We don't seem to have that issue. you may need to crop the stereo frames in dfs server https://gitlab.com/voxl-public/voxl-sdk/services/qrb5165-dfs-server/-/blob/master/src/main.cpp

@AP123 you can try decreasing the maximum disparity in the DFS server, please see the following: https://gitlab.com/voxl-public/voxl-sdk/services/qrb5165-dfs-server/-/blob/master/src/config_file.h?ref_type=heads#L67 . The config file for DFS is located here : /etc/modalai/voxl-dfs-server.conf -- you can update the param. Since the propellers are very close to the cameras, the disparity for those pixels will be very large. Decreasing maximum disparity should help filter out points that are too close. Alternatively, you can look into the collision prevention code and add logic to ignore points that are too close. Finally you can modify the DFS code to just blank out the (rectangular) part of image that sees the propellers before processing. I do not know if a mask is supported, but setting a certain area to 0 or 255 should achieve the effect of "ignoring". I would try decreasing the maximum disparity first, that is the easiest, but not too much since you could be ignoring true obstacles. @James-Strawson anything else @AP123 can try? Alex

Thanks @Moderator, How to connect Microhard UART to VOXL2 mini, which connectors should I use?

Hi @dongsup-seo thanks for reporting, things should be up again here: https://gitlab.com/voxl-public/system-image-build/qrb5165-kernel

@Cliff-Wong When I set COM_OBS_AVOID = 1 the system says it is not ready to fly, but I am not getting any messages as Avoidance System not ready

@afdrus Those CP parameters right, I did it. I am using PX4 1.12

@dsupplee yes, the images on VOXL 2 are unsigned. please see the VOXL 2 kernel build guide here: : https://docs.modalai.com/voxl2-kernel-build-guide/

Hi there, looks like there's some confusion with what mode is being tested. Here's some clarification. PX4 has 2 approaches to handling obstacle distance data: a. Obstacle Avoidance(OA) feature which stops the aircraft if object detection occurs from the voxl-voa service. This requires CP_* parameters set that you can compare with your drone listed here based on your application. b. Collision Prevention(CP) feature, which not only includes OA, but also rerouting capability in all autonomous modes (position, alt, mission, offboard) and leverages the same voxl-voa service. This requires not only the CP_* parameters but also requires COM_OBS_AVOID = enable. If your application requires (a), you can leave com_obs_avoid = disable and OA should work out of the box as is. If your application requires (b), then we have discovered a software bug in the VOA service. And the main reason you get the "collision module not ready", no arm possible. It has been corrected [code here] and binaries will be available in our gitlab daily builds shortly.

@mrawding Just answering my own forum for those who don't have access to internet based NTP server. A few solutions to stop it being synced back to Dec 15 2021 Run a local NTP server on the groundstation If running a timesync service like chrony - write a system service to detect a difference between the system time and the last modification time of /var/lib/systemd/timesync/clock and then running touch /var/lib/systemd/timesync/clock to reset this time - probably 1-5s daemon rate would make sense.

@Jetson-Nano Posted this in another thread but this is covered in https://docs.modalai.com/voxl-developer-bootcamp/

Hi @Jetson-Nano This page compares on-board support for all of our products. https://docs.modalai.com/voxl2-feature-matrix/#specifications You'll see Voxl2 has 128GB of on-board UFS Flash Yes, you can expand Flash size by using our J5 expansion port SDCC (or UFS1) interface. https://docs.modalai.com/voxl2-connectors/#j5---high-speed-board-to-board-connector-hsb2b We have some plug-in boards that expose these for development, but otherwise you need to make a custom plug-in board for your needs. Let us know if you need any extra help here. Thanks!

@Jetson-Nano please see docs here: https://docs.modalai.com/voxl-wifi-0_9/

@tom Sure, Thanks it worked out.

Can anybody find out the problems? Many thanks.

@Trinadh Can you edit the file /etc/modalai/voxl-px4.conf and set GPS=NONE, RC=EXTERNAL, POWER_MANAGER=NONE, DISTANCE_SENSOR=NONE, and OSD=DISABLE. After updating that file and rebooting does the CPU utilization change at all?

@wilkinsaf I completely agree. We can compare to a normal USB camera as well to see if the issue is with specifically streaming from the HDMI to USB capture card