@mkwan FYI, when we were switching from Spektrum to Graupner, we discovered this setting in the PX4 (accessible via QGC): RC_INPUT_PROTO To go from Spektrum to Graupner HoTT, we had to set that to "SBUS". There is a Spektrum-specific setting. Once we made that change, then QGC started acknowledging that we had a radio connected. That said, all of our FCv2 boards (which were the ones mistakenly sent with Spektrum although we ordered Graupner) had some problem in the UART connection between the PX4 and the VOXL, and so voxl-mavlink-server reported that there was no UART connection. We are about to RMA the VOXL Flight's to modalAI for them to investigate this UART problem. However, assuming that your PX4-to-VOXL connection is good, I think that the RC_INPUT_PROTO setting above should fix the problem you're having getting the Spektrum radios connected to QGC.

@Siddhanth https://docs.modalai.com/voxl-px4-dev-build-guide/

They are DJI mavic mini 2 motors: https://www.amazon.com/Drone-Motor-Repair-Parts-Replacements/dp/B0C2BS5B3L/ref=sr_1_1_sspa?crid=7J3567SEZMEW&keywords=dji+mavic+mini+2+motor&qid=1698790092&sprefix=dji+mavic+mini+2+motor%2Caps%2C102&sr=8-1-spons&sp_csd=d2lkZ2V0TmFtZT1zcF9hdGY&psc=1

@Moderator That's fair, but can we have a aligned depth image, even if the tof doesnt have valid depth, a aligned RGB+Depth image would go a long way

@chinkey I ran a few tests yesterday. I used the speedtest-cli application with a USB dongle. In the first test I connected a USB 2.0 Ethernet dongle to my laptop and got around 90 Mbps. I then connected that dongle to the RB5 USB port and also got about 90 Mbps. I then tried a USB 3.0 Ethernet dongle. On the laptop I saw about 520 Mbps but was only able to achieve about 250 Mbps on RB5. So I think that's pretty similar to what you were seeing. It's unclear at this time why there is such a difference.

@Moderator Thank you for your reply. Yes, the hardware setup is fine (is a sentinel drone out of the box)

@inha_baek If QDL still isn't working I would look into an RMA: https://www.modalai.com/pages/rma

@Eric-Katzfey awesome, thanks!

@tom that was during our troubleshooting of the hires camera, we set it to a few different settings to see if we could get video. i didnt realize that kicked off voxl-streamer as a service. Sorry I assumed that it was supposed to be running, looking at earlier screenshots it was not running. Prior to that though, with voxl-streamer disabled and not running, we were still running into issues with rtsp streaming across our network. we would get a single frame and then nothing after.

@Darshit-Desai said in VOXL MPA_to_ROS rostopics not subscribing to anything: Is there a way to get camera intrinsic Matrix of the ToF camera. Also, if I want to align the depth image with the RGB image how do I do that? Hi sorry, I wanted to ask about the intrinsics that was highlighted by mistake. @ben-grocholsky

@Caio-Licínio-Vasconcelos-Pantarotto I have not experimented with collision avoidance. I doubt that would do much in the case where VIO has completely lost its tracking, but that is only my guess.

@dtsbourg There is some good info here: https://docs.modalai.com/calibrate-cameras/

@peterkrull Thanks

@stevedan As a side note, I would recommend upgrading to the official SDK 1.0 as opposed to beta4 as there are many bug fixes between the two

FWIW, we are not seeing this issue on the VOXL2 flightdeck (which does not use voxl-px4-imu-server) @Moderator Is there someone else I should tag for this issue if you are unable to provide support?

If I search for the word collision I get this files.. and indeed the .params hold those variables... Why is there different versions also ? [image: 1695213476613-screenshot-2023-09-20-at-14.36.46.png]

@M-al-khatib Video quality is going to be largely dependent on the cellular coverage in your area. For your second question, can you give me more details on the setup you're trying? Are you connecting a standalone modem to your PC?

@tom I tried with UART/I2C port in Qualcomm Flight RB5 5G Drone that didn't work. But it works in J1010 port of voxl flight board.