@berayksl Hi there,

In the VOXL2 file /etc/modalai/vio_cams.conf all the cameras should be listed as a JSON record. the top-level disable attribute of each record can be edited to turn cameras on and off (make front true and the others false for just the front camera).

On calibration, instructions can be found here.

If the camera's physical positions changed from delivered, then you'll need to update the extrinsics.

@berayksl
Hi there,

1. Since you were able to run a limited bench test, having it fly away after a couple movements indicates 3 possibilities:

• extrinsics are incorrect -- either bad imu_apps to cam# values or camera outputs are flipped.
• intrinsics are incorrect (bad camera calibrations)

2. yes you can run without mag enabled. Should work normally if (of course) VIO is running normally.

3. As for PX4 parameters, VIO enabling can be setup applying this param file.

My thinking is the camera extrinsics maybe off or mismatched to the camera ID. If you can only enabling one camera at a time and run the bench/hand test as if like a single camera vio setup, hopefully it will reveal the misconfigured camera (if all then we have an imu issue).

@ashwin Are you looking to control the servo via PX4 or with some custom software? What will the servo be doing?

@george-kollamkulam Is that so that you can power your distance sensor?

Hi there, just a quick sanity check. Does the drone fly normal in manual mode?

If so, it is worthwhile to do a hand/bench test by powering up on a flat surface. Then connect to the drone via wifi and startup VOXL-Portal. Going to the VIO panel in portal, if you life the drone up and down, then left and right, it should be reflected in portal with the correct trajectory display. If not and it drifts in manual mode too, then there's like a voxl2 calibration or param issue (not vio).

Hi @Sam-Kiley
We do try to state on there directly the following:


So yes, if you bought a 5G card from us in the past for Quectel, it was a different SKU, likely MDK-M0090-3-01-00, not the current offering for Sierra MDK-M0090-3-02-00

We do not make the Quectel variants anymore since we source the Sierra's to be NDAA compliant.

@george-kollamkulam Regarding question #2 you will need to rebuild PX4. It currently only has the serial drivers built in for the Lightware distance sensors. So, in file boards/modalai/voxl2-slpi/default.px4board you would need to add the driver with DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y. Once it has been built into the image then you can start it in the startup script /usr/bin/voxl-px4-start with the command qshell lightware_laser_i2c start -d 4

@KnightHawk What are you trying to do? Why would you want to communicate with your FC via i2c?

@James-Strawson

hmmm, by any chance are you failing to link against symbols from libgmb.so? That is a new library dependency of libmodal_pipe. Most of our packages use the following linker flags to avoid recursive linking, I think this would be a better solution than specifying the libmodal_pipe version in install_build_deps.sh

set(CMAKE_C_FLAGS "-Wl,--unresolved-symbols=ignore-in-shared-libs ${CMAKE_C_FLAGS}")
set(CMAKE_CXX_FLAGS "-Wl,--unresolved-symbols=ignore-in-shared-libs ${CMAKE_CXX_FLAGS}")

@ianjsherman While we are slowly migrating packages to build in a new build environment, the API for libmodal_pipe should not have changed and installing the new binary package in voxl-cross 2.7 into order to build and link against should not have broken. Do you mind sharing what exactly broke in your build as there might have been something that I missed.