@tom We're running v1.0.1 SDK. However, we were actually just able to get the RTSP stream working over Herelink with virtually no latency. Using the SiYiQgroundControl application on the Herelink, the RTSP works completely fine. I believe the issue is in the QGC firmware that ships stock with the Herelink controller. For now you can consider this thread solved. Thanks again!

@tanguy-sagere Hello were you able to solve this? @Moderator

@Eric-Katzfey Thanks for the clarification!

@tom That fixed the CPU usage issue, thank you!

@Dobry-Kolacz thanksss!!!

I narrowed it down to the ToF. I can run all the cameras in C17 (hires, tracking, stereo) except the ToF and no issues stressing the CPU. When I enable the tof in the camera server I cannot stress the CPU.

I have also found that using stereo:ov7251:3:4 instead of stereo:ov9782:3:4 works.

@José-Quintanilla https://gitlab.com/voxl-public/voxl-sdk/core-libs/libapq8096-io

@Matteo-F The VOXL on the m500 is running Linux and has a standard Linux networking stack so you should definitely be able to do a lot of that.

@SHofmeester J10 on the VOXL2 is a SPI port. https://docs.modalai.com/voxl2-connectors/#j10---external-spi

Thank you for the response! I used a gain of 998, which was the max it would allow; anything over that values defaults to 998. Here are the details of my setup: Hardware: VOXL2 board, Stereo cameras (pair of MSU-M0072-2-00 Tracking Camera with IR Filters) Software version: See output of voxl-version command below. I believe we are using the older 0.9 version of the SDK, which might have some issues with camera exposure commands (based on other posts on this forum). Also, looking at the code, I did find that src/config/config_defaults.cpp file has a min/max exposure for the OV7251 cameras to be 20 (=0.02ms) and 33000 (=33ms). Also, a related question: the voxl-send-command exposure units are in Millisecond, correct? voxl2:~$ voxl-version system-image: 1.5.5-M0054-14.1a-perf kernel: #1 SMP PREEMPT Fri Mar 24 00:48:55 UTC 2023 4.19.125 hw version: M0054 voxl-suite: 0.9.5 Packages: Repo: http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-0.9/binary-arm64/ Last Updated: 2023-07-16 21:20:58 List: libmodal-cv 0.2.3 libmodal-exposure 0.0.7 libmodal-journal 0.2.1 libmodal-json 0.4.3 libmodal-pipe 2.8.2 libqrb5165-io 0.1.0 libvoxl-cci-direct 0.1.5 libvoxl-cutils 0.1.1 mv-voxl 0.1-r0 qrb5165-bind 0.1-r0 qrb5165-dfs-server 0.1.0 qrb5165-imu-server 0.5.0 qrb5165-slpi-test-sig 01-r0 qrb5165-system-tweaks 0.1.5 qrb5165-tflite 2.8.0-2 voxl-bind 0.0.1 voxl-camera-calibration 0.2.3 voxl-camera-server 1.3.5 voxl-cpu-monitor 0.3.0 voxl-docker-support 1.2.4 voxl-gphoto2-server 0.0.10 voxl-jpeg-turbo 2.1.3-4 voxl-libgphoto2 0.0.4 voxl-libuvc 1.0.7 voxl-logger 0.3.4 voxl-mavlink 0.1.0 voxl-mavlink-server 0.3.0 voxl-modem 0.16.1 voxl-mongoose 7.7.0-1 voxl-mpa-to-ros 0.3.6 voxl-mpa-tools 0.7.6 voxl-opencv 4.5.5-1 voxl-portal 0.5.0 voxl-px4 1.12.31 voxl-px4-imu-server 0.1.2 voxl-qvio-server 0.8.2 voxl-remote-id 0.0.5 voxl-streamer 0.4.1 voxl-suite 0.9.5 voxl-tag-detector 0.0.4 voxl-tflite-server 0.3.1 voxl-utils 1.2.2 voxl-uvc-server 0.1.3 voxl-vision-px4 1.4.0 voxl2-system-image 1.5.5-r0 voxl2-wlan 1.0-r0

@Moderator @Eric-Katzfey Awesome, thanks a lot.

@darshan-micro The Qualcomm Flight RB5 provides reference implementations for many of the capabilities you are looking for. You can find details on the datasheet in our documentation. This is a development platform though, for software development. If you are not comfortable with drones or developing these types of technologies, it is not recommended to use this type of drone. It is not intended to be a consumer, out of the box, mapping drone. It is intended for our customers to extend, advance or develop those capabilities for their own applications. a) 5G enabled and controlled drone https://docs.modalai.com/Qualcomm-Flight-RB5-functional-description/#radio-specifications b) Supports 5G nano SIM https://docs.modalai.com/5G-Modem-datasheet/#j3-nano-sim-card c) Connectivity Options: Cellular ( 5G ) and Wi-Fi for ubiquitous and long-range connectivity https://docs.modalai.com/Qualcomm-Flight-RB5-functional-description/#radio-specifications d) Qualcomm or equivalent onboard processing engine for AI/ML analytics And should support MEC applications https://docs.modalai.com/Qualcomm-Flight-RB5-functional-description/#processing-specs e) Autonomy: Visual Inertial Odometry (VIO), path planning, PX4, GPS-denied navigation, BVLOS, follow me. https://docs.modalai.com/high-level-features/ f) 360 obstacle avoidance: Depth estimation, obstacle detection, mapping and VOA https://docs.modalai.com/high-level-features/ g) Payload Capacity – 500g/1 Kg or above https://docs.modalai.com/Qualcomm-Flight-RB5-functional-description/#flight-specs h) GPS or NAVIC enabled https://docs.modalai.com/Qualcomm-Flight-RB5-functional-description/#flight-specs i) Geo Fencing https://docs.modalai.com/Qualcomm-Flight-RB5-functional-description/#flight-specs j) Processing Specs https://docs.modalai.com/Qualcomm-Flight-RB5-functional-description/#processing-specs k) Tracking sensor https://docs.modalai.com/Qualcomm-Flight-RB5-functional-description/#processing-specs l) Image Sensor https://docs.modalai.com/Qualcomm-Flight-RB5-functional-description/#processing-specs m) 5G Modem (n78 band) https://docs.modalai.com/Qualcomm-Flight-RB5-functional-description/#radio-specifications n) Ethernet / management port ADB, no Ethernet o) Wi-Fi (2.4/5 GHz) https://docs.modalai.com/Qualcomm-Flight-RB5-functional-description/#radio-specifications

@Moderator Ok I will try calibrating with the ros method of calibration. I was asking this because I want to make an aligned depth image by combining hires and tof camera like the realsense cameras have. If you could also reply on the following. I am not really sure if Tofs can be calibrated @Darshit-Desai said in Voxl2 Camera calibration fails for hires camera: Another Requests: How to do calibration of Time of flight camera or is there a intrinsic matrix?

The source code in voxl-streamer where the gstreamer elements are configured is here. You could likely modify the code to achieve what you are looking for Google found this Stack Overflow topic, there may be better resources out there as well

@SMRazaRizvi @Moderator

For m500, you can follow the Flight Core instructions https://docs.modalai.com/flight-core-radios/#graupner