@Stefano-Accolla Not a major issue, you'll just have to calibrate horizon via QGroundControl: https://docs.px4.io/main/en/config/level_horizon_calibration.html

As for the Ghost Atto, please open a separate thread for that

@Stefano-Accolla https://docs.modalai.com/orqa-ghost/

Understood - ofcourse disabling wont do much as it is the same thing as running it from command line/bash vs in systemd - I am surprised it created different results when running in systemd vs bash.

Reason I want to disable/stop qvio is so that when you echo the /out topic you arent receiving anything from the ekf2 inside PX4 that is ingesting and creating the output.

Lastly, the fmu/in/visual_odometry, and fmu/out/visual_odometry are not supposed to be the same - the fmu/out is post processing - they should differ as it fuses all sensor data and such - what is the movement you are expecting?

Also have you checked the yaml file for PX4 - looks like there is a ros2 message specific just for mocap odometry.

https://github.com/modalai/px4-firmware/blob/636ffefcb1a96ad2b53e988d23bf6419955b69ea/src/modules/microdds_client/dds_topics.yaml#L73

The Flir Lepton feature is still in development. Please check future release notes in VOXL SDK for updates on availability.

@Judoor-0 Yep exactly, if the drone is already in fastboot before running the flashing script it can't identify which board it is (M0054-1, M0054-2, M0104-1) so it has to give you all options. This time since it has ADB access it can be smarter and just ask you the possible options it knows are supported for your hardware

@Jetson-Nano

In SDK 1.2.0 we did start pushing the default config of voxl-mapper a big harder with smaller voxl sizes, longer ray lengths, and double the UI update rate to better complement the newer TOF sensors on the Starling 2. Part of this update was also to lock some of the heavier parts of the mapper processing to cores 4,5,6 to make sure VIO wasn't affected too much. However, if you are still seeing a difference in VIO performance between mapper being on and off then there may still be some optimization to be done.

Just to confirm you are seeing worse VIO performance when mapper is enabled, correct?

If so, please try increasing the voxl_size parameter in /etc/modalai/voxl-mapper.conf from the default 0.1 to 0.25, and set the cpu into performance mode on bootup by changing the normal_cpu_mode field to "performance" in /etc/modalai/voxl-cpu-monitor.conf. The map will be very course and ugly with such a big voxel size but I'm just curious if the power cpu use helps resolve the issue.

For reference, here is the commit history for voxl-mapper showing the recent tweaks for SDK 1.2 and newer that turn up some of the knobs.

@JoeAR_21 I would just buy something like this: https://www.adafruit.com/product/954?gad_source=1&gclid=CjwKCAjwyo60BhBiEiwAHmVLJQuZ-9b9QJJtpK_PN6k5qN0jQMigyLn_nbWc5deXCZ8ZnSInlYXwrhoCxZAQAvD_BwE

@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

Thanks for the response.

Looking forward to the great work.

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

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

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

@tom

Perfect! That worked

@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.