@Moderator Unfortunately, there is not a way to configure ROS1 to use steady_clock instead of system_clock. In ROS2, it seems that this is configurable, but ModalAI does not support ROS2.

@tom thanks! It works. I had used the same solution but a wrong partition number was the culprit.

Where can I find TELEM 1 port in RB5 drone?

@mbahrami You can try that same solution, just substitute "wlan0" instead of "eth0"

@Martin-Brandt Starting the RMA process is probably the best option as opening it up yourself risks damaging other components

@Sam-Kiley When on public 3G / 4G / 5G networks we use a VPN and assign fixed addresses to each system component with our VPN configuration. You should be able to do a similar thing with your 5G private network. Does your private network have a connection to the Internet or is it self contained? I don't know anything about 5G private networks but I'd be surprised if it didn't have a way to assign the same IP address to a device on the network so that you effectively have a static IP. Earlier versions of the RB5 SDK set the MAV_BROADCAST parameter in PX4 to 1 and PX4 would then use the network broadcast address to send out it's initial messages. Any QGC instance running on the network will receive that broadcast and respond so that you get automatic connection. However, this can be problematic if there are more than one instance of QGC running since you may connect to an instance that you don't want. Also, some wireless networks do not support broadcast.

@adrianpang With regards to ArduPilot, VOXL2 is currently only able to run a version of PX4 on target. If you need ArduPilot you will have to use an external flight controller and connect it to VOXL2 with UART. We hope to have an implementation of ArduPilot that runs directly on VOXL2 in the future but there is no firm date on when this would be available.

@rpaston The Sentinel and QC Flight RB5 are drones for software development - they are a reference so ultimately so you can build your own drones from our components. From your questions, it looks like you are looking for a more complete system. We need a 3-axis gimbal with 4K/8K camera, IR and laser rangefinder for testing. Which gimbal with 4K/8K cameras, IR and laser rangefinders are supported. Any suggestions? No We need precision landing on a moving base station (RTH) in wind. Does the platform have Dynamic RTH? No What is the IPxx rating? None Is the SDK open source? Yes, see https://code.modalai.com (based on Pixhawk/Python) and would it be compatible with Autel, Parrot or Aurelia? The flight controller is PX4 It would not be compatible with Autel, Parrot or Aurelia

@JoshRebello This is the 5G module we are using: https://www.modalai.com/collections/modems/products/quectel-rm502q-ae. This also works well with our Sentinel drone which uses our VOXL 2 board instead of the RB5 board and has better capabilities. https://www.modalai.com/pages/sentinel. Even though it doesn't have 5G in it's name it uses the same 5G modem as the RB5 based drone.

Hi Daniel, can you please clarify "Note: We have recently updated the firmware to VOXL 2 and the default RB5 firmware worked fine."? The VOXL 2 platform image will not work properly on RB5 Flight. You need to use specific RB5 Flight software. The VOXL SDK works on both platforms, but there are low-level differences in the system image and specifically PX4 is configured differently between RB5 Flight and VOXL 2. See this page for how to load the RB5 Flight platform image https://docs.modalai.com/Qualcomm-Flight-RB5-voxl-sdk-upgrade-guide/

Hi @tom ! Thank you for your response, the issue was solved by deactivating this service. Thank you so much

@Sam-Kiley We don't use the RB5 SDK anymore so haven't had experience with that specific version of quectel-CM is quite some time. We have a lot of customers using 5G via. voxl-modem on the latest VOXL SDK without issues.

Hi, This is all down to the VIO algorithm. You'd be able to make major tweaks if you're postprocessing the data after, like detecting a reset and continuing from the last valid position (we do this in vvpx4), but changing the px4 params or other fusion techniques that only use the same sensors as the initial vio algorithm will likely not yield any improvements. As for improving the vio algorithm itself, the QVIO's mvVISLAM package is proprietary code(even to us, we don't have the source) that we usually quote at 2% error over distance, which seems to match the test you've run here (you've flown a bit under 10 meters and it looks like you've drifted ~0.15-0.2 meters. We've been working on and experimenting with other algorithms internally, but don't have a hard date on when these will be fully tested/published. It's worth mentioning that most of our experimentation with these is to attempt to open-source our solution and add support for other features (like multiple cameras) but that generally the 2% error is considered very good especially in real-world environments. The 2 main things you can do out of the box to ensure that your VIO is working as best it can are ensuring that it has accurate camera and imu calibrations, and that your extrinsics file is accurate.

Everything looks good, gave it a glance and a quick test, it's been merged to our dev and staging branches in v0.4.2 and will be in the next release, thanks!

Discussion moved to https://forum.modalai.com/topic/1647/voxl-streamer-does-not-handle-teardown-request-signal-correctly/4

Hi @Alejandro-M It's highly likely the ESC or Power Module board was irreversibly damaged from this configuration (normal lab wall power supplies cannot power a drone without near certainty of failure). If there is a short on the +5V_DCIN to GND, you can easily observe that, but the other failure mode could be an open circuit which will not show up on a DMM easily. Your best course of action may be an RMA with us so we can explore the drone and find the failure(s) and offer you replacement options to get this platform back up and running. https://www.modalai.com/pages/rma

@Alejandro-M I documented the steps I took to get my RB5 drone from out of the box to flying programmatically with MAVROS. It includes intermediate steps such as wifi and QGround control setup. https://github.com/albud187/uav_nav_ops/blob/manual/RB5_Drone_Setup.docx

I setup wifi connectivity on the RB5 drone by executing voxl-wifi station ssid password It automatically connects to any network with that matching ssid and password, whether it is a hotspot setup by my cellphone or setup by my personal laptop, regardless of their IP address. This is the functionality that I want. If the IP address of the drone changes because it is connected on a different network, that is fine. The issue is the drone IP address changing even though it is re-connecting on the same network after being turned off and turned back on. @tom said in Drone IP Address keeps changing: @alfa-budiman The ROUTE_IP and LOCAL_IP depend on the format of the IP addresses on the WiFi network you are attempting to connect to. I would connect to your WiFi network and check the IP address given to your drone by the network. If it gives you an IP address in the format 192.168.X.Y you'll want to set the ROUTER_IP to 192.168.X.1 then set LOCAL_IP to whatever IP you want to request from the router, it will need to be in the format 192.168.X.Z where Z is the number you want to request. My concern with entering these IP addresses is that it would then cause the cause drone to search for a specific IP address or else it will not connect. I documented the steps I took to setup my drone here: https://github.com/albud187/uav_nav_ops/blob/manual/RB5_Drone_Setup.docx

Actually, I realized that the Hold mode can be switched back to Position mode once I move sticks more than 30%. However, the switching from Position to Hold mode was too fast (i.e., within 1 second), so whatever changes during that time was discarded and after moving 30% of sticks in order to switch from Hold to Position, the Altitude is either too high or too low for the next move. Do you know which parameters postpone the process of switching from Position to Hold mode? Thank you.

Yes, things are working fine now. Thanks for the support.@RichieRich