• RE: IMX412 Colour

    Also, a quick note.. regarding what preview resolution to use with IMX412 camera with MISP enabled..

    For best quality (non-EIS applications, where the output is 16:9 aspect ratio, such as 3840x2160, 1920x1080, 1280x720), you should select 3840x2160 as the preview resolution. For EIS applications, the full frame 4040x3040 resolution should be used because it will allow more stabilization margin. selecting 3840x2160 will tell the camera to crop this region from the full frame 4040x3040, since we don't need the rest of the image.

    For low latency applications, you can use input resolution of 1936x1080. Note that this is slightly non-standard (as opposed to 1920x1080 because the 1936x1080 resolution allows faster processing. So you could have input resolution of 1936x1080 and output resolution of 1920x1080, 1280x720, etc.

    Alex

    posted in Ask your questions right here!
  • RE: Turtle mode compatibility with non Modalai ESC

    @Jetson-Nano This is a feature that was designed specifically for our FPV drones so that is the only branch that has it supported.

    posted in Ask your questions right here!
  • RE: Turtle mode compatibility with non Modalai ESC

    @Jetson-Nano , this question is probably for @Eric-Katzfey

    posted in Ask your questions right here!
  • RE: Turtle mode compatibility with non Modalai ESC

    @Jetson-Nano , it seems that Vertiq has PX4 support, so you should be able to modify their driver to enable the turtle mode. The mode is triggered by checking the RC switch within the voxl-esc driver.

    https://iqmotion.readthedocs.io/en/latest/tutorials/ifci_px4_flight_controller.html

    If you disable the voxl-esc driver, PX4 should work fine, as long as you correctly update the PX4 parameters to use another ESC type.

    Alex

    posted in Ask your questions right here!
  • RE: IMX412 Colour

    @dirizarry ,

    If your lens does not have an IR filter, the colors will be distorted. Please take a look at sample images : https://docs.modalai.com/M0161/#image-samples-for-sensor

    You could replace the lens with another lens that has an IR filter.

    If you do want to keep the lens without IR filter, please follow the steps below.

    My best suggestion is to download the latest IMX412 drivers from here

    Extract the archive and select the sensormodule with the correct id (matching the ID that you have already been using). back up existing imx412 sensormodules and copy the new one to /usr/lib/camera/

    Then, edit /etc/modalai/voxl-camera-server.conf - i will just provide a minimal config for a single IMX412 camera (you will need to check the camera id in the config file). If you use voxl-portal, you should be able to see hires_misp_color and h264 encoded stream hires_misp_encoded.

    {
        "version":  0.1,
        "fsync_en": true,
        "fsync_gpio":   109,
        "cameras":  [
        {
            "type":             "imx412",
            "name":             "hires",
            "enabled":          true,
            "camera_id":        0,
            "fps":              30,
            "en_preview":       true,
            "en_raw_preview":   true,
            "en_misp":          true,
    
            "preview_width":    3840,
            "preview_height":   2160,
            "misp_width":       1920,
            "misp_height":      1080,
    
            "misp_zoom":        1,
            "misp_gamma":       1,
            "misp_awb":         "auto",
            "ae_mode":          "lme_msv",
            "gain_min":         100,
            "gain_max":         32000,
            "ae_desired_msv":   100,
    
            "misp_venc_enable": true,
            "misp_venc_mode":   "h264",
            "misp_venc_br_ctrl":"cbr",
            "misp_venc_mbps":   5,
    
            "en_small_video":   false,
            "en_large_video":   false,
            "en_snapshot":      false
            }
        ]
    }
    

    Please note that after you start voxl-camera-server, the config file will be auto-populated with some more default parameters for this camera.

    When viewing hires_misp_color stream in voxl-portal, if you see any flickering, please try to set voxl2 cpu mode to perf : voxl-set-cpu-mode perf as well as reduce the jpeg quality that is used to display this stream (which is YUV converted to jpeg in the back-end). The mjpeg quality can be changed by enabling the advanced controls in voxl-portal (click the tiny check box in the bottom left corner of the page) and reduce the Quality slider.

    7fde50a8-0c94-49e3-b053-2db0a8f76ee6-image.png

    Using MISP should help with reducing the IR effects, but it won't be perfect due to really strong IR light that can be present durig day time outdoors.

    Alex

    posted in Ask your questions right here!
  • RE: RRFPV PIZZA 13” rebuild with NDAA components/ModalAI components

    @bambamoda Are you asking about flight controllers (FC) that can do 8 motors or ESCs that can do 8 motors?

    posted in VOXL Compute & Autopilot
  • RE: RRFPV PIZZA 13” rebuild with NDAA components/ModalAI components

    @bambamoda We haven't run more than 4 motors. It's theoretically possible to do so with dual ESCs but would take some software work

    posted in VOXL Compute & Autopilot
  • RE: Turtle mode compatibility with non Modalai ESC

    @Jetson-Nano The turtle mode is built into the px4 voxl_esc driver so it will only work with that ESC.

    posted in Ask your questions right here!
  • RE: VOXL 2 Connecting an External Flight Controller Problem

    @ravi I'm suspecting you have a bad cable or the cable is subject to some interference. Can you try this on a benchtop with just a VOXL 2 and an FC v2 and no other components? Is it currently integrated into a custom drone? Can you look at the signal quality on the TX and RX UART lines with an oscilloscope?

    posted in VOXL 2
  • RE: VOXL 2 Connecting an External Flight Controller Problem

    @ravi Here is what I see on my setup testing with baudrate 921600, TELEM1 (J1), and J18 (12):

    nsh> mavlink status
    
    instance #0:
        GCS heartbeat valid
        mavlink chan: #0
        type:        GENERIC LINK OR RADIO
        flow control: OFF
        rates:
          tx: 1773.5 B/s
          txerr: 0.0 B/s
          tx rate mult: 1.000
          tx rate max: 46080 B/s
          rx: 570.5 B/s
          rx loss: 0.0%
        Received Messages:
          sysid:255, compid:190, Total: 2341 (lost: 57)
            msgid:  126, Rate:  nan Hz, last 0.01s ago
            msgid:    4, Rate:  0.1 Hz, last 2.27s ago
            msgid:    0, Rate:  1.0 Hz, last 0.58s ago
            msgid:   69, Rate: 29.1 Hz, last 0.02s ago
          sysid:  1, compid:197, Total: 108 (lost: 0)
            msgid:    0, Rate:  1.0 Hz, last 0.86s ago
        FTP enabled: YES, TX enabled: YES
        mode: Normal
        Forwarding: Off
        MAVLink version: 2
        transport protocol: serial (/dev/ttyS6 @921600)
        ping statistics:
          last: 14.29 ms
          mean: 31.46 ms
          max: 135.44 ms
          min: 13.21 ms
          dropped packets: 0
    
    posted in VOXL 2