VOXL Flight

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  Land Detector on pure VIO
  • hmlow  

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  I've figured out why. My original MPC_LAND_SPEED and MPC_Z_VEL_MAX_DN were 0.6 and 0.5 respectively. Thanks to the following chunk of code from MulticopterLandDetector.cpp, descend_vel_sp will never be true. if (_flag_control_climb_rate_enabled) { vehicle_local_position_setpoint_s vehicle_local_position_setpoint; if (_vehicle_local_position_setpoint_sub.update(&vehicle_local_position_setpoint)) { // setpoints can briefly be NAN to signal resets, TODO: fix in multicopter position controller const bool descend_vel_sp = PX4_ISFINITE(vehicle_local_position_setpoint.vz) && (vehicle_local_position_setpoint.vz >= land_speed_threshold); Had to increase MPC_Z_VEL_MAX_DN and that solved my problem
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  landing_target_estimator not starting automatically
  • ABDUL JAWAD SUBAHAN  

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  Did you review the PX4 documentation? It looks like it has the command set here
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  Conversion of ToF Depth Images to Distance
  • VictorT  

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  Great news! I had an older version without ToF Logging Thanks
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  4K Main Camera Resolution
  • sspiller  

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  @sspiller The WiFi and MicroHard radios don't have any specific configuration needs for video streaming. They are just network interfaces. The issue will be with available bandwidth. If you want to stream a high resolution stream at 10Mbps and your radio can only support 5Mbps then you will lose a lot of packets and your video stream will not look very good.
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  This topic is deleted!
  • bensusana  

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  UVC-Server to QGC Stream Activation
  • Caleb Rievley  

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  @Caleb-Rievley Generally, that won't work.
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  QGC connection problem
  • Caleb Rievley  

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  @Chad-Sweet That worked! After I did the reinstall, it would not connect. I closed and reopened QGC, switched the usb cable, and then went into the auto-connect section of the general settings and disabled the NMEA GPS device drop-down. Thank you Chad!
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  Board Orientation and Offsets
  • Caleb Rievley  

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  IMU's can be found here. Through QGC, the offsets can be adjusted: here You'll have to configure the extrinsic files as well to match the rotation of the board /etc/modalai/extrinsics.conf Hope that helps!
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  How to build new DTB
  • jrestifo  

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  Hi @jrestifo , Super late on this response. In general yes a kernel rebuild is needed. There's some gotchas so if you are proceeding down this path let us know.
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  Calibrating Stereo Cameras on VOXL Flightcore is Super Finicky
  • John Nomikos  

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  You can also get a different idea of what the camera is seeing by adding a "-t" to the end of the code line. For example: "voxl-calibrate-camera stereo -t " This makes it easier to gauge if the lighting is good and can provide a different perspective which might make calibration easier.
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  using chirp ch201 ultrasonic tof on voxl flight
  • ErezI  

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  GPS Error And Issues Setting Up Obstacle Avoidance
  • John Nomikos  

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  Is that version of GPS module supported in the version of PX4 you are using? Is it wired properly to your flight controller as well?
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  VOXL Flightcore Camera Calibration Reprojection Error Reported By calibrateCamera
  • John Nomikos  

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  We managed to fix the intrinsic file not generating by deleting the already existing extrinsic file
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  Can high cpu could prevent manual control on drone?
  • bensusana  

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  @RichieRich Hi rich thanks for response. After reboot everything went normal, In this flight we the aid mask was default 1.
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  This topic is deleted!
  • John Nomikos  

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  sd card size limit
  • bensusana  

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  Yes, that should be fine VOXL Micro SD Card SDXC Version 3.0 up to 2TB PX4 Supported SD Cards SDHC version 2 up to 32GB Datasheets updated to include: https://docs.modalai.com/voxl-datasheets-functional-description/ https://docs.modalai.com/flight-core-datasheets-functional-description/
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  How to enable BLSP9 for SPI usage over J7?
  • jrestifo  

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  @Alex-Kushleyev So I have a BMI088 plugged in there, so I was adding IMU4 to not lose support for MPU as well. However, I did as you suggest as a sanity check, and yes I can see it trying to clock. I must have a problem somewhere else, thank you this was very helpful.
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  offboard takeoff height problem
  • bensusana  

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  Hi Ben, we do not have experience integrating a distance sensor for altitude with PX4. Flight Core uses a nearly mainline version of PX4 and should behave as any PX4 system would with an altimeter. PX4 has that feature documented here, that might be a good place to start.
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  RM3100 Magnetometer
  • m4v3r  

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  @m4v3r , sorry for the lag. This mag is not in our office. What I would do myself is go into the driver and see what's happening. We don't re-sell this mag and I don't have one so I'm stuck a bit. Do you want to ship one to us and we put a debugger on PX4 and see what's up?
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  Multiple Stereo Cam Inputs?
  • Steve Turner  

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  Hi! The hardware on voxl only supports a stereo pair out of the J3 connector. However, you could absolutely plug in fisheye cameras instead of the pinhole ones if you're just trying to get a better field of view. Additionally, the system is setup to be able to support that same ov7251 camera in both the J2 and J4 ports, so you could in theory have 4 fisheye cameras concurrently. NOTE: voxl-camera-server (opensource) is not set up to to handle multiple cameras of the same type since we don't actively support any camera configurations like that. It's very doable though, you'd have to check the camera IDs for the configuration that you create and mod camera server if you're trying to use our standard software stack (so you can out of the box support 3 fisheye cameras, and it would only take some userspace coding to support 4)