Q1: For voxl-vision-hub, openvins is just another [abstracted] VIO client, using the same MPA interface as QVIO. Thus, should work the same as QVIO.
Q2: There are no outstanding buffer conflicts between the 2 inputs in that SDK version. Though best to update to 1.6.2 as there have been numerous MPA improvements.

Q3: MAYBE ON GROUND, POSITION LOCK? is reporting that the barometer is reporting <1m and OVINS > 1m (-1 in NED space). It appears OVINS had a blow up, has recovered with a new origin in the local frame. Your output says it must have reseted in the ai/flying and hence the new local origin is above your landing point (fixed frame). Depending how you have PX4's EKF setup could lead to issues like the landing detector not working, or position error when running missions, hence why it's reported as a warning. Your output says it's at 0,0,-15 indicating OVINS restarted at ~15m up, but the PX4 baro says it's at 0. If outdoors, I recommend setting EKF2_HGT_REF = baro, if indoors, you'll need to reconcile a origin offset if VIO resets midair (qvio would require this as well) if using vio data directly waypoint manager (i.e. offboard waypoint mode or custom nav code)

Going forward if staying with 1.4.x,

If you are modifying an existing app in voxl-mpa-tools, you just need to use the voxl-cross docker image to

If you are adding a new app to voxl-mpa-tools project, you will need to modify the CMakeLists.txt file in the tools folder, it should be self explanatory how to add a simple app. Once you build and deploy, your new app will be installed into /usr/bin on voxl2.

If you have any other questions, let me know.

Alex

What would be the recommended roadmap to support this?

Specifically:

• How should I modify or extend the current model helper pipeline to feed both image and non-image inputs?

• Is there support in voxl-tflite-server for multiple input tensors (e.g., combining a camera frame other forms of information)?

1. I would like to know how to send a trigger and how to accept the incoming data in voxl-mapper.
2. Also where to place the custom marker code, so that it will be mirrored in the 3-D map in the portal.

thank you

I am also interested what kind of signal is send to the neopixel LEDs to turn it ON.
And with addition to that what is the command to turn ON only blue lights.

Sashank

sometimes at bootup the QGC says all parameters lost

Hi Jacob - Unsure if I am fully following but this is the explanation for how parameters work on the voxl2:

Every boot of the voxl2 kick off the px4 instance if you have that service enabled - it will then grab the parameters from /data/px4/param (if a parameter file already exists) - if you save a file from QGC of edit a parameter, from their, it will update in this file as well. As for why the parameters are lost - I am assuming what you mean is the parameter file isnt fully loaded (AKA the green bar at the top of qgc never finishes because of a timeout) - if that is the case I would recommend trying another qgc instance on a different device like a phone or different os (mac vs linux vs windows) - and see if the problem persists.

Zach

branches

@jacob-yaacubov said in Mavlink server configuration of ports wont work:

both ros master run on 127.0.01 so its local ros communication looks more like mavlink issue not sure though

Reply

@jacob-yaacubov yes you need to change the mav sys id for both otherwise they will overlap and create the problem you stated before when connecting to qgc and having overlapping px4 instances. As for ROS you need to change the ROS_DOMAIN_ID (an external terminal environment variable) otherwise all the ros topics will also overlap and create multiple publishers and subscribers on the same drone when you have multiple on.

Zach

for the few services:
this is the service inspect output:

So far, we've only been able to visualize the tof_pc (Time-of-Flight point cloud) data. To do this, we had to manually publish a static transform between the TOF frame (which is named world) and map. However, in this setup, the drone's location does not update dynamically. To address this, we're considering writing a transformation node to define the relationships between coordinate frames (e.g., map, odom, base_link, tof, etc.). However, developing this from scratch is proving to be time-consuming and error-prone.

I also noticed that you were able to generate a map using voxl-mapper and et the map in ROS2 with the mpa_ros2 interface. This could be a much more efficient path for us to pursue. Could you please explain in detail:

What exact steps you followed to export the map using voxl-mapper?

Is it possible to regenerate or update the map in real-time in RViz, or export it to another visualization tool?

Thanks

Thanks for the information. I think I understand what is going on my end then.

voxl-camera-server

What is the easiest way to update it ? I looks like apt update is not doing the job right.

Here are the two questions which I asked about the same issue:

https://forum.modalai.com/post/12529

@Darshit-Desai said in VOXL MPA_to_ROS rostopics not subscribing to anything:

@Darshit-Desai said in VOXL MPA_to_ROS rostopics not subscribing to anything:

Is there a way to get camera intrinsic Matrix of the ToF camera. Also, if I want to align the depth image with the RGB image how do I do that?

Hi sorry, I wanted to ask about the intrinsics that was highlighted by mistake. @ben-grocholsky

https://forum.modalai.com/post/12472

@Darshit-Desai said in Voxl2 Camera calibration fails for hires camera:

@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?