@alan123 Are you starting voxl-px4 from the command line (e.g. voxl-px4 -d) or is it starting automatically from a systemd service file on startup. If you have started it from the command line you can enter commands from the px4 shell. So, after the script is done, you can enter gps status to see that the driver is doing. If the driver hasn't been started, try starting it directly from the command line.

@alan123 Well, is PLATFORM = M0052? Seems like you are still executing the qshell one. And the command isn't setup correctly, should be gps start -i spi -d /dev/spidev14.0

@alan123 If you are starting it on apps side the you use gps start -d <device port>. If you start it on DSP side then you use qshell gps start -d <device port>. For /dev/spidev14.0 you have to start on the apps side. Also it defaults to UART so if you want SPI then you will need to add -i spi to your start command.

@alan123 said in Using a GPS through SPI:

I'm currently attempting to use a GPS through the J10 SPI port on the VOXL 2. I plugged it in and ran voxl-inspect-gps but it doesn't seem to be connected. Do I have to change some software settings to get this to work?

@alan123 yes you need to change the port that the driver is pointed to. Currently on the voxl2 inside of /usr/bin/voxl-px4-start there is a line that is somewhere along the lines of qshell gps start XYZ and in there one of those args is the literaly bus on the voxl2 that the driver should be probing - if you wish to change to J10, you need to change one of those arguments to point to that endpoint.

@Rowan-Dempster , we will go ahead and integrate the limited 32-bit ION buffer support into libmodal-pipe. Did you make any changes to my latest branch from a few days ago? If so, I can take whatever changes you have and do the final integration. If you have not made any changes (and don't have any suggestions), I can just finish it up from here.

Thanks again for your help!

Alex

Hi @Aaky ,

The documentation for the mini ESC states that we recommend using this ESC for drones 750g or less. It seems your UAV weight is around 1800g.

https://docs.modalai.com/voxl-mini-esc-datasheet/

I am concerned that the ESC may overheat (even though sustained current capacity may still be ok). Also, for larger motor like 2206, you may need to add a bypass capacitor to the ESC power ensure stable performance.

Have you performed tests of sustained hover thrust to see what the ESC temperature is like after several minutes of continuous "hover" thrust?

Alex

@rnunna at this point I would recommend either creating a python or cpp script that leverages mavsdk to probe the logs and get it into the format you are desiring.

Zach

@jared-upshaw the voxl mini also runs the flight stack, so ensure if you are leveraging the flight core v2 and plan on using the voxl2 mini purely for onboard compute, that you disable voxl-px4 on the voxl2 mini as to not get conflicting mavlink messages (serially connect the two over a uart)

As for camera setup, please find the link to the documentaiton on which cameras work with the voxl2 mini and how to wire them up!

https://docs.modalai.com/voxl2-mini-image-sensors/

@Muqing-Cao you have voxl-open-vins-server and voxl-qvio-server running at the same time. Only one can be run - modalAI defaulted to open-vins as the main method for positioning - if you have both running, you are bound to run into conflicting errors.

@YUUJI-INOUE
Please update your SDK version.

Regarding your rotation concern, on D0013 the board the is mounted upside down, but the common frame assumes the board is mounted in the default orientation. For instance, consider the rotation listed in the following file for imu_apps and body

/etc/modalai/extrinsics.conf

If you transform IMU samples by the SE(3) trafo, you'll see they will align with FLU coordinate frame. A quick sanity test would be to check a static IMU sample with inspect-imu and rotate it by the above-mentioned trafo. I should also add that on our soon-to-be-released SDK 1.6.3, we included some flavours of IMU pipes, including body frame, etc. You should be able to access this here, in case you wish to build it on your own.

In regards to VIO, the latest OV-server is significantly better than previous versions. Additionally, if you load the latest imu-server and OV server, you should get all estimates in body frame wrt. {G}. PS: All extrinsics are corrected internally, so you don't need to manually edit the .conf files.