 480 Found! ------ voxl-camera-server: Preview buffer allocations Internal Exposure for: stereo 1 /builds/voxl-public/modal-pipe-architecture/voxl-camera-server/src/expgain_interface/expgain_interface_factory.cpp 45 Creating exposure interface Creating ModalAI exposure interface Received raw10 frame, checking to see if is actually raw8 Frame was actually 8 bit, sending as is Port : port_J3 Name : stereo Enabled : 1 Type : stereo Api : hal3 P-W : 1280 P-H : 480 P-Fmt : nv21 FPS : 30 OverrideId : -1 AEAlgo : modalai =================MODALAI Auto Exposure Settings================== gain_min: 0 gain_max: 1000 exposure_min_us: 100 exposure_max_us: 33000 desired_msv: 58.000000 k_p_ns: 32000.000000 k_i_ns: 20.000000 max_i: 250.000000 p_good_thresh: 3 exposure_period: 1 gain_period: 2 display_debug: no exposure_offset_for_gain_calc: 8000 ================================================================= ------ voxl-camera-server: Camera server is now running
D

TOF Ros launch file not found

• • Daniel Ryu

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Found the repository that stores the code here https://gitlab.com/voxl-public/old-projects/voxl-hal3-tof-cam-ros. If this link could be placed in the documentation for future viewers, that would be great
J

VİO

• • Jonathan Jeff

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Not modalai, but something that helped me debug this very same issue was installing voxl-portal, and using that to view the qvio stream, which will overlay the points onto the tracking camera screen. If it creates points at your drone's motors and feet, then I presume it would be a problem
D

TOF Images and Frame data not sending

• • Daniel Ryu

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@Alex-Gardner Worked, thanks!
C

Determine if auto exposure is turned on

• • colerose

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Camera server has auto-exposure enabled by default on all the cameras, you can verify this by looking at /etc/modalai/voxl-camera-server.conf and by running voxl-inspect-cam hires_preview and shading the lens with your hand, watching the exposure go up and down.
G

Collision Prevention

• • gauravshukla914

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@Prasad-Antervedi Try following these: https://docs.modalai.com/calibrate-cameras/
C

Screws used on VOXL Flight Deck for Hires Cam

• • colerose

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Hello, they are M1.6 x 6mm.
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MAVROS not connecting to FCU on m500

• • Prasad Antervedi

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Have you followed the mavros tutorial here?
B

Altitude accuracy

• • blakekrpec

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@blakekrpec As I understand the ECL/EKF library integration so far, you can run several instances that each will fuse different sensor combinations (with individual blending) to accommodate for estimation state errors and the like....
C

Obstacle Course conference competition using the M500

• • Cool Karp

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@Cool-Karp ,

Congrats on your success! We are all here to learn so if you have any features you find missing that you found on another development platform please let us know!

Thanks
J

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• • Jonathan Jeff

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