Subcategories

• FPV Drones

  Stinger Vision FPV
  21
  Topics
  91
  Posts

  M

  @jbhines929 Please fill out the RMA form to get the process started. If it is due to manufactures defect it is covered under warranty and no diagnosis fee will be charged.

• VOXL Accessories

  Microhard Modems Cellular Modems Power Modules Image Sensors
  284
  Topics
  1557
  Posts

  V

  Hi @austin-c
  yeah, and it will not.
  There are dozens of changes between the two boards.
  It's just easier and cheaper to order the correct version. We have no documents showing how to convert it is simply not doable for the cost and risk and time.

  Not the news you wanted, but please trust me on that one. 🙂

• VOXL Compute & Autopilot

  Product related questions and answers

  VOXL 2 Mini VOXL 2 VOXL Flight VOXL Flight Core v2 Flight Core VOXL 2 IO Flight Core - ArduPilot
  947
  Topics
  4964
  Posts

  D

  @Moderator

  Thanks for the clarification on the ~50 ms glass-to-glass number.

  Trying to get a better understanding the performance envelope:
  1. Does the 50 ms include RF transport over Doodle, decode, and HDMI output latency, or is that measured only within the VOXL + VRX software stack?
  2. Was this measured in point-to-point mode or mesh routing mode?
  3. Can you expand on bitrate, resolution, and encoder settings were used (GOP structure, B-frames disabled, UDP vs RTSP)?
  4. Is MAVLink or other traffic running on the same link during that measurement?
  5. Do you have a latency breakdown per stage (encode / RF / decode / display)?

  Appreciate any information you can provide. I just want to make sure I can test and validate this effectively.

• VOXL Dev Kits

  Product related questions and answers

  VOXL-CAM VOXL Flight Deck
  170
  Topics
  810
  Posts

  R

  @minhthinh Documentation for the original VOXL Flight can be found here. The guide will link back to the original VOXL and the original Flight Core as those are the boards it was built around. You can also refer to the release notes of the previous sdks to see what was available in the specific release that you are using

• VOXL Dev Drones

  Product related questions and answers

  PX4 Autonomy Developer Kit Starling & Starling 2 Sentinel VOXL m500 Reference Drone Qualcomm Flight RB5 5G Drone Seeker
  594
  Topics
  3035
  Posts

  A

  @Leo-Allesch , if you are talking about VSLAM, which stands for Visual Simultaneous Localization and Mapping, then this is a sub-class of SLAM which uses only cameras (and often IMUs, then it is VISLAM).

  VSLAM and VISLAM usually generate and maintain a sparse map of 3D features (points), which is used for self localization.

  If you want to be able to detect a target, and you have your 3D pose from VIO (VIO = VISLAM), then you can either triangulate the target location or get it's location from a single frame if you know the size of the target (such as April tag, etc). Then you can transform the coordinate of the tag from the camera frame into your "world" (VIO) coordinates.

  The depth sensor would allow you to build a more detailed 3D map / point cloud using the 3D pose output from the VIO algorithm (or just using a depth sensor, which may be more complicated). You can also build a dense 3D map using camera only (and IMU), but that typically requires a lot more computation than using a depth sensor.

  You don't necessarily need a depth sensor for identifying the position of a specific target that is easily detected by a camera.

  There is a lot of research material you can find on these topics, please look into it deeper and let us know if you have specific questions about using VOXL2 hardware and software.

  Alex

• ESCs
  90
  Topics
  704
  Posts

  A

  Hi @Martin-Lukac ,

  Thank you for the update. I am glad to see that your new tests went fine. As I mentioned before, i was quite surprised to see the ESC fail in such a way, which may suggest some kind of anomaly.

  I will provide a longer answer soon, but for now some quick notes:

  non-zero kp / ki parameters will speed up the ESC's RPM response. I will provide some examples you can test whether the ESC closed-loop controller is stable using voxl-esc tools, using step inputs, etc. if unstable, lower Kp. Then lower Ki to avoid slow overshoots. Ki will definitely not contribute to high frequency oscillations. assuming the ESC closed loop response is stable, if the Flight Controller is commanding noisy RPMs, the ESC with aggressive tuning (high kp) will try to track the noisy rpm commands, resulting in motor and ESC heating up. there are generally two main sources of oscillations: unstable attitude controller or vibrations / noisy gyro unstable attitude controller : characterized by lower frequency oscillations (in the range of 10-30Hz, depending on your frame, motors, etc) vibrations can result from drone frame twisting at the frequency of motor RPM, or loose flight controller board / IMU, if flight board is shock mounted, the connected wires can potentially carry vibrations or cause the board to flex due to the wires vibrating / moving (very quickly). These vibrations will be at the frequency of motor RPM. aggressive (high) values of ESC kp will amplify these vibrations, so you can end up in a situation when the ESC's closed loop RPM controller is feeding back and contributing to higher oscillations. by analyzing the gyro logs (will need to enable high rate logging), using FFT you can determine if your frame is mechanically unstable / noisy or the attitude controller is unstable. if you set kp and ki to 0, you still have the advantage of calibrated (and voltage-compensated) RPM control. However, the control will only have feed-forward term. So behavior will be close to response of a traditional ESC with added calibrated feed-forward rpm control with voltage compensation. regarding whether you need a bigger ESC.. it depends on the maximum total current that you plan to pull. The M0138 ESC has been tested with similar motor / prop combo (3110 motor, 900kV with a 10x4.5 tri-blade) . During bench testing, each motor could pull close to 40A at 6S, however in practice you are never going to have all 4 motors spinning at absolute maximum rpm (then you will not have any control margin for attitude). We have tested full punch-out flights for 100+ Amps for over a minute and the ESC was perfectly fine (airflow required for cooling). The mosfets on M0138 are rated for 100A+ continuous (each), so 40A continuous an issue. It will come down to the total current draw and cooling. For high power applications like this, you should definitely start at lighter loads and try to push the ESC to the limit. You will also need to worry about power connector(s) if you are drawing 100A+ continuously (battery connector may melt). px4 params: the min and max rpm params in px4 should match the min and max in your esc params. the px4 params do not override the limits in the esc params - the ESC will cap the incoming rpm commands if they are outside of the ESC params limits. Also, if you have incorrect px4 rpm limits, the thrust calculation in px4 will be incorrectly scaled from 0 to 100%, so you definitely want to get those rpm limits to be in sync between the ESC and px4.

  Also, you can use our custom version of flight-review to display additional data specific to our ESC (rpm commands, actual rpms, esc temps, etc) : https://github.com/modalai/px4-flight-review (you can run it locally in docker).

  Alex