@Demarconius Yes, we can achieve ~50ms glass to glass using our VRX and voxl-vtx software service on the UAS-side.

https://docs.modalai.com/vrx-ground-unit-developer-guide/#doodle-labs

@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.

@brandon there are likely a number of things going on

If the drone sits idle for a period of time, the sensors heat up (accel and baro). When the props start spinning, the temperature drops causing significant drift. If you let the props spin for 10 or 20s cooling off the board, that can help

I would guess after 30-60s of flight, the altitude stabilizes. That is the temperature of the sensors stabilizng.

The latest SDKs have temperature compensated calibration for IMU and baro. Try calibrating accel and baro and see if that helps.
https://docs.modalai.com/calibrate-baro/
https://docs.modalai.com/calibrate-imu/

The GPS on Starling 2 Max has been tricky. We do have a new GPS on the way that looks promising, and hope to make it available in the next 2mo.

Hi @wetherbeej
Oh yikes..
You should really work with us on that change. There is a high likelihood to damage your VOXL 2 and the MEMs sensors are likely all broken now from the extra reflow cycles.

Flash provisioning is all done over QFIL tools, not PCAT.

@Andrew-Jong , we are able to reproduce the error that you are seeing. I believe that you may need to set up a virtual display in order to get this to work. You could try doing so using Weston compositor, which would normally run if the display was available. Please try it and let us know if you are able to get it to work (or not).

You would need to create a config file /etc/xdg/weston/weston.ini

and try running it manually like this :

weston --idle-time=0 --config=/etc/xdg/weston/weston.ini

a sample config file might look something like this:

# configuration file for Weston
[core]
idle-time=0
repaint-window=15

[output]
name=virtual-1
mode=on

We have not tested this yet, but hopefully it's a good start.

Alex

@Catalystmachine

https://www.modalai.com/products/m0155
https://www.modalai.com/products/m0188 (fixed link)
https://www.modalai.com/products/m0194

If you need M0195, you can contact us directly for a custom order (it's not in the shop yet).

https://modalai.com/contact

Alex

@yashpatel ,

Please see some responses below:

i2c_geni a84000.i2c / 884000.i2c: i2c error :-107

This is likely due to a service that is enabled for a sensor that's not present, so the service is restarting and trying to detect the sensor.

• please make sure the voxl-rangefinder-server is not running and also voxl-lepton-server. you can disable the service using systemd : systemctl disable voxl-rangefinder-server.

CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22

this one is usually present when you have a sensormodule driver in /usr/lib/camera for a camera that is not actually plugged in, so the probe fails. Double check the cameras that you have plugged in vs sensormodules peresent in the directory above. However, this is usually harmless, if all of your cameras are working properly.

Pin conflict.. We will double check that, but GPIO 130 is on a Board to Board connector that you are most likely not using, so that should not be an issue.

VIO performance..

• please review : https://docs.modalai.com/flying-with-vio/
• try to identify the condition that caused the low feature count (look at the actual images, if possible). may need some hand-held testing and looking at the output.

Please let us know if you have any other questions.

Alex

@oasisartisan , I just checked the API for the TOF sensor and it seems we can get the lens calibration. I would need to make a change in the voxl camera server to try it. Please give me a few days..

Alex

@Leo-Allesch , actually we do have a very limited quantity of the TOF V1, so hopefully that would avoid doing the re-design of the camera mounts and flex routing.

Please reach out to https://modalai.com/contact for a custom order. you probably should get one or two of M0135 as well.

Alex

@Leo-Allesch

So it seems like the VOXL2 ports (J6L, J7L, J7U) seem to be functioning (when tested with the hires or tracking camera and a working M0135)?

Can you please provide more information on your requirements: VSLAM and target detection. Both can be done without TOF sensor. TOF sensor is often used to help with obstacle detection / avoidance in indoor environments.

The easiest way to add the new TOF sensor to your drone would be to use the following:

• sensor: https://www.modalai.com/products/m0178?variant=48528287793456
  • this has the M0177 and M0178 board combo + actual sensor
• adapter : https://docs.modalai.com/M0172/

The connection for the new TOF module to VOXL2 would look like this :

VOXL2 <-> M0172 <-> M0177 <-> M0178 <-> IRS2975 TOF sensor

You are right that the cable routing may be an issue, you would likely need to update the mounting bracket for the camera as well.

I am going to double check if we have any TOF V1 left at all.. will get back to you soon.

Replacement M0135 (if you need):

• https://www.modalai.com/products/mdk-m0135

Alex