@Eric-Katzfey Ahh that makes more sense, thankyou for explaining!

@Alex-Kushleyev Thanks for the info. For now, we're going to swap the sensor for one with the filter to see how it performs. I'll be updating results here

@modaltb As far as I can tell, I'm building a perf kernel. These are my changes:

MODAL_REPO_BRANCH=v1.8.02 in bin/qrb5165-common.sh

I've added the following lines to ./lu.um.1.2.1/apps_proc/poky/meta-voxl2-bsp/recipes-kernel/linux-msm/files/fragments/m005x.cfg:

CONFIG_MACVLAN=y CONFIG_VLAN_8021Q=y

And then building:

./qrb5165-build.sh -m M0054

@wifa799 So I would stop both voxl-uvc-server (systemctl stop voxl-uvc-server) and voxl-streamer (systemctl stop voxl-streamer). Then in one terminal window start voxl-uvc-server from the command line (voxl-uvc-server -r 160x120 -f 9) and leave it running (Don't hit ctrl-c to exit). Then in another terminal first make sure that /etc/modalai/voxl-streamer.conf has been configured properly to use the uvc stream and then start it with verbose output (voxl-streamer -v 0). You can get some documentation on the options with voxl-streamer --help. Then you should be able to access the RTSP stream with VLC or QGC at rtsp://127.0.0.1:8900/live

@Moderator said in Retrieving Apriltag offset from MAV local frame offset:

We love incorporating merge requests if you do end up with something useful!

Reply

I've made a quick fix here for anyone looking for it, ill try to make a merge request/real fix for it soon

https://github.com/Joe1Ontiveros/ApriltagPublisher_Starling

@Viktor-Gal I am troubling localization with QVIO. So I wanted to change vio algorithm to OpenVINS. I flashed my drone to nightly version but openvins still very unstable. Could you give me some guidance for openvins?

Questions

openvins configuration & versions Did you enable the voxl-feature-tracker? camera settings (single or multi, camera model, etc)

My status

voxl-suite: 1.4.1-202502132201 Camera: old-version of tracking camera (640x480) - link voxl-open-vins-server: 0.3.0-202502061726 voxl-feature-tracker: 0.5.2-202412171357

@Jeremy-Frederick Thanks for reverting. In your setup do you have the Radio directly paired or connected with ground unit of the MH carrier without having to any other workarounds?

@valvarez Sorry about that, but looks like that ghst_rc driver is specific to the DSP and cannot be used on the apps processor right now. I'm afraid the current build cannot support what you are looking to do without some changes. Probably best for you to put the receiver in SBUS mode and connect to the IO board.

@JoeAR_21 voxl-vision-hub handles VOA, not voxl-dfs-server

You can see the tof callback function in voa_manager here: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-vision-hub/-/blob/master/src/voa_manager.c?ref_type=heads#L380

@Eric-Katzfey

Thanks for answering! I have managed to solved this problem by using proper MOCAP data instead of GPS.

I did not test in the QGC. But for mavros I succesfully armed the drone, which is what I really want for doing more control.

I wonder if there is any tutorial or documentation for doing low-level control, such as to do control specifically on motors, PWM, instead of using PX4 to do high-level control.

Thanks for your help again!

@KnightHawk ,

Please try unplugging the USB dongle from the USB extension (connected to VOXL2) then plugging it back in and check output of dmesg on your voxl2. It should say something about the new usb device connected and whether there are any errros.

Also, in order to confirm that the wifi dongle itself is working, you could try plugging that into a standard linux PC, it should be recognized.

Alex

@arcj Try voxl-tflite-server -d

@tkddnjs825 Nope, if you run through install.sh it'll get everything setup as necessary

@Gary-Holmgren , we have not tried the mask with 1280x800 resolution.

Can you please try using the mask of size 160x120 and make it half white / half black for sanity testing. It is possible that the mask size has to be of these specific dimensions (and it would get resized to match the aspect ratio of the actual image, not sure).

Also, you should enable the debug prints in QVIO, as mentioned here https://forum.modalai.com/topic/3459/masking-qvio/6 and there is another potential "gotcha", the mask path is relative to working directory where qvio server starts.. but after you enable the qvio server debug prints, you will see the path from which the mask file is being loaded, as you can see from screen shots from the other post.

Unfortunately, the underlying QVIO source code is not available, so I cant check the exact behavior of the masking feature.

Alex

@valvarez , i believe i have previously tried VOXL_ESC + VOXL2 IO drivers running at the same time and it worked. You just have two output interfaces that you can configure and test via GCS.

As Eric mentioned, you just need to make sure you configure the two drivers to start together and to connect to the correct ports (and baud rates).

Regarding outputting PWM from VOXL_ESC, there is a way to make it work. We do not have the PWM ports on the ESC exposed as normal PWM outputs in PX4, but you can use a special tool / command on voxl2, which will send message to the ESC (via PX4) and control the PWM port:

https://gitlab.com/voxl-public/voxl-sdk/services/voxl-io-server/-/blob/master/tools/voxl-send-esc-pwm-cmd.c (which is also part of our SDK) .

voxl2:/$ voxl-send-esc-pwm-cmd -h Tool to send command a VOXL ESC to make it output a PWM signal If timeout is disabled (default) then the esc will keep sending the same pwm command even after this program exits. If enabled, the signal will stop after 0.5s. Oneshot mode will automatically exit this program after one message is sent to the esc, otherwise it will keep going untill you hit ctrl-C ESC_PIN_M0129_AUX0 2 ESC_PIN_M0129_AUX1 258 ESC_PIN_M0129_AUX2 514 ESC_PIN_M0129_AUX3 770 ESC_PIN_M0129_AUX_REG_EN 6 ESC_PIN_M0129_AUX_REG_ADJ 22 ESC_PIN_M0138_VTX_REG 80 ESC_PIN_M0138_RGB_OUT 24 ESC_PIN_M0138_AUX0 2 ESC_PIN_M0138_AUX1 770 ESC_PIN_M0138_AUX_REG_EN 12 ESC_PIN_M0138_AUX_REG_ADJ 11 D0008_V5_LIGHT_BAR_PIN 2 D0008_V5_PAYLOAD_PIN_0 770 D0008_V5_PAYLOAD_PIN_1 24 -h, --help print this help message -o, --one-shot only send one command then quit, not to be confused with short duration 125us oneshot mode -p, --pin {pin} output pin -t, --timeout enable 0.5s timeout, otherwise pwm will continue indefinitely -w, --width {val} pulse width microseconds (default 1500) typical use: voxl-send-esc-pwm-cmd -p 2 -t -w 1500

You will need to provide the pin number. See the usage helps, which provides the pin mapping (look at pins for M0129 ESC, but pwm pins are the same on M0117, M0134 ESCs as well). For a simple test, you can use pin=2 (meaning this will control Pin A2 on ESC ID 0 🙂 ), which should control the PWM0 output on your ESC. The 4 PWM outputs on the ESC are each connected to A2 port of the corresponding microcontroller, responsible for each ESC ID. The pin mapping is also documented here : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-io-server/-/blob/master/lib/modal_io.h?ref_type=heads#L66

Alex

@voxl2_user , i will ask around..

Also, there may be some sysv compatibility mode, instead of fully utilizing sysv for all IPC. I think i saw something like that when grepping the kernel build source for sysv supprt. I will check a bit later.

Alex

@valvarez , the usage for the test tool is as follows:

voxl2:/$ qrb5165io-uart-test -h Description: runs hardware loopback test on specified bus Usage: qrb5165io-uart-test -d <device ID> (eg 3 for /dev/ttyHS3)

So you should run your test as:

voxl2:/$ qrb5165io-uart-test -d 2 [INFO]: success!

Hey @Andrew-Martin thanks for reporting, I also saw the gitlab issue. Have you tried increasing that buffer size and rebuilding ? We could try to provide you a test deb.

We just got the MVP of remote ID in place and kept this open source so we can fix as needed...

@eric , thanks again for your input on this, i have posted a complete tutorial how to enable OpenCL in Docker on VOXL2 : https://docs.modalai.com/voxl-2-opencl-in-docker/

Alex