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Alex Kushleyev

OK, thanks for checking. maybe there was a typo before

Alex Kushleyev

Now that the main issue is resolved.. i am confused why the following test command did not work for you :

./voxl-esc-spin.py --id 255 --power 0

The screenshot you posted had the command cut off -- are you sure you used the correct command? 255 is a special value that should spin all 4 ESCs: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/dev/voxl-esc-tools/voxl-esc-spin.py?ref_type=heads#L190

Can you check if the voxl-esc-spin.py script on your VOXL2 is the same as this file?

Thanks!

Alex

Alex Kushleyev

@zaimin78 ,

It looks like I got this working. I modified the kernel to do the following

not use the combo mode for J6L and allow using J6U as independent camera
GPIO109 is used as a shared reset for cameras in slot 1 and 3 (because that's how the signal routing works on VOXL2 + M0135), so the kernel knows that this reset pin is shared
this setup is not set up for camera sync - all cameras are running independently
I have not tested any cameras in J8U, it may not work - but it should be possible to enable it, just need to test it.

You will need to update the kernel on your voxl2:

https://storage.googleapis.com/modalai_public/temp/quad_ov7251_boson/qti-ubuntu-robotics-image-m0054-boot-quad-ov7251.img
this kernel is based off the kernel that ships with SDK 1.6.3
you can test it before overwriting the current kernel: https://docs.modalai.com/voxl2-kernel-build-guide/#test -- you should do to reduce the chance of bricking your VOXL2 (just in case)

HW Configuration:

VOXL2
four OV7251 plugged in to J6L. J6U, J7L, J7U via two M0135 adapters without any mods
boson320 plugged into J8L via M0194 (you can use M0181 also)
there are no shared CCI buses between the ov7251 cameras - slots 0-3 use CCI 0-3 respectively, so no CCI slave address conflicts

SW configuration

appropriate sensormodules placed into /usr/lib/camera/ -- you can get them from /usr/share/modalai/chi-cdk/ov7251 and ../boson folders:

com.qti.sensormodule.ov7251_0.bin
com.qti.sensormodule.ov7251_1.bin
com.qti.sensormodule.ov7251_2.bin
com.qti.sensormodule.ov7251_3.bin
com.qti.sensormodule.boson_4.bin

use provided voxl-camera-server.conf : https://storage.googleapis.com/modalai_public/temp/quad_ov7251_boson/voxl-camera-server-quad-ov7251-boson.conf
- may need to modify your Boson resolution from 320x256 to 640x512 if you you have Boson640

Testing

after you have all the cameras connected, boot using the test kernel
test to see if all cameras are detected:

voxl-camera-server -l
...
DEBUG:   Cam idx: 0, Cam slot: 0, Slave Address: 0x00E2, Sensor Id: 0x7750
DEBUG:   Cam idx: 1, Cam slot: 1, Slave Address: 0x00E2, Sensor Id: 0x7750
DEBUG:   Cam idx: 2, Cam slot: 2, Slave Address: 0x00E2, Sensor Id: 0x7750
DEBUG:   Cam idx: 3, Cam slot: 3, Slave Address: 0x00E2, Sensor Id: 0x7750
DEBUG:   Cam idx: 4, Cam slot: 4, Slave Address: 0x00D4, Sensor Id: 0x00FF
...

start voxl-camera-server
inspect sterams: voxl-inspect-cam ov7251_0 ov7251_1 ov7251_2 ov7251_3 boson

Please give it a shot and let me know if it works!

Alex

Eric Katzfey

I think you need to keep BAT1_SOURCE set to 0.

Eric Katzfey

This is what Codex says:

The root cause is a PX4 source-enum bug, not the ESC, baud rate, or VOXL_ESC_PUB_BST.

  - The supplied parameters select BAT1_SOURCE=2, meaning “ESCs”: /home/modalai/development/log_debug/no-batt-status/
    vehicle.params:5.

  - But voxl_esc constructs its battery object as BATTERY_SOURCE_POWER_MODULE (0): src/drivers/actuators/voxl_esc/
    voxl_esc.cpp:51.

  - The battery library publishes only when the driver’s source equals BAT1_SOURCE: src/lib/battery/battery.cpp:172.
  - Therefore 0 != 2, and every battery report is silently suppressed.

  This matches all the evidence:

  - VOXL_ESC_PUB_BST=1.
  - All four M0138 channels, including current-sensing ID 2, communicate at 2 Mbaud: /home/modalai/development/log_debug/no-
    batt-status/output.txt:279.

  - The flight log contains 232,935 healthy esc_status samples but no battery_status.
  - The forum test showed ID 2 reporting BOARD_VOLTAGE and BOARD_CURRENT, proving the ESC produces the special telemetry
    packet. This is the expected M0138 behavior documented in the ModalAI ESC FAQ (https://docs.modalai.com/voxl-escs/faq/).

  The proper code fix is one line:

  _battery(1, nullptr, _battery_report_interval,
           battery_status_s::BATTERY_SOURCE_ESCS)

  As an immediate workaround with the existing binary, set BAT1_SOURCE to Power Module (0), leave POWER_MANAGER=none, restart
  voxl-px4, and check:

  px4-listener battery_status 5

  That should publish, although the resulting topic will incorrectly identify its source as a power module. The one-line source
  change is the permanent fix.

Can you try setting that parameter and see if it works?

Eric Katzfey

File:
output.txt

Eric Katzfey

I sent an email to the address you have linked to this account.

Eric Katzfey

Okay, shoot, let me see if we can get that fixed.

Eric Katzfey

The forum won't let you attach it in your reply?

Eric Katzfey

Can you upload the log file to https://review.px4.io/ and then send the link?

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