Hi, So sorry for the delay in response, Can you show an image of the dfs-disparity debug image, this is what gets piped into the voa monitor, and seeing what your stereo cameras are seeing will allow us to see if the issue is a sensor one or an integration one.

@tom Thank you. It works well

@Chad-Sweet Yet another update... after rebooting, and re-installing the EM7565, wwan0 did come up this time. But I still have the problem that I can't communicate with /dev/ttyUSB2.

Ok great. Thanks Alex

@Patrick-Hinchey looks like your pose didn't fixed according to apriltag this time. Maybe you can try to handhold the drone and inspect voxl-vision-px4 -f or inspect voxl-pose -f to see if the apriltag fix your position or not. If not maybe you can follow https://docs.modalai.com/voxl-tag-detector/ to setup. If it does change pose, check the value to make sure it's correct according to apirltag

Hi @Chase-Dunaway Voxl, VoxlFlight, Voxl CAM, and Voxl2 all use the same power module shown here: https://docs.modalai.com/power-module-v3-datasheet/ You want to make sure your 5V output specs match these specs in order to ensure a smooth PDB replacement option. Let me know if you have any other questions. Thanks!

@zkern5254 I'll see if I can get any other ideas from the team.

@Eric-Katzfey I tried grep OMX.qcom from header files, could not find any. But, string libOmxCore.so only displayed video and audio codec. There is no image codec. voxl:/usr/include$ strings /usr/lib/libOmxCore.so |grep OMX.qcom OMX.qcom.video.decoder.avc OMX.qcom.video.decoder.avc.dsmode OMX.qcom.video.decoder.mpeg4 OMX.qcom.video.decoder.vc1 OMX.qcom.video.decoder.wmv OMX.qcom.file.muxer OMX.qcom.video.decoder.divx4 OMX.qcom.video.decoder.divx OMX.qcom.video.decoder.divx311 OMX.qcom.video.decoder.h263 OMX.qcom.video.decoder.hevc OMX.qcom.video.decoder.vp8 OMX.qcom.video.decoder.vp9 OMX.qcom.video.encoder.mpeg4 OMX.qcom.video.encoder.h263 OMX.qcom.video.encoder.avc OMX.qcom.video.encoder.vp8 OMX.qcom.video.encoder.hevc OMX.qcom.audio.decoder.Qcelp13 OMX.qcom.audio.decoder.evrc OMX.qcom.audio.decoder.wma OMX.qcom.audio.decoder.wma10Pro OMX.qcom.audio.decoder.alac OMX.qcom.audio.decoder.ape OMX.qcom.audio.encoder.aac OMX.qcom.audio.encoder.qcelp13 OMX.qcom.audio.encoder.evrc OMX.qcom.audio.encoder.amrnb OMX.qcom.audio.encoder.g711mlaw OMX.qcom.audio.encoder.g711alaw OMX.qcom.audio.encoder.amrwb OMX.qcom.audio.decoder.g711mlaw OMX.qcom.audio.decoder.g711alaw OMX.qcom.audio.decoder.amrwb OMX.qcom.audio.decoder.amrnb OMX.qcom.audio.decoder.aac OMX.qcom.audio.decoder.multiaac 1

I was thinking of something simple, eg: Use tracking cam qvio until reported quality drops below a particular value (near blowup). If it does, switch to stereo qvio feed as long as the position + velocity were recently in agreement within some threshold and its reported quality is sufficient. If not, switch to manual mode and call an adult. Once the main qvio recovers, store the position offset (for future switchovers) and switch back. I'm sure proper fusion will obtain a smoother and more robust result, but I'd just like something that can handle a blowup without crashing.

Turns out it was a bent pin in the hires port.

Hi, VOXL Portal doesn't look at anything related to the extrinsics, it's just a debug tool to help visualize the data that's being passed around between the services. Any services that use the data coming from the tof sensor will use the data in the extrinsics config file to reorient the pointcloud to whatever frame that service is using (you can find examples of this in voxl-mapper and voxl-vision-px4).

@Chad-Sweet Thanks

@Matt-Turi Thank you

Thanks will do!

You only need the Docker on VOXL 1 if you want to use Debian OS VOXL 2 has Debian native so you don't need the Docker Both platforms have opencl libraries in the native OS and do not require a Docker for OpenCL

@czarsimon Yes, it should be possible. But there are probably hard coded parameters in the code that make it only work with the hires camera right now. That code has been archived but is still available here: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-hires-server