@tom Got it to bind again. Thank you for your help.

@Alex-Kushleyev I tested it and it works nice (I didn't test the 255 but I expect that should work). I already figured that the frequencies are now multiples of 10Hz with some minimum value (I don't know which one but at least below -p 10 I don't hear the frequency drop anymore). So it ranges up to 2550Hz. And I think you also adjusted the duration to be multiples of 10ms to match with the format of the ESC parameters? Regarding the usage change, I understand if you don't want to create a breaking change. But I think it would be good when the print_usage matches with the actual use. It took me some trial and error to get it working. Maybe also an idea to use -f for the frequency because -p refers to period which is not correct anymore and it is now already changing the functionality of the tone generation (you could even let -p in it to keep it backwards compatible but that maybe makes it unnecessarily complicated). And also good to allow the ESC mapping to go up to 15. For us it is sufficient to use the startup tone. But I played around a little bit with the tone generation and if you use it using the qshell commands you need to wait the duration of the tone to send a new tone (as the qshell command immediately returns and it doesn't accept a command while the sound is still playing) which makes it difficult to get the timing right in playing a tune. I don't know what the end goal should be of this but if it is playing custom tunes using the commands this is something to keep in mind I think. I had some fun trying to play the Imperial March on the ESCs which kind of works but not as smooth as the startup sound can play.

@Samuel-Bryan said in Tracking Camera Stream: I need to stream it through an rtsp python script Can you please clarify the statement above? Are you trying to use your own python script to receive images from the tracking camera and send it using rtsp protocol?

@Samuel-Bryan , you may have an older version of the voxl-mpa-tools package. You can try upgrading it from here (you may also need to upgrade libmodal-pipe to 2.10.1). Alex

@tom Thank you very much.

@Jetson-Nano , OK it seems we have two parallel threads going. please see my reply to the other thread https://forum.modalai.com/topic/3688/vision-sensors-not-detected-in-voxl2 and test it step by step as I suggested (reducing fps of imx214 camera first, then disabling sensors one by one) Alex

@Eric-Katzfey Thak you for your information. Should I check following DOCS?right? https://docs.modalai.com/voxl2-rc-configs/

Hi @Judoor-0 We have had one other report of something similar where the ToF connector flex comes loose from it's connector located on the M0173 board from high vibe or several hard landings. If you can see whether or not the connector from the M0177 ToF flex looks like it is not planar on the mating M0173 board, try to use something rather benign electrically (like plastic tweezers) and see if you can reseat the connector into the M0173 board. We have a good description of these connections shown here: https://docs.modalai.com/voxl2-coax-camera-bundles/ We are going to add in some additional mechanical support here to make sure this issue does not happen long term, despite high vibe/shock scenarios. If this does not seem to be your problem, please let us know and I'll have to tag someone from the SW team to help you debug further. Thanks!

@Vinny Still no luck. Went in to RB5 images UFS folder. Attached power to J4 and then USBc. Launched the command. [image: 1721646892292-img.jpeg] user@desktop:~/2021-07-16-M0052.r9.1.QUP10/ufs$ sudo qdl --debug --storage ufs --include . prog_firehose_ddr.elf rawprogram_unsparse0.xml rawprogram1.xml rawprogram2.xml rawprogram3.xml rawprogram4.xml rawprogram5.xml patch0.xml patch1.xml patch2.xml patch3.xml patch4.xml patch5.xml HELLO version: 0x2 compatible: 0x1 max_len: 1024 mode: 0 READ64 image: 13 offset: 0x0 length: 0x40 READ64 image: 13 offset: 0x40 length: 0x348 READ64 image: 13 offset: 0x1000 length: 0x1000 READ64 image: 13 offset: 0x2000 length: 0xc78 READ64 image: 13 offset: 0x3000 length: 0x1000 READ64 image: 13 offset: 0x4000 length: 0x1000 READ64 image: 13 offset: 0x5000 length: 0x1000 READ64 image: 13 offset: 0x6000 length: 0x1000 READ64 image: 13 offset: 0x7000 length: 0x1000 READ64 image: 13 offset: 0x8000 length: 0x1000 READ64 image: 13 offset: 0x9000 length: 0x1000 READ64 image: 13 offset: 0xa000 length: 0x1000 READ64 image: 13 offset: 0xb000 length: 0x1000 READ64 image: 13 offset: 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image: 13 offset: 0xae7f8 length: 0x1000 READ64 image: 13 offset: 0xaf7f8 length: 0x1000 READ64 image: 13 offset: 0xb07f8 length: 0x1000 END OF IMAGE image: 13 status: 0 DONE status: 1 FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: Binary build date: Apr 14 2021 @ 04:09:57" /></data> LOG: INFO: Binary build date: Apr 14 2021 @ 04:09:57 FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: Binary build date: Apr 14 2021 @ 04:09:57 " /></data> LOG: INFO: Binary build date: Apr 14 2021 @ 04:09:57 FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: Chip serial num: 1469368341 (0x5794c815)" /></data> LOG: INFO: Chip serial num: 1469368341 (0x5794c815) FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: Supported Functions (15):" /></data> LOG: INFO: Supported Functions (15): FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: program" /></data> LOG: INFO: program FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: read" /></data> LOG: INFO: read FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: nop" /></data> LOG: INFO: nop FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: patch" /></data> LOG: INFO: patch FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: configure" /></data> LOG: INFO: configure FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: setbootablestoragedrive" /></data> LOG: INFO: setbootablestoragedrive FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: erase" /></data> LOG: INFO: erase FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: power" /></data> LOG: INFO: power FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: firmwarewrite" /></data> LOG: INFO: firmwarewrite FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: getstorageinfo" /></data> LOG: INFO: getstorageinfo FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: benchmark" /></data> LOG: INFO: benchmark FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: emmc" /></data> LOG: INFO: emmc FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: ufs" /></data> LOG: INFO: ufs FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: fixgpt" /></data> LOG: INFO: fixgpt FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: getsha256digest" /></data> LOG: INFO: getsha256digest FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: End of supported functions 15" /></data> LOG: INFO: End of supported functions 15 qdl: firehose operation timed out FIREHOSE WRITE: <?xml version="1.0"?> <data><configure MemoryName="ufs" MaxPayloadSizeToTargetInBytes="1048576" verbose="0" ZLPAwareHost="1" SkipStorageInit="0"/></data> FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: Calling handler for configure" /></data> LOG: INFO: Calling handler for configure FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: Storage type set to value UFS" /></data> LOG: INFO: Storage type set to value UFS FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <response value="ACK" MemoryName="UFS" MinVersionSupported="1" Version="1" MaxPayloadSizeToTargetInBytes="1048576" MaxPayloadSizeToTargetInBytesSupported="1048576" MaxXMLSizeInBytes="4096" DateTime="Apr 14 2021 - 04:09:57" /></data> [CONFIGURE] max payload size: 1048576 FIREHOSE WRITE: <?xml version="1.0"?> <data><program SECTOR_SIZE_IN_BYTES="4096" num_partition_sectors="32776" physical_partition_number="0" start_sector="3154440" filename="qti-ubuntu-robotics-image-qrb5165-rb5-sysfs_1.ext4"/></data> FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <log value="INFO: Calling handler for program" /></data> LOG: INFO: Calling handler for program FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?> <data> <response value="ACK" rawmode="true" /></data> qdl: firehose operation timed out [PROGRAM] failed

@Samuel-Bryan To test if it's connected to the internet, try pinging a website like: ping google.com If connected you'll see something like this: ~ ping google.com ok | 09:39:00 AM PING google.com (142.250.217.142) 56(84) bytes of data. 64 bytes from lax31s19-in-f14.1e100.net (142.250.217.142): icmp_seq=1 ttl=56 time=5.12 ms 64 bytes from lax31s19-in-f14.1e100.net (142.250.217.142): icmp_seq=2 ttl=56 time=5.65 ms 64 bytes from lax31s19-in-f14.1e100.net (142.250.217.142): icmp_seq=3 ttl=56 time=5.41 ms 64 bytes from lax31s19-in-f14.1e100.net (142.250.217.142): icmp_seq=4 ttl=56 time=4.83 ms ^C --- google.com ping statistics --- 4 packets transmitted, 4 received, 0% packet loss, time 3005ms rtt min/avg/max/mdev = 4.830/5.253/5.653/0.309 ms ~ See here for info on connecting your VOXL to the internet: https://docs.modalai.com/voxl-wifi-setup/#configuration-and-connection

@Mihir-Bala An order today should ship in about 4 weeks

@Alex-Kushleyev After running "voxl-configure-px4-params --platform MRB-D0006" to configure RB5 PX4 parameters, I could perform an outdoors flight with RB5 using Position Flight Mode without GPS or motor problems: https://youtu.be/D8zP0hOx8wc It seems that the issue was RB5 running with Sentinel PX4 parameters after SDK upgrade. Thank you for your help

@Eric-Katzfey @tom After running "voxl-configure-px4-params --platform MRB-D0006" to configure RB5 PX4 parameters, I could perform an outdoors flight with RB5 using Position Flight Mode without GPS or motor problems: https://youtu.be/D8zP0hOx8wc It seems that the issue was RB5 running with Sentinel PX4 parameters after SDK upgrade. Thank you very much guys for your help

@Jetson-Nano If you are using a stereo-pair that are being published together on the same pipe like on a Seeker, M500, or Sentinel, then you should just need to set up the following config files: /etc/modalai/voxl-qvio-server.conf: "cam_name": "stereo", (or stereo_front for sentinel) "lens_cal_path": "/data/modalai/opencv_stereo_intrinsics.yml", (or stereo_front_intrinsics for Sentinel) "cam_extrinsics_name": "stereo_l", (or stereo_front_l for sentinel) "use_second_cam_if_stereo": false, To use the right camera, you can swap "use_second_cam_is_stereo" to true, and qvio will pull in instrinsic lens params from the right camera which is also part of the same intrinsics file. Note that we only have camera locations in the extrinsics files for the left camera, but you can add to /etc/modalai/extrinsics.conf an entry for the right camera if you wish.

@tom Perfect! That worked

@tom I need to perform the autonomous indoor mission? Can I do it with VOXL 2 if yes How I can do it?