@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?

@Zarrar The Starling 2 meets all of those specifications. The obstacle avoidance and gps-denied navigation are tuned to indoor environments

@modaltb thanks for the follow up. I'll see if I can secure a starling 2 soon.

@Eric-Katzfey I am using SoftAP mode in Wifi.

@boga , Can you please double check the following: amount of free space in the /data partition: df | grep data check the write speed to the data partition : dd if=/dev/urandom of=/data/test.bin bs=1M count=1024 (this will write a test file of size 1GB). For example, using voxl2 i result i got was (on VOXL1 it will be a bit slower): #set cpu mode to perf voxl-set-cpu-mode perf #perform the write test using randomly generated data (may be limited by speed of /dev/urandom) voxl2:/data$ dd if=/dev/urandom of=/data/test.bin bs=1M count=1024 1024+0 records in 1024+0 records out 1073741824 bytes (1.1 GB, 1.0 GiB) copied, 2.85171 s, 377 MB/s (you can / should remove /data/test.bin after the test to free up the space) Alex

@Samuel-Bryan There are some examples here: https://docs.modalai.com/mpa-camera-interface/#sending-commands-back-to-the-server

Thanks for the response. Looking forward to the great work.

@Eric-Katzfey said in Regarding controlling drone flight using code: @cy208183395 I would take a look at the documentation for MAVSDK. It has a python interface available and can do drone control. Thanks for your reply

I created a new topic about the GPS problem https://forum.modalai.com/topic/3612/outdoor-navigation-gps-problem

Yes new sentinels ship with M0154s. Let me check with the production team about retroffiting