@h3robotics I've been using v2.5 on my development machine and it works fine so v2.7 should also be fine. (Dang, I need to update 😉 )

@tom Is there a configuration for ov7251 stereo and IMX678 (MDK-M0061-2-06)? I don't see any config for the IMX678?

https://www.modalai.com/products/mdk-m0061-2?variant=44563858850096

01 - ov7251 tracking ov7251 stereo 02 - ov7251 tracking 03 - ov7251 tracking ov7251 stereo imx214 hires 04 - ov7251 tracking imx214 hires 05 - pmd-tof ov7251 tracking 06 - D0005 Starling pmd-tof imx214 hires ov7251 tracking 08 - imx214 09 - pmd-tof 10 - ov7251 stereo 11 - D0006 Sentinel 12 - ov9782 stereo 13 - ov9782 stereo imx214 hires 14 - ov9782 stereo pmd-tof ov7251 tracking (copy) 15 - D0008 dual 9782 tracking 16 - pmd-tof ov7251 dual tracking imx214 hires 17 - D0010 pmd-tof imx412 hires ov7251 tracking ov9782 stereo 18 - D0008 triple ov9782 19 - D0005 without tof imx214 hires ov7251 tracking 20 - D0011 imx412 hires ar0144 tracking 21 - old C6 23 - D0010 without stereo 24 - pmd-tof LIOW2 (new TOF) 25 - dual ar0144 31 - D0013 Prototype M0135 dual ar0144 32 - D0008 triple ov9782 rotated C - use user-defined custom camera config in (/data/modalai/custom_camera_config.txt) q - Quit The Wizard

@Zachary-Lowell-0 Yes I installed voxl-ros2-foxy. This time I just tried "source /opt/ros/foxy/mpa_to_ros2/install/setup.bash" and that was accepted. However, looking now px4_msgs is still not recognized within my program.
73d768a7-bab0-42d9-b73e-b4e84749294a-image.png

@Eric-Katzfey Thank you! I now use journalctl and write to a file in a logger service, for example:

voxl-mapper-logger.service

[Unit] Description=Logs voxl-mapper log output to file After=voxl-wait-for-fs.service network.target network-online.target Requires=voxl-wait-for-fs.service network.target network-online.target voxl-mapper.service [Service] Type=simple ExecStart=/bin/bash -c "sleep 45 && journalctl -f -u voxl-mapper.service >> /data/logs/voxl_mapper.log" StartLimitInterval=0 Restart=always RestartSec=2s [Install] WantedBy=multi-user.target

@anttukoski , the only way, currently, to connect a third party camera to VOXL2 is using a USB interface, probably using the standard linux UVC driver (voxl-uvc-server would support this)

In order have access to the sources and tools to build the sensormodule camera drivers and tuning files, you would need a partner license from Qualcomm, since this is their terms.

Besides software integration, there is also hardware aspect to supporting the camera, making sure all the connections are properly routed to VOXL2.

Is there a specific camera that you have in mind (and a specific camera module)?

Alex

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

@marian , I was able to replicate it and when running dmesg, I see the following message:

[ 390.539854] R0: [VosMCThread][02:38:25.067557] wlan: [3231:E :PE ] limProcessAssocReqFrame: 914: Max Sta count reached : 2

Changing max_num_sta in hostapd.conf did not help.

After doing a little bit of digging, it seems like this may be a hardware limitation of the wifi hardware on VOXL1 in SoftAP mode : https://android.googlesource.com/kernel/msm.git/+/android-msm-bullhead-3.10-n-preview-1/drivers/staging/qcacld-2.0/CORE/MAC/src/pe/lim/limProcessAssocReqFrame.c#847 .

It could also be a setting somewhere low level and unfortunately we don't have any information on that. Sorry about that.

The wifi module on VOXL1 is QCA6174.

Alex

@kestrelsystemsbp ,

Thank for clarifying. Indeed the camera-calibration app does not work well for high resolution camera calibration because the processing is not optimized for the large image size (takes too long to process a frame).

The workaround for now is to use down-scaled image for calibration. I will follow up with instructions for the easiest way to do this.

Alex

@h3robotics , Thank you, you are right again. We will update!

@tom Thank you!
I am adding an imx214 on J8L.

@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!

Hi @SKA
Alex's instincts are correct, we do not have a smaller plug in board for just tracking in a synce'd config. We only had an M0155 for one image sensor for a while, so your best bet is what Alex said and get the new M0188 for VOXL 2 Mini (VOXL 2 uses M0173, whereas VOXL 2 Mini uses M0188)
It's quite cost competitive for what it does!!
https://www.modalai.com/collections/all/products/m0188

@Alex-Kushleyev Thank you for your reply. I want to set up a single IMX412 camera (with same settings to start with) for live video streaming. I also want EIS and found a recent topic with your comments which I will follow.

For initial testing, I will be using the Starling 2 Adapter M0173 with one IMX412 camera. Once I purchase the single adapter (MDK-M0155-1), then I will use that instead.

I will try out what you proposed. Will reach out if there are any issues 🙂

Thank you.

Regards.

@Eric-Katzfey Thank you for the reply,
If I understand correctly, the example you provided shows MAVSDK running directly on the VOXL — so on the drone itself. However, we want to run our script on a separate PC to be able to control all drones at once. We're not sure which port to use to communicate with PX4 while also taking advantage of the relocalization handled by VOXL.

Thank you again for your help!

@Dronodev Using the M0065 on a UART on the WiFi add-on board may be the most straightforward way to do this. We've never tried to set one up like that but, in theory, it should work if configured correctly in px4. There is no direct way right now to send the RC channel PWM input out the VOXL esc PWM output. There are a number of different ways to approach that so we'll take a look and see if we can come up with something in the next couple of weeks.

@FIREBIRD Sure, reach out at https://modalai.com/contact

Yes, it's supported in production volumes

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