Hi Sergio. I'm handle a number of rover configurations here for the team. Reading thru the posts, let's take a step back to confirm your setup.

a. you are using the cube to output IMU data into voxl-cam.
b. you are using voxl-cam to output odom data [back] to the cube for (e.g. external vision localization)
c. the camera has been moved from the stock position of -45deg from horizon w.r.t. voxl-cam body to 0deg from horizon w.r.t. voxl cam body.
d. the cube is mounted w/IMU in standard orientation (0 deg to horizon/forward, aka imu RPY is 0,0,0)
e. you are not using a modalai flight core (option for voxl-cam purchase)

First of make sure your PX4 SENS_BOARD_ROT (or AHRS_ORIENTATION if Ardupilot) is set for a cube setup (I recall should be "No rotation" as well as from your photo). Please reply if that is all correct. If so, then we can move to the next step where I can show you how confirm vio's pose estimation (after that then we'll look at position accuracy).

@Alex-Gardner Thank you, is looking good and promising for this use case. I'll give it a try.

@Caleb-Rievley Our recommendation is to use voxl-uvc-server and voxl-streamer for UVC cameras. Documentation is at: https://docs.modalai.com/voxl-streamer/#streaming-uvc-cameras-from-voxl-uvc-server, https://docs.modalai.com/voxl-streamer, and https://docs.modalai.com/voxl-uvc-server

@Adrian-Hidalgo Appreciate the response, thank you!

@Steve-Turner Hey please I need you help setting up ADB for my newly purchased VOXL CAM. I already started a discussion "Broken parts".

Hi,

We've run into this issue as well when the VOXL-CAM is sitting on a desk, for which we've designed this cooling stand. As for when the cam is in motion on a body, we've only flown it on the seeker where the propwash is enough to keep the unit cool enough to utilize all of the cores fully. The cam unit wasn't designed around that smaller fan, we use that primarily on our other platforms with an open board where we can direct air directly onto the board.

As for QVIO, we've also seen this behavior when cores shut down, but we try to avoid overheating at all costs, and generally don't carry any expectation for software to continue operating properly once the pmic is shutting down cores.

Generally, I'd recommend :

Trying to make sure that the cam is placed on a spot on your drone with as much airflow as possible Optimizing your code as much as possible to minimize CPU utilization Download the latest software release (3.8.0-0.7) from here since we've spent most of the last year improving and optimizing our services and libraries and there should be significant improvements since 3.3.0 was released

@Chad-Sweet said in Multiple tracking cameras:

Yes, these fisheye modules plug in to the stereo flex adapter https://www.modalai.com/products/m0072

They are the same lens and sensor spec as the tracking sensor

Thanks! I've yet to play around with the system--the platform can handle VIO with 2 cameras, from a system performance perspective?

Looking at your mavlink log on estimator_visual_odometry_aligned, I can confirm VIO resetting to 0 at the moment your local position resets (picture #1).

(pic 1)
Screenshot from 2022-08-03 12-22-32.png

On a rover typically VIO will reset on 3 situations (everything else working normally as specified):

Fast yaw transitions (I do see a large manual input/actuator output around that time--indicated on pic #2). To solve this, have your vehicle turn/tuned slower on yaw motions. auto-exposure not keeping up with rapid lighting conditions (high noon sunlight + tree shadows), the too much vehicle vibration (e.g. treads).

From the logs it appears you have a max yaw/roll input into the rover, that indicates scenario #1 above. If you slow down you yaw movements may solve the problem, please try that 1st (there are other, more complicated options).

(pic 2)
Screenshot from 2022-08-03 12-26-11.png

What you can do aside from following the vio troubleshooting guide is to monitor the vio stream on QGC. In order to do that, you need to edit the voxl-streamer service file on VOXL. Basically:

login to VOXL edit /etc/systemd/system/voxl-streamer.service on the Exec line that says /usr/bin/voxl-streamer, append to the end of it "-c qvio-overlay". cycle power and QGC video should show the VIO debug video (and not the high resolution stream), showing at the top: vio xyz position and number of features Run thru your test again to recreate the error, when it occurs, keep in mind the number of features, if it drops under 5, you'll see vio reset confirming the reset is due to one of 3 scenarios above. If not, post a video of that as it would be a configuration issue & we'd need to see the video stream on what's happening to debug further. Good luck.

@Aks Ah okay, I wasn't using the systemd service so that makes sense.

Hello @modaltb
Thanks for the response.
I can see tags on modalai px4-firmware repo for 1.13 so I was asking. By any chance can I test latest tag v1.13 from modalai px4-firmware repo?
If no what's the time by which v1.13 would be officially supported on VOXLCAM?
The feature I am looking for is Autotune vehicle which isn't supported on V1.11.

@Alex-Gardner Thank you for your help 🙂

@tom I don't see wwan0 interface after doing ifconfig so couldn't ping google.com as well.

Hi,

It looks like your network is the issue here for the blurry image. Voxl-portal will compress images when it detects a poor network connection, and you can see that in the debug stats it's only able to pass through 40% quality image.

Hi,

The bugfix for this is in VOXL SDK 0.8 and newer. If for some reason you need to change the imu that qvio uses from the default configured by voxl-configure-mpa then you can edit the config file /etc/modalai/voxl-qvio-server.conf manually or use one of the shortcut command line arguments listed in the voxl-configure-qvio --help text such as:

voxl-configure-qvio factory_enable_imu0
voxl-configure-qvio factory_enable_imu1

Hope this helps,
James

This rx: 0.000 kB/s instance 2 tells me it's not getting any data from VOXL.... This is the connection that provides that link:

c24bf1be-8000-458a-9380-a633cdb51ab3-image.png

Can you confirm that this connection is in place?

You have

px4_uart_bus: 5 px4_uart_baudrate: 921600

For voxl-mavlink-server which is correct. 5 = BLSP5 = J12 on VOXL1. It's configured for 921600. Your Flight Core is configured correctly too. So the last thing I would think to do is to probe with an oscilliscope if possible on that connector I pointed out and see if you have bi-directional data.

@Chad-Sweet I have GPS mounted over VoxlCam hardware with distance of approximately 10 cms. I also tried moving GPS towards backside similar to seeker but still I wasn't able to get fix. I have waited for an hour to get fix but still facing issues. Do I need to configure GPS module by any chance with u-center : https://www.u-blox.com/en/product/u-center ?
As far as electromagnetic interference is concerned I don't think there is anything in very close vicinity of GPS.

I've made great progress. I have finally started getting my brain rapped around this VOXL.
Funny it's so complicated. I was able to cut the cord. Remove the usb cable that is. I focused on understanding the VOXL wifi and understanding softap and logging into via wifi, This allowed me to get some imagery to the browser utility. I went down the list of utilities then inspect tools in technical docs on the website. This allowed me to get a bigger picture of the components. I have logged my experience and will post a work flow I follow to get up and running. I'm still working on the 4g connection but reading the VPN stuff and working with the instructions makes more sense now I have gotten the wifi configured . I have it configured but qgc is still not connecting
I understand it's hard to ask for technical support with such complexity. I just believe it's worth the investment in time because this is a real solution and the voxl2 will be eaiser to work with now I have a grasp of the voxl. I hope to be flying my custom designed 3d printed drone soon.

Hi @modaltb,

The output of voxl-version is shown below.

voxl:~$ voxl-version -------------------------------------------------------------------------------- system-image: 3.8.0 kernel: #1 SMP PREEMPT Tue Apr 26 18:08:39 UTC 2022 3.18.71-perf -------------------------------------------------------------------------------- hw version: VOXL -------------------------------------------------------------------------------- voxl-suite: 0.8.1 0.7.0 --------------------------------------------------------------------------------

No, I am not building code myself, and running standard VOXL SDK. I have flashed new image of voxl because I was getting issue posted here. And the reason for choosing 3.8 system image was because of voxl-mavlink-server which is present in voxl-suite v0.7 and v0.8 and both requires voxl system image 3.8+.

Thanks!