@garret I use the Sparkfun CAB-12977 and CAB-17240 for HITL and it works really well.

@Hector-Gutierrez Point a small fan at the VOXL 2 while you have it on your desktop. You need to have air flow. When it is on a drone and flying you get a lot of airflow from the propellers but on the desktop you should have a small fan.

@Andrew-Martin You can check your camera calibration files with voxl-check-calibration

If you see any missing I can likely locate them and send them over to you

@Jetson-Nano VOXL 2 does not have PWM out. You would need our IO expander board M0065 to bridge between UART and PWM. https://www.modalai.com/products/voxl2-io?variant=40610514206771

Hi @AidanGallagher
That USB2 port Port, J12, on M0062 is not much different than many other expansion board USB ports. It goes through a HUB, and as Tom pointed out, if you use M0130, your setup will simplify.
M00130 is the only USB2 product we have that can power the Doodle directly: https://docs.modalai.com/expansion-design-guide/#usb-expansion-over-j3--j5

I'm not entirely sure either why your M0062 will not work, but I'm thinking it may be something with the grounding and VBUS connection due to the external board you use for power, and it not sharing a ground with the M0062 where the USB comes from. For example, our MCBL-00085-1 handles all that: https://docs.modalai.com/cable-datasheets/#mcbl-00085
Our USB3 debug board does not have a current limiting IC like M0062 has, and will not impact USB operations. However, with M0062, since it goes through the hub, and it has power control, if anything goes wrong with power or ground, the port may be disabled.
I would first try to see if your J12 port works normally, with a thumb drive for example (or I think you did that with a WiFi and were good). Then, if you want to try to share some more ground connections between your M0062 and the external power supply, that could be a good test.

But, we do suggest you change to an M0130 as you will have a much nicer setup long term.
Hope that helps.

@kerct the higher number cores are larger and more powerful, and they generate more heat. So, the kernel is intelligently biased towards keeping the chip from overheating

Initial docs are up : https://docs.modalai.com/camera-video/electronic-image-stabilization/

@JP-Drone , If your camera is flipped (rotated 180), you just need to update your extrinsics to tell EIS the orientation of camera w.r.t IMU:

https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/dev/voxl2-eis.md?ref_type=heads#extrinsic-calibration

Instead of right side up

"RPY_parent_to_child":    [0, 90, 90]

your extrinsic file should be

"RPY_parent_to_child":    [0, 90, -90]

In other words, your /etc/modalai/extrinsics.conf should contain the following entry:

{
    "parent": "imu_apps",
    "child":  "<camera_name>",
    "T_child_wrt_parent": [0.0, 0.0, 0.0],
    "RPY_parent_to_child":    [0, 90, -90]
}

(I am assuming VOXL2 is mounted in normal orientation, right side up)

Please try.

Also, we recently merged the EIS feature to dev branch of camera server, still working on better documentation.

Alex

Here are two image samples taking using IMX412 and AR0144. IMX412 is slightly cropped on the sides, but it's also a slightly narrower lens. AR0144 image is without LSC correction. Also images slightly out of focus because the test pattern is very close to the camera. The brightness in the IMX412 image is more evenly distributed (larger, better lens), so the center of the image is not over-exposed, unlike the AR0144. This should be corrected with the proper LSC..

IMX412

AR0144-color

OK, I was able to confirm this configuration:

• VOXL2
• M0173 + 3x AR0144 + 1x IMX412 (C27 config)
• M0155 + 1x AR0144 plugged into J8
  • AR0144 i2c slave id change via resistor
  • small camera driver modification for new slave id
• also verified the synchronization between the 4 AR0144

The resistor swap was relatively easy, but i used a special "tweezer" soldering iron tip. I can be difficult without the right tools.. Let me check if we can do a swap for the custom order..

See the image with marked slave id select resistor that needs to move to a pad right above the current placement. It can be a bit tricky to do it

Alex