@Jetson-Nano Unfortunately it is not yet fully working, as I said I managed to create plans with waypoints and to fly those plans we are currently launching the plans on a waypoint to waypoint basis so, no full trajectory without stopping (we don't have to click on the waypoints but the drone stops to plan the next strecht). We have done so because we don't trust the VIO to be able to mantain a correct pose for the long trajectory through the waypoints and we "stop" at the waypoints (where we placed april tags) to relocate and replan with a corrected position after a flight between waypoints.

If you trust VIO to follow your planned trajectory it is possible. We have modified the planTo function from mapper to localize the closest waypoint to the clicked target and we launch global_planner_->createPlan(current_start, final_target, waypoints_); iteratively from way point to waypoint without clearing the waypoints_ vector until it reaches the last waypoint and then plan to the actual target. This creates a long trajectory that should be followed when you press follow button. As I said we have never tried to follow the long trajectory, but as far as I understand the drone should follow it given that qvio maintains a good enough pose.

Right now we are experiencing stability issues when switching from position mode to trajectory mode. If we manage to solve that I can run a test with the long trajectory and get back to you.

@konwersa , I am sorry for not getting back to you sooner. DSHOT support in M0065 is still a possibility but I do not have a specific timeline for implementing this, also considering that you have a very specific use case, which would need a custom firmware because M0065 does not support arbitrary configuration of the 8 IO pins due to the fact that the hardware timers are shared between pins and only certain combinations are possible.

I did double check that the hardware can support 5x dshot, 2x pwm, and 1x gpio (but not 5x dshot and 3x pwm due to a timer conflict), but it would be a very specific pin assignment (which is not really a problem as long as you know what it is).

A much more common use case would be 4 dshot + 4 pwm, which would be much easier for us to support. This is what we have prototyped, but the feature has not marked for a release. If there is enough demand from the users, it would make the decision easier, otherwise it is hard to prioritize it..

If you have other options for your dshot application, please consider pursuing those, since I cannot give you a clear timeline for the feature you requested.

Alex

@voxltester Again, LW20 is not in the px4 build. Until you rebuild px4 with that driver you cannot use it within px4. So, you have 2 choices. Rebuild PX4 and try to get LW20 working within PX4 or take a look at the source code for voxl-rangefinder-server and see if you can add support for LW20 into that. It currently supports the vl53l1x rangefinder. Perhaps you can just switch to that rangefinder model? Otherwise the source code it here: https://gitlab.com/voxl-public/voxl-sdk/services/qrb5165-rangefinder-server

@Eric-Katzfey I know this is a question for the px4 forum, but can you guys help me figure out how to run the https://github.com/PX4/px4_ros_com/blob/main/src/examples/offboard/offboard_control_srv.cpp service server here. I changed the namespace for my microdds client as you know and I am not sure if that service server is running or not, I can't find the server when I do ros2 service list or ros2 service find

@Darshit-Desai what do those do when you're flying? Sitting on the ground isn't really stressing the system

Nevermind I figured it out. Once the voxl_mapper service is running it is automatically configured to run the voxl_mpa_ros2 as a pointcloud

Hi @Bilal-Hussain
Please see our docs specifically for Doodle Labs here:
https://docs.modalai.com/doodle-labs-user-guide/

VOXL2 Mini cannot use any of the plug-in boards noted above in that table. The VBUS is very limited and will require your Doodle to use an external power supply sourced from your battery.

Thanks!

@Darshit-Desai Here is the output from echo'ing local position.

voxl2:~/colcon_ws$ ros2 topic list /fmu/in/obstacle_distance /fmu/in/offboard_control_mode /fmu/in/onboard_computer_status /fmu/in/sensor_optical_flow /fmu/in/telemetry_status /fmu/in/trajectory_setpoint /fmu/in/vehicle_attitude_setpoint /fmu/in/vehicle_command /fmu/in/vehicle_mocap_odometry /fmu/in/vehicle_rates_setpoint /fmu/in/vehicle_trajectory_bezier /fmu/in/vehicle_trajectory_waypoint /fmu/in/vehicle_visual_odometry /fmu/out/failsafe_flags /fmu/out/position_setpoint_triplet /fmu/out/sensor_combined /fmu/out/timesync_status /fmu/out/vehicle_attitude /fmu/out/vehicle_control_mode /fmu/out/vehicle_local_position /fmu/out/vehicle_odometry /fmu/out/vehicle_status /parameter_events /rosout voxl2:~/colcon_ws$ ros2 topic echo /fmu/out/vehicle_local_position timestamp: 1716299017260605 timestamp_sample: 1716299017259933 xy_valid: false z_valid: true v_xy_valid: false v_z_valid: true x: -0.015882886946201324 y: -0.006520443130284548 z: 3.26619815826416 delta_xy: [-9.292006097894046e-08, -1.9959152552928572e-07] xy_reset_counter: 1 delta_z: 0.0 z_reset_counter: 1 vx: 0.0007984319818206131 vy: -0.001192234456539154 vz: 0.006735446862876415 z_deriv: 0.014136962592601776 delta_vxy: [-1.0643154382705688e-05, -2.2861408069729805e-05] vxy_reset_counter: 1 delta_vz: 1.583993434906006e-05 vz_reset_counter: 1 ax: 0.042993903160095215 ay: -0.06323475390672684 az: -0.10127022862434387 heading: -0.12067540735006332 delta_heading: 0.0 heading_reset_counter: 0 heading_good_for_control: false xy_global: false z_global: false ref_timestamp: 0 ref_lat: .nan ref_lon: .nan ref_alt: .nan dist_bottom: 0.10000000149011612 dist_bottom_valid: false dist_bottom_sensor_bitfield: 0 eph: 0.012850395403802395 epv: 0.3351651430130005 evh: 0.04047877714037895 evv: 0.06853056699037552 dead_reckoning: true vxy_max: .inf vz_max: .inf hagl_min: .inf hagl_max: .inf ---

Voxl version

system-image: 1.7.4-M0054-14.1a-perf kernel: #1 SMP PREEMPT Fri Feb 9 21:59:24 UTC 2024 4.19.125 -------------------------------------------------------------------------------- hw platform: M0054 mach.var: 1.0 -------------------------------------------------------------------------------- voxl-suite: 1.1.3-1 Packages: Repo: http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.1/binary-arm64/ Last Updated: 2024-05-21 13:30:13 List: kernel-module-voxl-fsync-mod-4.19.125 1.0-r0 kernel-module-voxl-gpio-mod-4.19.125 1.0-r0 kernel-module-voxl-platform-mod-4.19.125 1.0-r0 libmodal-cv 0.4.0 libmodal-exposure 0.1.0 libmodal-journal 0.2.2 libmodal-json 0.4.3 libmodal-pipe 2.9.2 libqrb5165-io 0.4.2 libvoxl-cci-direct 0.2.1 libvoxl-cutils 0.1.1 mv-voxl 0.1-r0 qrb5165-bind 0.1-r0 qrb5165-dfs-server 0.2.0 qrb5165-imu-server 1.0.1 qrb5165-rangefinder-server 0.1.1 qrb5165-slpi-test-sig 01-r0 qrb5165-system-tweaks 0.2.6 qrb5165-tflite 2.8.0-2 voxl-bind-spektrum 0.1.0 voxl-camera-calibration 0.5.3 voxl-camera-server 1.8.9 voxl-ceres-solver 2:1.14.0-10 voxl-configurator 0.5.2 voxl-cpu-monitor 0.4.7 voxl-docker-support 1.3.0 voxl-elrs 0.1.3 voxl-esc 1.4.0 voxl-feature-tracker 0.3.2 voxl-flow-server 0.3.3 voxl-fsync-mod 1.0-r0 voxl-gphoto2-server 0.0.10 voxl-gpio-mod 1.0-r0 voxl-jpeg-turbo 2.1.3-5 voxl-lepton-server 1.2.0 voxl-libgphoto2 0.0.4 voxl-libuvc 1.0.7 voxl-logger 0.3.5 voxl-mavcam-manager 0.5.3 voxl-mavlink 0.1.1 voxl-mavlink-server 1.3.2 voxl-microdds-agent 2.4.1-0 voxl-modem 1.0.8 voxl-mongoose 7.7.0-1 voxl-mpa-to-ros 0.3.7 voxl-mpa-to-ros2 0.0.2 voxl-mpa-tools 1.1.3 voxl-neopixel-manager 0.0.3 voxl-open-vins 0.4.4 voxl-open-vins-server 0.2.18 voxl-opencv 4.5.5-2 voxl-platform-mod 1.0-r0 voxl-portal 0.6.3 voxl-px4 1.14.0-2.0.63 voxl-px4-imu-server 0.1.2 voxl-px4-params 0.3.3 voxl-qvio-server 1.0.0 voxl-remote-id 0.0.9 voxl-ros2-foxy 0.0.1 voxl-streamer 0.7.4 voxl-suite 1.1.3-1 voxl-tag-detector 0.0.4 voxl-tflite-server 0.3.1 voxl-utils 1.3.8 voxl-uvc-server 0.1.6 voxl-vision-hub 1.7.3 voxl2-system-image 1.7.4-r0 voxl2-wlan 1.0-r0 --------------------------------------------------------------------------------

px4_msgs branch

voxl2:~/colcon_ws/src/px4_msgs(release/1.14)$ git branch * release/1.14

@leonardo-Andrade-0 For the case where you are using only GPS and MAG the parameters need to reflect that. SYS_HAS_GPS = 1, SYS_HAS_MAG = 1, EKF2_MAG_TYPE = 0.

@viralp Behind the scenes "voxl-suite" is really just a meta package with dependencies on all of the debian packages in VOXL Suite.

Therefore if any of the packages that voxl-suite depends on are modified (either removed or downgraded) then "voxl-suite" will no longer be installed.
This includes the system image. Contained in the system image is another meta package called voxl2-system-image which is versioned the same as the System Image. Therefore if there is a system image / voxl-suite mismatch you will see the same effect.

This isn't a major issue, it just means that you are straying from the exact package list defined by that version of VOXL Suite.

If you would like to get to a known good state you download the latest SDK from our downloads page and install it with it's install.sh script

@Matthew-Wellner , As we discussed offline, I am going to post the summary for the likely issue here:

By setting "demag_timing: 1" in esc params, it enabled some experimental feature, which fails to work correctly above certain rpm. It prevents motor from spinning faster when more power is applied (above a certain rpm). You can see from plots above, the desired command for motor 4 (purple) goes higher, but actual rpm is flat lined around 5700rpm (black). Also the current jumps up significantly for motor 4 (black) when it hits that ceiling.

For your motor, please disable this "feature" by setting demag_timing to 0. Depending on your current timing advance, we may keep that the same or increase slightly.

After disabling demag_timing-> 0, i would recommend performing rpm step tests to make sure the de-syncs still do not happen.

I am sorry about this, I will update documentation to not recommend using this feature.

9ac17b56-3431-408e-bd34-a7006eeb55ef-image.png

zoomed in
c12f7747-3523-416b-8467-f462ee7b7561-image.png

Alex

@Rowan-Dempster They've been released and are a part of the SDK but we just don't install them by default to save space.

The .debs are onboard already and should install with an apt install

In that context "blackisted" just means don't install by default.

@Alex-Kushleyev said in Masking qVio:

P5

160 120
255
^@^@^@^@^@^@^

It is working now thanks. I have created mask in monochrome bmp and then used online tool to convert it into pgm but output had wrong header:

P5 160 120 1 ^@^@^@^@^@^@^

I have used gimp now and exported with .pgm (binary) and it's working 😄

I put a preview mask on output image.
d4604289-19d3-462f-99e3-89dcc788282c-image.png

@Brian-LeCocq The Starling 2 is not intended to carry a payload. The Starling 2 Max can carry 500g payload

@John-Racette Sign up for an account on the downloads page here: https://developer.modalai.com/signup

Once you log in you will find the latest voxl-cross pre-built image (voxl-cross_v2.7.tgz) under the "Docker Images" section