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

@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.

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.

@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/

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

@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

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

@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

@Moderator Any idea where in the code i would do that? Trying to understand the code but it is a little confusing, a lot of your variables are initialized with pass through values.

@Anubhav The J19 ports are only mapped to the SLPI DSP. You cannot access them directly from the applications processors. Are you running PX4 on VOXL2? If not then you can use libqrb5165_io (https://gitlab.com/voxl-public/voxl-sdk/core-libs/libqrb5165-io) to access the SLPI DSP UARTs from the applications processors.

@modaltb ok thanks! I'll proceed with the 412 variant.

@Prawin-Sankar QDL is the lowest level flashing method we can share publicly so if that's not working there's not much we can do.

@tiralonghipol UART drivers need patching. If it is an i2c or spi driver then usually not.

Ok final update and case-closed...it was a USB-C issue! Even though I was most of the times able to discover my device, I was never able to discover it when in fastboot mode. Whenever anybody is facing such issues always switch to another USB-C cable first...

Any of our USB expansion boards should work with VOXL 2 and Boson, you don't need this specific board