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.

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

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.

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

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

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.

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

@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

Hi Chad, I tried a different windows ssh software and it worked fine. I could ssh into the VOXL using "Termius". It could be an issue of encryption or inherent setup. Thanks,

This sounds similar to the R/C passthrough instructions for the gimbal found here

Thanks for the info., it's not too late. We will work the task in the upcoming week. We'll make a few attempts and report back our outcome. Thanks again, -Todd

@shlee853 I found a v3.5.6 on the github. I'll try on this version. https://github.com/mavlink/qgroundcontrol/releases/tag/v3.5.6 Thannks,

The obstacle avoidance on voxl uses the disparity map coming out of voxl-dfs-server (so make sure this is running if you want obstacle avoidance), and passes the obstacle data into the standard px4 bins (thus using the px4 avoidance algorithm)

So i managed to get it to work with the following service file and script file - [Unit] After=docker-autorun.service [Service] Type=simple ExecStart=/bin/bash /home/root/mastervoxl_init.sh [Install] WantedBy=multi-user.target #!/bin/bash echo 'initializing mastervoxl docker container' docker run --restart=always -i mastervoxl /bin/bash

@Thomas-MacNamara Awesome! What a cool application!

After no small amount of playing around and Googling I think I have hit the wall. If I set them as = y then the build won't boot when deployed through fastboot if I set them as =m then they just stay as unset # CONFIG_USB_CONFIGFS is not set # CONFIG_USB_GADGETFS is not set I did check to see if the WIFI was running on the failed boots just incase the change was breaking ADB but it seems the build just does not like those flags. It is so frustrating to know the hardware is there and the implementation is possible (Rasberry-pi HID is pritty dang easy). Especially seeing as the underwater stuff is working. The non USB solution is just to go via ethernet but that is just a lot of things being bolted on to the poor thing. Thanks for the help though.

@Alex-Gardner That was it, the ip address was not inputted correctly. Thanks!

@modaltb Not an issue anymore, thanks. I simply rebuilt the image from the very first step. Best guess is something corrupted the original

@Alex-Gardner Found the solution. Here are the steps to make sure VIO is working properly. Make sure VIO is enabled in the voxl-vision-px4.conf file Make sure PX4 parameters are updated Ensure voxl-camera-server, voxl-qvio-server, and voxl-vision-px4 services are all running in the background If you could add step 2 into the documentation it would help a lot. As is, I had to do a lot of forum searching to figure this out. https://forum.modalai.com/topic/140/vio-indoor-navigation