My setup is planning to use both the IO expander and a voxl ESC. Is there any update on support for using both simultaneously?

@Eric-Katzfey The RC is bind with the drone and it is able to control the drone. However, the check shows that there is no connection. Is the RC not bind correctly? Furthermore, when I perform takeoff and landing using the mavsdk program, there is an error on Visual Failure. Is the error in voxl-camera-server causes this error? [image: 1694482026732-offboard-takeoff-3.png]

@SHofmeester VOXL1 isn't fully supported with SDK 1.0 so I wouldn't expect things to work just yet. The amount of time from voxl-suite 0.7.0 to 1.0.0 is a few years so I'm sure there is a long list of reasons why your program no longer works

@kerct Not that I am aware of. You could look into Gazebo and see if there is a way to add that. Or you could create your own Gazebo extension to do this.

@afdrus Yes I figured that there are no camera intrinsics provided for the Hires camera. I obtained these params by myself.

@Moderator thank you for the reply, by board I meant the checkboard used for the calibration not the PCB. However, I watched the video, but it looks old because the current extrinsics procedure is asking me to move the checkboard in 4 poses whereas the video is showing only 2 poses. How much tilt should the checkboard have during the extrinsics calibration process in order to have a low calibration error?

@James-Strawson Thanks for the reply! Now I am facing a new issue though, after I swapped the camera ids the calibration of the extrinsics is asking me to move the checkboard in only three locations instead of four, as a result the reprojection error keeps being high, is this a bug? Result of the new extrinsics: Calibrating Extrinsics 4 frames will be processed R [-0.2178154138909582, 0.5612314553199155, 0.7984833742984259; 0.6516188344157804, -0.5254512170251917, 0.5470776116433248; 0.7266012249550162, 0.6394687420712871, -0.2512576124371861] T [-0.5933205685053882; -0.3699353785761611; 0.8991646361380521] Re-projection error reported by stereoCalibrate: 71.628572 Detected horizontal stereo pair Distance between cameras: 0.5933 Extrinsics Calibration Failed exceeded allowable max reprojection error: 0.5 voxl-camer-server with ids already swapped, the stereo in question is stereo_rear, { "version": 0.1, "cameras": [{ "name": "tracking", "enabled": true, "frame_rate": 30, "type": "ov7251", "camera_id": 2, "ae_desired_msv": 60, "ae_filter_alpha": 0.600000023841858, "ae_ignore_fraction": 0.20000000298023224, "ae_slope": 0.05000000074505806, "ae_exposure_period": 1, "ae_gain_period": 1 }, { "name": "hires", "enabled": true, "frame_rate": 30, "type": "imx214", "camera_id": 3, "preview_width": 640, "preview_height": 480, "snapshot_width": 3840, "snapshot_height": 2160 }, { "name": "stereo_front", "enabled": true, "frame_rate": 30, "type": "ov7251", "camera_id": 0, "camera_id_second": 1, "independent_exposure": false, "ae_desired_msv": 60, "ae_filter_alpha": 0.600000023841858, "ae_ignore_fraction": 0.20000000298023224, "ae_slope": 0.05000000074505806, "ae_exposure_period": 1, "ae_gain_period": 1 }, { "name": "stereo_rear", "enabled": true, "frame_rate": 30, "type": "ov7251", "camera_id": 4, "camera_id_second": 5, "independent_exposure": false, "ae_desired_msv": 60, "ae_filter_alpha": 0.600000023841858, "ae_ignore_fraction": 0.20000000298023224, "ae_slope": 0.05000000074505806, "ae_exposure_period": 1, "ae_gain_period": 1 }] }

@Moderator Besides extracting out the libraries and running them on an ARM based computer, how else can we simulate VOXL's behaviour? From what I understand for HITL, we are only interfacing with voxl-px4 but not other services like voxl-vision-hub.

We're not really sure how we can help you. What are you trying to achieve? Is there a specific device you are trying to work with? The kernel should work as other Linux kernels, so if you have made this change elsewhere the steps should be similar

@Moderator Here you go. https://drive.google.com/drive/folders/1SHGs2EipV4wpoIZQzzzGKm-ze1DpTbI6?usp=drive_link

@Vinny Great! So happy to hear about that. Looking forwards to its availability on store soon. Warm regards, Jyothish.

@José-Quintanilla Was this solved? If yes, how? I'm having a similar issue where the drone is constantly drifting towards its right/left (Mostly right, but sometimes left too)

@SMRazaRizvi A compass (magnetometer) and a GPS receiver are two completely separate sensors. GPS reception won't affect the compass.