@Darshit-Desai , i would say the best way to confirm storage order would be to print out the memory location of the vector’s 0th, 1st and 2nd element after you put it into eigen structure. You should be able to get the pointer using & operator and print out the pointer using printf(“%p”, ptr). If the 3 pointer values are separated by 4 or 8 (single or double precision), then storage order is optimal

@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!

@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.

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

@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

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

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

@wilkinsaf No, they are exactly the same

@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.

@Alex-Kushleyev Thank you! This worked perfectly, got all of the motors spinning 🙂

@Dawid-Mościcki Wow amazing I will give this a try very soon. Thank you so much!

@Eric-Katzfey thanks mate for your answer!

If any1 will have similar problems in future don't follow guide : https://docs.modalai.com/sentinel-user-guide-pre-flight-setup/

See those docs : https://docs.modalai.com/voxl-elrs/
All You need to do is voxl-elrs -b, then on aperture go to ExpressLRS and choose bind 🙂

Can be closed.

I reflashed firmware and reconfigured drone manually (not using automatic scripts which platform detection) and problem vanished. Probably there is something wrong with detecting actual drone version in those automated scripts.

@Dawid-Mościcki Perhaps you can ask the QGC development team for some help in narrowing down what is causing QGC to crash. If you think there is a missing parameter then in your /usr/bin/voxl-px4-start script add a new line to touch the parameter so that QGC will see it. (e.g. param touch SDLOG_MODE)

@Eric-Katzfey said in Take-Off and Land command each fly to xy=[0,0] location instead of on the spot:

@LaborzaubererTHI Sounds like it may be similar to: https://forum.modalai.com/topic/2533/failsafe-landing-bug-in-px4-1-14/19?_=1713800679314

Indeed it does.

@Eric-Katzfey So you probably just need to do the magnetometer calibration procedure to be ready for flight.