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Support Request Format for Best Results

97
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@yardy In order to update the kernel variant without re-installing the whole SDK, please follow these instructions:
cd <voxl-sdk-release>/system-image # reboot voxl2 into fastboot mode adb reboot bootloader # flash VOXL2 kernel variant 0 fastboot flash boot_a m0054-1-var00.0-kernel.img fastboot flash boot_b m0054-1-var00.0-kernel.img fastboot reboot # OR flash VOXL2 kernel variant 1 fastboot flash boot_a m0054-1-var00.1-kernel.img fastboot flash boot_b m0054-1-var00.1-kernel.img fastboot reboot
You can also test the kernel without overwriting it (the original kernel will be retained after voxl2 reboot:
adb reboot bootloader fastboot boot m0054-1-var00.0-kernel.img # OR fastboot boot m0054-1-var00.1-kernel.img
The latter method is useful when you are not sure if the kernel you are about to try actually works (when you are experimenting with building your own kernel) - you can try the new kernel without the risk of temporarily bricking your board.

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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M

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

T

"Assistance Needed: Queries Regarding VOXL 2 for Quadcopter Development - Indoor inspection drone"

• • Tamilselvan

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@Alex-Kushleyev Thank you for the reply

Currently we are buying Voxl2 flight deck from you, I will be integrating in my drone after integrating what I need to do how to make it fly autonomously can you guide that how sdk works and how 3d map will be created how we need to plan a machine in the sdk
A

Difficulty to run GEPRC SPEEDX2 1303.5 3800KV/5500KV motors with ESC

• • ashwin

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Hi @ashwin,

Our ESC needs to be tuned for the motor / propeller in order to achieve the best performance. In some cases, without tuning, the performance will be very poor, as there is an expectation of the ESC parameters to match the actual motor + propeller. This is done to ensure consistent and responsive behavior of the ESC.

If you are changing motor / propeller, you should perform the tuning procedure described here : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-tools/calibration.md . Since you are using a 2S battery, you can start with the Starling ESC params (https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-params/D0014_starling_1504_3000kv_ms_props/D0014_starling_1504_3000kv_ms_props.xml) and update the tuning parameters as instructed.

Since you mentioned the sinusoidal spinup, not working properly, you will need to enter the correct kV value in to the ESC param file and may need to adjust the start-up power or target spin-up rpm.

the voxl-esc tools come installed on voxl2 in /usr/share/modalai/voxl-esc-tools and the following are useful commands:
make sure to stop voxl-px4 before using voxl-esc tools : systemctl stop voxl-px4 voxl-esc-scan.py will tell you which ESC firmware you are using - you should upload the latest, which is 39.20. voxl-esc-upload-firmware-all.sh script will autodetect the esc and upload the latest firmware to all 4 of the ESC channels voxl-esc-verify-params.py can be used to check which esc params are installed voxl-esc-upload-params.py can be used to upload new ESC parameters.
Please let me know if you have any other questions.

Alex
T

Motion capture with Rb5

• • tahawaru

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@tahawaru , you may want to investigate the PX4 documentation for using a motion capture system for flight : https://docs.px4.io/main/en/computer_vision/motion_capture.html .

We have not done this type of testing, so may not be able to help.

Alex
J

voxl-streamer disconnecting live connection

• • jcai

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@jcai, I just tested this. I do see that "Removed 1 sessions" message comes in after ~1 min after the first disconnect, but my second session is not interrupted when this happens.

Please make sure you are using the latest version of voxl-streamer (you can try from nightly dev build). Also, something to double check, whether the two sessions are coming from the same or different port (maybe if you are using vpn or something, there new session starts from the same client port).

Alex
E

Warranty and Replacement Parts for PX4 Autonomy Development Kit & Starling 2 Drones

• • Ege Yüceel

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@Ege-Yüceel You can find our warranty information at https://www.modalai.com/warranty

You can find the STEP file for the design here: https://docs.modalai.com/starling-2-datasheet/#starling-datasheet

Starling 2 replacement parts can be found here: https://www.modalai.com/products/starling-2-replacement-parts

If there is a part you need, we can make it available for purchase.
N

Seeeker ESC PWM Port External Control

• • nekolny

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@nekolny , you should use a linux PC to run voxl-esc tools in order to connect to the ESC and check / update the ESC firmware. VOXL1 does not have support for voxl-esc python tools to communicate directly with the ESC.

Alex
N

QGC Cant See Seaker but SSH Works

• • nekolny

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@nekolny You should be able to use voxl-mavlink-server --help to see the various debug options available. You can stop voxl-mavlink-server from running as a service and then start it manually from the command line with the desired debug options to see which messages it is getting from the autopilot and what it is sending to QGC (and vice-versa). Then you can also use tcpdump to look at the IP traffic on both VOXL 1 and the QGC computer to see which messages are being sent.
G

PX4 VOXL2 ROS2 Starling Reading Battery Voltage Through Code

• • GlennTee

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MDK-M0048-2-01 pDDL UART

• • DavidRich

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External INS & airspeed sensor hookup - VOXL 2 mini

• • jonathankampia

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@jonathankampia Correct, The VectorNAV needs to have the serial port implementation changed to support SLPI. That can either be done by modifying the code on our branch or going to mainline PX4 and modifying the implementation to use the platform independent Serial port abstraction.
A

VOXL2 Board Not Detected on ADB

• • ashwin

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Hey @ashwin, inside the following path:
modal-qdl/qdl/qfil_app/src/data/qfil/cdt
Can you run the following command and post the output?:
sudo /usr/local/bin/qdl \ --debug --storage ufs \ --include . \ prog_firehose_ddr.elf \ rawprogram3_RB5.xml \ patch3.xml
This will give a more verbose output as to why your VOXL 2 is failing the CDT flash, thanks!
J

voxl-microdds-agent topic list

• • jonathankampia

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it's more likely I will be commanding attitude / body rate which are already available

Indeed. I highly suggest you to use those two unless your application stricly requires direct actuation control.

I just wanted to get a clear overview of what the information dds client / agent can give me access to in the modalai version of px4.

By editing src/modules/microdds_client/dds_topics.yaml you can access any PX4 uorb message so the limit here is just about what has been implemented on PX4 that is or is not available in the voxl version.

How do you know what types of control / input & output data are not directly supported in px4 voxl version, as you said?

the type of offboard control you can achieve is exposed by OffboardControlMode.msg. As you can see in main PX4 you have
bool position bool velocity bool acceleration bool attitude bool body_rate bool thrust_and_torque bool direct_actuator
I've added thrust_and_torque and direct_actuator one year ago (more or less). However, latest voxl is still using the old version: this old version let's you control via thrust and torque setpoints but does not let you control the single motor individually.
F

MCBL-00022-AC

• • FIREBIRD

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No one has replied
A

Connecting Motion Capture Data to VOXL (No Postion Estimate)

• • Andrew Jue

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A

@Eric-Katzfey Okay, thanks again for all your help!
J

Starling PX4-Failsafes/FCU Failure

• • JoeAR_21

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No one has replied
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(VOXL2 PX4 ROS2) px4_msgs Unrecognized In Program

• • GlennTee

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@Zachary-Lowell-0 Yes I installed voxl-ros2-foxy. This time I just tried "source /opt/ros/foxy/mpa_to_ros2/install/setup.bash" and that was accepted. However, looking now px4_msgs is still not recognized within my program.
73d768a7-bab0-42d9-b73e-b4e84749294a-image.png
K

algorithm for voxl-dfs-server depth estimation

• • KnightHawk06

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@KnightHawk06 , DFS on VOXL2 uses the Qualcomm's proprietary implementation of the DFS algorithm, which runs on the specialized DSP (CVP - Computer Vision Processor). Unfortunately we do not have any details about the actual algorithm.

Alex
J

M0173 dual tracking camera error

• • Jetson Nano

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@Alex-Kushleyev, I using voxl2 with M0173 board with camera config 29.
The errors are now solved, I made the necessary changes and reconfigured every server and pipeline and calibrated the cameras.
N

VOXL 1 - Seeker Drone Setup with QGC

voxl seeker qgc • • nekolny

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Also this is what I was getting when inspecting the mavlink server.

00:19:39.969721 IP 192.168.1.1. domain > 192.168.1.134. 40850: 5282 Refused 0/0/0 (42)
00:19:39.970315 IP 192.168.1.134.48451 > 192.168.1.1. domain: 5282+ PTR? 1.1.168.192. in-addr
• arpa. (42)
00: 19:39.973637 IP 192.168.1.1. domain > 192.168.1.134.48451: 5282 Refused 0/0/0 (42)
00:19:40. 106351 IP 192.168.1.138.14550 > 192.168.1.134.14550: UDP, length 21
00:19:41. 068099 IP 192.168.1.138.14550 > 192.168.1.134.14550: UDP, length 21
00:19:41.553204 ARP, Request who-has 192.168.1.1 tell 192.168.1.134, length 28
00:19:41.553488 ARP, Request who-has 192.168.1.138 tell 192.168.1.134, length 28
00:19:41.558414 ARP, Reply 192.168.1.1 is-at 80:69:1a:06:84:4e (oui Unknown), length 28
00:19:41.561634 ARP, Reply 192.168.1.138 is-at 34:c9:3d:07:16:8d (oui Unknown), length 28
00:19:42. 065376 IP 192.168.1.138.14550 > 192.168.1.134.14550: UDP, length 21
00:19:43.070712 IP 192.168.1.138.14550 > 192.168.1.134.14550: UDP, Length 21
00:19:44.075718 IP 192.168.1.138.14550 > 192.168.1.134.14550: UDP, length 21
00:19:45. 064630
IP 192.168.1.138.14550 > 192.168.1.134.14550: UDP, length 21
00:19:46.062935 IP 192.168.1.138.14550 > 192.168.1.134.14550: UDP, Length 21
00: 19:47. 107960 IP 192.168.1.138.14550 > 192.168.1.134.14550: UDP, length 21
S

SPIR-V on Voxl 2 Mini

• • Simen Husøy

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