@AndriiHlyvko Thanks! We have merged in those changes.

@Nicholas-Clark you can find the voxl-cross Dockerfile and source here. We're happy to incorporate merge requests if you feel you have a solution that can be generalized across our customers.

@jacob-yaacubov ,

I am not sure why this is happening. However, you maybe able to debug this yourself using gdb and starting the ros node manually:

gdb /opt/ros/melodic/lib/voxl_mpa_to_ros/voxl_mpa_to_ros_node r __name:=voxl_mpa_to_ros_node __log:=/opt/ros/foxy/log/my_new_ros_log/voxl_mpa_to_ros_node-1.log (wait for crash) bt (this will print stack backtrace, at least will tell you in which function the crash occurred)

Please try..

@tahawaru It's just a change in the naming. Used to be platform, now is SDK. Go with the most recent SDK.

After connecting the VOXL2 Mini to an external flight controller as described here via J10 on VOXL2 Mini, MAVlink data was viewable from a VOXL Flight Core v2.

We are still having some troubles with viewing the streams, however now the stream/camera names are appearing in QGC with the video feed selector now that the above MAVlink connection has been established.

It seems like in order to route MAVlink data out of J3 on VOXL2 Mini via USB, we will need to look into MAVrouter or a similar solution. For now we will continue integration via J10.

Our goal with routing MAVlink data via USB on VOXL2 is to reduce the telem connections required on a flight controller for our product. We would like the ability to run multiple RTSP streams and MAVlink communication via a single USB connection (from J3 on VOXL2 Mini) to an external flight controller.

Is UART communication via J10 the preferred or only method of communicating with VOXL2 Mini over MAVlink?

Is there a way to do MAVlink routing with the VOXL SDK as I mentioned, or will this need to be custom implementation?

If the VOXL2 Mini is receiving MAVlink data via a UART connection from another device, will the VOXL2 Mini forward and receive MAVlink data to/from the MAVlink device through to a Flight Core via the external flight controller connection J10 on VOXL2 Mini?

Thank you for very much for your time and feedback on this topic.

Hey @dvPr1m3 , How were you able to do it on VOXL 2?

@Rawdha-R Yeah that SDK is very old and doesn't have the SKU tooling in it yet.

I would recommend flashing the latest SDK (1.3.3) from downloads.modalai.com under "VOXL 2 Platform Releases"

Just follow the instructions here to do so: https://docs.modalai.com/flash-system-image/#flashing-a-voxl-sdk-release

@Eric-Katzfey @Alex-Kushleyev not exactly what I was looking for. I already implemented it using ffmpeg library. Basically I wanted to use voxl-send-command utility to send start/stop recording commands while also have the ability to save snapshots. I didn't like the idea of using gstreamer pipes for implementing this so I chose ffmpeg. I think my solution is good enough for now. I am able to start/stop recordings do snapshots and embed xmp metadata into the snapshots. Although I might come back to using OMX library if I decide I need the hardware encoding.

@giladWDS M0151 should expose /dev/ttyHS1 for use. It's just a UART so it isn't specific to external flight controllers.

@Alex-Kushleyev I tried on a fresh VOXL2 that I factory flashed with 1.3.3 and did not see the same issue. Was probably something caused by my setup (either in config or something else). I know that particular voxl2 had damage to one of the mipi ports too

I appreciate the help!

@Rowan-Dempster ,

I myself tried to do this some time ago and ran into issues, which i could not resolve. I am sure also someone else at Modal also tried it before me.

If I remember correctly, my issue was that it could not get camera module in the second instance of the camera server, on this line, and i did not pursue this further (did not spend too much time on it though).

https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/master/src/hal3_helpers.cpp?ref_type=heads#L79

So in your case you are able to get the camera module?

To help debug, you should run logcat while you are trying this and see what messages might show up there.

And, finally, just wanted to mention that we don't know if what you are doing is possible, but if you want to keep pursuing this direction, I can help if i know the answer to your questions, but may not be able to spend time working on it right now.

EDIT: in order to see if separate instances of camera server are possible, you could try to see if you can run multiple instances of gstreamer plugin that uses qmmfsrc. I found a doc that should be helpful in testing this, take a look : https://thundercomm.s3-ap-northeast-1.amazonaws.com/shop/doc/1596593567074634/Thundercomm EB5_Multimedia SDK User Guide_V1.1_ie89e.pdf

Specifically, the following command should work, although i did not test it:

gst-launch-1.0 -e qtiqmmfsrc name=camsrc ! video/x-raw\(memory:GBM\),format=NV12,width=1920,height=1080,framerate=30/1 ! queue ! omxh264enc control-rate=max-bitrate target-bitrate=6000000 interval-intraframes=29 periodicity-idr=1 ! queue ! filesink location="/data/vid.h264"

Also, i dont see how you sent the camera id in this example, but it should definitely be possible 🙂

See if you can run two independent instances of gstreamer using different cameras. I think it should work, but not sure.

Alex

(top is Royale 4, bottom is 5)

@atomsmasher9 said in Ultralytics version for voxl-tflite-server yolov8:

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Hi @atomsmasher9 - so ultralytics is leveraged for training - have you followed the instructions within this repository?

https://gitlab.com/voxl-public/support/voxl-train-yolov8/-/tree/master?ref_type=heads

Currently I have some updated written for this as well - so for example in export.py, this line: model.export("tflite") --> model.export(model = "tflite"), but I have yet to make the PR or commit for it - the README is relatively straight forward for how you can build a model leveraging docker, an nvidia gpu, and ultralytics to create the custom model. I was able to do these below and have a successful model created and uploaded to the voxl2 - ensure you place the model in /usr/bin/dnn directory alongside the labels.txt file to ensure you have the right labels - also you can manually update the file path in the conf file in /etc/modalai/voxl-tflite-server.conf.

@Cliff-Wong Hi,
I'm trying to implement the vio navigation without gps. i'm on sdk 1.3.2 with a starling 2.
When uploading the waypoint to the drone, the global position of the drone isn't reference to the take off point. in fact it doesn't appear at all on the map.
What can I do to fix that ?
Julien

@Judoor-0 I would recommend re-flashing the latest SDK from downloads.modalai.com

Yes, /home/root gets wiped by default. When flashing a new SDK, /data is retained unless otherwise specified with a flag

@Jetson-Nano If you want v1.15 then you just build from mainline, not from our fork.