@Rowan-Dempster, i looked through the changelog of our project (https://gitlab.com/voxl-public/voxl-sdk/third-party/voxl-eigen3/) and it does not look that there are any changes done to eigen3 itself, i think it is just a package we inherited from VOXL1, which did not use apt.

If you are willing to try it, remove voxl-eigen3 package (which may temporarily break something - note which packages require it). We could potentially update whatever gets broken to be happy with either voxl-eigen3 or eigen3 installed using apt.

@AndriiHlyvko On VOXL 2, the snapshot pipe from voxl-camera-server will use the latest gps data and update the exif data of the jpg image with the latitude and longitude

voxl-camera-server receives GPS data here

voxl-mavlink-server publishes GPS data here

You can use the voxl-inspect-gps tool to verify the GPS data is being published correctly

Also, if you are using very old SDK on VOXL2, the uart bridge may not be working 100% properly.

When in doubt, the best thing to do is to connect to the ESC using a serial to usb adapter going directly to a Linux PC (and run voxl-esc tools on the PC). do you have that available?

@wilkinsaf

Yeah you're absolutely right! Happy to help you out if you have any more questions about that process.

-Thomas

Thank you - I was able to make it work for one camera with the following changes.

etc/modalai/voxl-camera-server.conf

changed "camera_id_second": to -1 to get just one camera, changed "en_preview": to false, Added:"en_small_video": true, "small_video_width": 1280, "small_video_height": 800, restart voxl-camera-server service

etc/modalai/voxl-streamer.conf

"input-pipe": "stereo_small_encoded"

etc/modalai/voxl-mavcam-manager.conf

"video_record_pipe_name": "stereo_small_encoded",

@Eric-Katzfey That works, thanks!

@Moderator Thanks for the response. Follow up question, are the voxl-side timesync requests only used for updating gps timestamps?

After reading the code you linked and running mavlink-server in timesync debug mode I think that the only thing not working is the voxl timesync requests. It looks like when I start sending hil_gps or odometry mavlink messages to the autopilot pipe, one of the autopilot's responses to the voxl timesync requests is dropped or comes in after a new value for last_voxl_time_sent is generated. Then the timesync handler can't recover because it's getting responses that are 1 step behind moving forward (see below).

Since it looks like it continues to get reasonable values for now-ts1 for the autopilot requests, I don't think this is an issue depending on what voxl-side timesync is being used for. Not sure why I'm getting the RTT too high warning in my PX4 log though

output from mavlink server timesync debug mode at the point when I started sending odom/gps mavlink messages to the autopilot:

sending our own ts request at 408744677609 ap ms ahead of voxl: -0.2ms timesync: now-ts1 = 0.6ms sending our own ts request at 408845331615 ap ms ahead of voxl: -0.3ms timesync: now-ts1 = 0.9ms sending our own ts request at 408945169337 timesync: now-ts1 = 0.2ms sending our own ts request at 409044439310 timesync: now-ts1 = 0.3ms sending our own ts request at **409145346227** timesync: now-ts1 = 0.5ms sending our own ts request at **409244599326** unknown timesync request ts1 = **409145346227** tc1 = 409263819000 last_voxl_time_sent = 409244599326 timesync: now-ts1 = 0.3ms sending our own ts request at 409345147918 unknown timesync request ts1 = **409244599326** tc1 = 409406867000 last_voxl_time_sent = 409345147918 timesync: now-ts1 = 0.2ms sending our own ts request at 409445248290 unknown timesync request ts1 = 409345147918 tc1 = 409506047000 last_voxl_time_sent = 409445248290 timesync: now-ts1 = 0.2ms sending our own ts request at 409545084726 unknown timesync request ts1 = 409445248290 tc1 = 409608198000 last_voxl_time_sent = 409545084726 timesync: now-ts1 = 0.4ms sending our own ts request at 409645091472 unknown timesync request ts1 = 409545084726 tc1 = 409717154000 last_voxl_time_sent = 409645091472

@thomas I assume we don't want to be dealing with 4k raw arrays on the CPU for performance reasons. So yeah as early as possible in the image proc pipeline, and how early we can push it is what I'm asking for advice on. We'll also reach out to @Alex-Kushleyev thanks!!

@Projects-a You can connect the i2c to the J5 connector on M0141 and spi to J10 on VOXL 2 board if you want to stay with M0141

Thanks @Eric-Katzfey and @tom, appreciate your assistance! I will try the Docker approach, I will reach out if I have any issues interacting with MPA from the Docker container.

@achanana said in MAVSDK example program on VOXL 2 not running:

voxl-px4-imu-server

is for the Qualcomm Flight RB5 architecture and is not relevant to Starling

It is likely your voxl-mavlink-server is not configured properly. MAVSDK communicates with the port opened up in voxl-mavlink-server

@tom cool. I created an MR with wrong source branch by mistake so just delete that one. But this one is the right one: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/merge_requests/42

@Cliff-Wong
Hey
I will try to input custom indoor maps with QGC.
How can i configure voxl-vision-hub for waypoint-style navigation?
In the latest configration setups for SDK 1.2, only 4 configrations are there
fc0a536b-ba98-44d2-8e8b-769ce382b1c8-image.png
b454d05a-7abf-42eb-ba5b-dfe47fa2e874-image.png

@xianglic That looks very similar to the one I use. Is it not working for you?

@Rowan-Dempster No, it isn't

@Ritwik-Majumdar

The delay of VOXL2 control has not been tested, but it should be relatively small (1ms or less)

You can control the GPIO directly from command line, see

https://docs.modalai.com/voxl2-linux-user-guide/#gpios https://docs.modalai.com/voxl-gpio-io/#manipulating-gpio-using-linux-commands

Please take note of the GPIO pin numbering : the GPIO have an offest of 1100 (e.g. GPIO 84 = 1184)

Setting CPU to perf mode (voxl-set-cpu-mode perf) will speed things up.

You can time the execution time (i just did in perf mode). Sometimes 0.000s, sometimes 0.001s, so somewhere around 1ms. You can do more precise timing if needed.

voxl2:/$ time echo 1 > /sys/class/gpio/gpio<GPIO_NUM>/value real 0m0.001s user 0m0.000s sys 0m0.000s

@Eric-Katzfey I am not able to run pythorch/Onnx model on GPU or NPU, do we have any examples for that?
I could only find the tflite examples.

I was able to run the Light Glue model on docker with CPU.