Hi @Rowan-Dempster , I actually tried this branch with both sources for roi (preview and large video stream). It seems to work fine.

I did notice that there is a bug where we were not setting the frame id, this needs to be added right here : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/feature-add-c2d-select-roi-src/src/hal3_camera_mgr.cpp#L1341

roi_meta.frame_id = meta.frame_id;

So, please try the code in the branch (with frame id fix) with different roi sources and let me know how it behaves. It should not matter whether the camera is IMX214 or IMX412, but i have not tried with IMX214. If this branch has the issue with IMX214 based on your testing, i can try it.

Also, if you have not already done so on your branch, please lock voxl-camera-server to use only upper 4 cores, as it significantly improves camera server performance when the load is high (the low level ISP interrupts happen on lower cores only, so this way camera server is not interfering). The reason why i mention this is that you are using an old branch of camera server, so just double checking.

Alex

@Sam-Kiley Yeah, try dpkg --force-all -i <package-name>

@Alex-Kushleyev I have access to Qualcomm tools and code (for example the chi-cdk code repository) and need to add a MIPI camera. I already got the HW, just replacing the imx678 with some other Sony camera modules. I'm also familiar with how to do the camera driver and tuning for Qualcomm platforms.

I'm just looking for the build environment for this platform to compile those drivers and if any platform configuration is needed.

@shawn_ricardo ,

The hardware configuration for your application should be as follows:

J6 : tracking camera with either M0076 or M0135 interposer. Use J6L (lower camera port), which is the only port available on M0076 or JL port on M0135. This camera will be in HW Slot 0. J7 : Hadron, as described in the guide you already found. IR in HW slot 2, OV64B in slot 3 J8 : hires (any) camera. Use either M0076 or M0135. Use J8L (lower camea port). HW slot 4 note that J6U and J8U camera slots can only be used by the second stereo camera (in a stereo pair) due to custom I/O configuration that is default for VOXL2 varian 0 (which is what you have on Sentinel).

If you want to swap tracking and hires camera locations, you can just swap all the instructions as well 🙂

When connecting interposer and cameras, pay attention to pin1 orientaion, which is labeled on every camera connector, voxl2 connectors and interposers.

In terms of software setup:

back up (move) all sensormodule files from /usr/lib/camera/ copy the following sensormodule files that you will find in /usr/share/modalai/chi-cdk (i will assume that you are using imx214 hires camera): cp /usr/share/modalai/chi-cdk/ov7251/com.qti.sensormodule.ov7251_0.bin /usr/lib/camera/ cp /usr/share/modalai/chi-cdk/boson/com.qti.sensormodule.boson_2.bin /usr/lib/camera/ cp /usr/share/modalai/chi-cdk/ov64b40/com.qti.sensormodule.ov64b40_3.bin /usr/lib/camera/ cp /usr/share/modalai/chi-cdk/imx214/com.qti.sensormodule.imx214_4.bin /usr/lib/camera/

confirm the following are present in /usr/lib/camera/"

com.qti.sensor.ov7251.so com.qti.sensor.ov64b40.so com.qti.sensor.boson.so com.qti.sensor.imx214.so

Then, before updating /etc/modalai/voxl-camera-server.conf you can see if the cameras are detected:

voxl-camera-server -l

See output example here :

https://docs.modalai.com/debugging-camera-issues/#checking-which-cameras-are-detected-by-camera-server https://docs.modalai.com/debugging-camera-issues/#sensor-id-to-sensor-type-mapping

For camera server config, use the current config that you already have, wipe any cameras from it that are not tracking or hires. Then add the two camera entries for Hadron into your config, as shown here : https://docs.modalai.com/voxl2-hadron/#minimum-config .

You will need to make sure the camera IDs specified in voxl-camera-server.conf are correct:
0: ov7251
1: boson
2: ov64b
3: imx214

At this point everything should work, once you get here, I can help you customize the video streams as you need.

Alex

@swickliff Interesting, have you had success with this hardware setup before?

@ashwin I took a look at the Qualcomm developer site. My installation of Qualcomm Package Manager (QPM) 2.0 no longer works but they now say to use Qualcomm Software Center. So I was able to download and install v1.14.0 of that and by searching for "Hexagon" I was able to find the download link for "Qualcomm(R) Hexagon™ SDK 4.x"

Hi @IlkkaN ,

The com.qti.tuned.imx412_fpv.bin tuning file was created in attempt to remove some of processing in order to reduce delay and tweak / reduce de-noise / smoothing. I believe the starting point was com.qti.tuned.cmk_imx577.bin which was provided by Qualcomm (you may be able to find that one). IMX577 and IMX412 are nearly identical cameras.

We do not have a tuning file for IMX678 and currently the tuning file name is not specified in the IMX678 sensormodules, which means that com.qti.tuned.default.bin will be used. The default tuning file is the fallback in case the tuning file name specified in the sensormodule file is not found. The default tuning file is not tuned for any specific camera and should be used with caution :).

If you want to confirm which tuning file is used by each camera / sensormodule, you can check this the following way:

add to /vendor/etc/camera/camxoverridesettings.txt: logInfoMask=0x20000

then run

logcat | grep -i tuning

and then start voxl-camera-server, you should see output like this:

03-30 01:57:45.256 2705 2705 I CamX : [ INFO][HWL ] camxhwenvironment.cpp:1762 CreateTuningDataManager() Enter : sensor index: 0, sensor name: cmk_imx577, chromatix name: cmk_imx577 03-30 01:57:45.256 2705 2705 I CamX : [ INFO][HWL ] camxhwenvironment.cpp:1798 CreateTuningDataManager() Searching regular tuning file 03-30 01:57:45.262 2705 2705 I CamX : [ INFO][HWL ] camxhwenvironment.cpp:1839 CreateTuningDataManager() Loaded tuning file: /usr/lib/camera/com.qti.tuned.cmk_imx577.bin for sensor index: 0 03-30 01:57:45.301 2705 2705 I CamX : [ INFO][HWL ] camxhwenvironment.cpp:1762 CreateTuningDataManager() Enter : sensor index: 1, sensor name: ar0144, chromatix name: onsemi_ar0144 03-30 01:57:45.301 2705 2705 I CamX : [ INFO][HWL ] camxhwenvironment.cpp:1798 CreateTuningDataManager() Searching regular tuning file 03-30 01:57:45.310 2705 2705 I CamX : [ INFO][HWL ] camxhwenvironment.cpp:1839 CreateTuningDataManager() Loaded tuning file: /usr/lib/camera/com.qti.tuned.onsemi_ar0144.bin for sensor index: 1

Our approach is currently not to heavily rely on the ISP tuning, instead we are building our own light-weight image processing pipeline, called MISP, which does processing on the GPU (from RAW bayer frames). MISP also allows us to create up to 6 high resolution color video pipelines, as opposed to the limit of 2 cameras (in video mode) supported by Spectra480 ISP, since it has two separate full VFEs.

By using MISP, we have full control over the algorithms that are running and we can easily share details with the customers. However, MISP definitely lacks many features that are present in the hardware ISP.

Please let me know if you have any other questions.

Alex

@Moderator That's exciting, I'll be on the lookout. Thanks!

@Kory4Drone Barometer temperature calibration is optional, but in some cases it can improve performance. You can run the barometer temperature calibration directly from the command line on VOXL 2: baro_temp_cal. Or you can run it from voxl-portal.

Hello @JoeAR_21 ,

The debug log shows that the transition from the sinusoidal spin-up to closed-loop (based on back-emf) control is not working. There are several safety checks to prevent a bad motor from spinning up and the checks happen during this transition.

Most likely the motor windings or leads are compromised, either one of the phases is disconnected or there may be a short between two phases.

If you have a milliohm meter, you could accurately verify the phase resistance. A disconnected phase can be verified using a regular multi-meter by checking pairwise resistance between the 3 phases (should be the same and close to zero (in the range of 200-300 mOhm), depending on the specific motor used).

While an ESC issue is also possible, however, it is less likely to occur during a crash, unless the ESC was mechanically damaged.

Alex

Hello @hgutier ,

Can you please provide output of voxl-camera-server -l, which will scan all the connected cameras? You can just list the top part, something like this (just an example). Please note that this command will stop the background camera server service, if it's running, which can be restarted using systemctl start voxl-camera-server or just rebooting voxl2.

voxl-camera-server -l DEBUG: Attempting to open the hal module DEBUG: SUCCESS: Camera module opened on attempt 0 DEBUG: ----------- Number of cameras: 3 DEBUG: Cam idx: 0, Cam slot: 0, Slave Address: 0x0020, Sensor Id: 0x0214 DEBUG: Cam idx: 1, Cam slot: 1, Slave Address: 0x0030, Sensor Id: 0x0356 DEBUG: Cam idx: 2, Cam slot: 2, Slave Address: 0x0034, Sensor Id: 0x0077

Also, please list the following contents:

ls /usr/lib/camera/*sensormodule*

We will just double check that the software is set up correctly to use the TOF module.

Thank you

Alex

Hello @RyanH ,

The GPS interference work is still ongoing. Currently, the solution that works is elevating the GPS using a mast with some shielding right under the mast, as described in the thread you referenced.

We recently added a feature to voxl-portal to allow you to see the individual satellite signal strengths in order to help with debugging the signal quality. The GPS page can be located under the Debug section of voxl-portal, you should get the recent nightly build of voxl-portal in order to try it.

voxl-portal-gps-satellite-signal.jpg

Elevating the GPS receiver by about 4 inches with shielding has shown to completely eliminate the interference, but you will also need an extended cable that plugs between the GPS receiver and VOXL2.

If you need more details about the workaround, I can prepare better documentation and I'll see if we can have replacement cables or extensions available to make the electrical connection easier.

Alex

From James (the guy who set the parameter)

feel free to increase it. Starling 2 Max has a very high power to weight ratio so I artificially calmed it down by limiting throttle

@kestrelsystemsbp Take a look at Python MPA interface: https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-pipe/-/tree/dev/python?ref_type=heads

@KnightHawk06 That is the source, yes.

It seems that a similar functionality has been shown in an experimental python branch: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-tools/-/blob/pympa-experimental/tools/python/pympa-resize.py. Is this a recommended way to go about this (if so, how do I get these libraries and their C-bindings onto my voxl2) or is there an easier approach?