@RichieRich
GPS unit is mounted by default (as it comes with RB5 5G drone), mast is locked in vertical postion.
Turning EKF2_REQ_SACC to 0,75 provided no errors from GPS.
Obstacle avoidance was also disabled, so we managed to fly.

But I'm still a bit confused why the obstacle avoidance gives error, since the drone was placed on the ground (concrete pavement), no obstacles within few meters, while the minimum distance was set to only 1 m. But this is current setup that works:
0de5d598-3401-4512-9e7b-3ef8202ef635-image.png

Many thanks for your help. We'll try to figure this out and provide info in a few days.

Today I tried using another provider for the SIM and it connected to the internet. Not sure where to start debugging this cause it is getting an IP, but I figure it needs internet access to get the time ?

@Patrick-Hinchey
hi patrick
did you manage to solve the tune problem ?
we king of facing same problem with our drone
any help will be appreciate

@Philemon-Benner Our qrb5165 based platforms put 64 bit libraries into /usr/lib. On Voxl the 64 bit libraries go into /usr/lib64. So the 64 bit support is specifically for our qrb5165 based platforms (e.g. RB5 Flight).

@ErezI

When it comes to comparing the quadratic curve fits, it is difficult to look at just the coefficients and compare them. If you have multiple tests, you should plot the quadratic plots on the same figure and see how repeatable they are. What may seem like a noticeable variation in the coefficients, could still result in curves that are very similar.

By the way, you should not just average values of a0, a1, and a2 to get a0_average, a1_average, and a2_average, as this will result in wrong curve. If you would like to find an average of all 4 runs, then you can just create a quadratic fit of all the points from the 4 data sets - that is the proper way to do it. However, if after plotting the 4 curves they look very similar, you can use any of the 4 individual fits. The PI (Proportional Integral) controller on the ESC will compensate for minor deviations.

The error you saw with params not being valid was due to the latest version of voxl-esc tools using new parameter structure. So the solution is (which is what you already figured out) to update the firmware and params to latest. This type of change does not happen too often. We will add this to documentation to make this clear.

Alex

@Darshit-Desai Can you try the v1.13 PX4 for the Flight Core? https://docs.modalai.com/flight-core-v2-firmware/

@Alex-Kushleyev
sorry for the delay,
this sounds about right.
I'm not sure about the 15 fps but we do use raw preview only for our application and no other stream
this is my camera conf file:

cat /etc/modalai/voxl-camera-server.conf /** * voxl-camera-server Configuration File * * Each camera has configurations for up to 4 HAL3 streams: * - `preview` stream for raw unprocessed images from CV cameras * - `small_video` 720p (ish) h264/h265 compressed for fpv video streaming * - `large_video` 4k (ish) h264/h265 for onboard video recording to disk * - `snapshot` ISP-processed JPG snapshots that get saved to disk * * on QRB5165 platforms (VOXL2 and VOXL2 mini) you can only have 3 of the 4 enabled * * This file is generated from default values by voxl-configure-cameras. * Do not expect arbitrary resolutions to work, the ISP and video compression * pipelines only support very specific resolutions. * * The default video compression mode is cqp or Constant Quantization Parameter * * * */ { "version": 0.1, "cameras": [{ "type": "ov7251", "name": "stereo", "enabled": true, "camera_id": 0, "camera_id_second": 1, "independent_exposure": false, "fps": 30, "en_rotate": false, "en_rotate_second": false, "en_preview": true, "preview_width": 640, "preview_height": 480, "en_raw_preview": true, "ae_mode": "lme_msv", "ae_desired_msv": 60, "exposure_min_us": 20, "exposure_max_us": 33000, "gain_min": 54, "gain_max": 8000, "exposure_soft_min_us": 5000, "ae_filter_alpha": 0.600000023841858, "ae_ignore_fraction": 0.20000000298023224, "ae_slope": 0.05000000074505806, "ae_exposure_period": 1, "ae_gain_period": 1 }, { "type": "imx412", "name": "hires2", "enabled": true, "camera_id": 2, "fps": 3, "en_rotate": true, "en_preview": true, "preview_width": 4056, "preview_height": 3040, "en_raw_preview": false, "en_small_video": false, "small_video_width": 1024, "small_video_height": 768, "small_venc_mode": "h265", "small_venc_br_ctrl": "cqp", "small_venc_Qfixed": 30, "small_venc_Qmin": 15, "small_venc_Qmax": 40, "small_venc_nPframes": 9, "small_venc_mbps": 2, "en_large_video": false, "large_video_width": 2048, "large_video_height": 1536, "large_venc_mode": "h265", "large_venc_br_ctrl": "cqp", "large_venc_Qfixed": 38, "large_venc_Qmin": 15, "large_venc_Qmax": 50, "large_venc_nPframes": 29, "large_venc_mbps": 30, "en_snapshot": false, "en_snapshot_width": 4056, "en_snapshot_height": 3040, "ae_mode": "lme_msv", "ae_desired_msv": 65, "exposure_min_us": 20, "exposure_max_us": 33000, "gain_min": 20, "gain_max": 250, "exposure_soft_min_us": 3000, "ae_filter_alpha": 0.700000023841858, "ae_ignore_fraction": 0.20000000298023224, "ae_slope": 0.05000000074505806, "ae_exposure_period": 1, "ae_gain_period": 0.5 }, { "type": "imx412", "name": "hires", "enabled": true, "camera_id": 3, "fps": 3, "en_preview": true, "preview_width": 4056, "preview_height": 3040, "en_raw_preview": false, "en_small_video": false, "small_video_width": 1024, "small_video_height": 768, "small_venc_mode": "h265", "small_venc_br_ctrl": "cqp", "small_venc_Qfixed": 30, "small_venc_Qmin": 15, "small_venc_Qmax": 40, "small_venc_nPframes": 9, "small_venc_mbps": 2, "en_large_video": false, "large_video_width": 4056, "large_video_height": 3040, "large_venc_mode": "h265", "large_venc_br_ctrl": "cqp", "large_venc_Qfixed": 38, "large_venc_Qmin": 15, "large_venc_Qmax": 50, "large_venc_nPframes": 29, "large_venc_mbps": 30, "en_snapshot": false, "en_snapshot_width": 4056, "en_snapshot_height": 3040, "ae_mode": "lme_msv", "ae_desired_msv": 65, "exposure_min_us": 20, "exposure_max_us": 33000, "gain_min": 20, "gain_max": 250, "exposure_soft_min_us": 3000, "ae_filter_alpha": 0.700000023841858, "ae_ignore_fraction": 0.20000000298023224, "ae_slope": 0.05000000074505806, "ae_exposure_period": 1, "ae_gain_period": 0.5 }, { "type": "ov7251", "name": "tracking", "enabled": true, "camera_id": 4, "fps": 30, "en_rotate": false, "en_preview": true, "preview_width": 640, "preview_height": 480, "en_raw_preview": true, "ae_mode": "lme_msv", "ae_desired_msv": 60, "exposure_min_us": 20, "exposure_max_us": 33000, "gain_min": 54, "gain_max": 8000, "exposure_soft_min_us": 5000, "ae_filter_alpha": 0.600000023841858, "ae_ignore_fraction": 0.20000000298023224, "ae_slope": 0.05000000074505806, "ae_exposure_period": 1, "ae_gain_period": 1 }] }

hope this helps

@M-al-khatib Great, glad to hear it is working now!

@Pooyan Interesting, systemd is ideal way for it to be running

@Aaky, I see what you are asking.

What is needed is the python binding to the C function int pipe_server_get_num_clients(int ch) , which is defined here

pympa_create_pub already is set up to return the MPA channel number, so we would just need to use that channel number of checking the number of clients.

I can implement this, but it will need to wait a few days. That is a good feature to have. If you would like to try implementing it yourself, you can add the bindings to :

https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-tools/-/blob/pympa-experimental/tools/pympa.cpp (add call to pipe_server_get_num_clients) in a similar way how other functions are called. add the actual python wrapper to: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-tools/-/blob/pympa-experimental/tools/python/pympa.py then finally, when you call pympa_create_pub, save the pipe id and then pass it to check for clients.

Alex

@Jetson-Nano , OK it seems we have two parallel threads going. please see my reply to the other thread https://forum.modalai.com/topic/3688/vision-sensors-not-detected-in-voxl2 and test it step by step as I suggested (reducing fps of imx214 camera first, then disabling sensors one by one)

Alex

OK, cool 👍 thanks❗

Will try.

@GlennTee Good news! The program now runs, turns out I needed to add the .py extension to the file name when calling the run command, so it should be "ros2 run px4_ros_com offboard_control.py"

However, we experienced a lot of errors while running. The drone did arm (But only would do every even numbered attempt for some reason), however it did not fly. I'm working now to debug these errors.
image(1).png

@Taylor-Presley Right. Some cables work some don't.

@Eric-Katzfey @tom Digging a bit deeper into this, I see that the voxl-build procedure does patch the qmi_wwan.c file, and after the patch, the VID/PID for EM7565 is in there. On one hand this is good news because it implies that the kernel does have support for the modem I'm trying to use; however, its not-so-good news for me because running with that modem has not reliable on VOXL. 😞
Aside from verifying that I am actually running the same version on my VOXL-Flight-Deck as is being built in voxl-build (see below), I'm at a loss regarding other things to do to debug this. Any thoughts on this?
Following is the output of voxl-version on my board:

/ # voxl-version cat: /etc/modalai/voxl-software-bundle-version.txt: No such file or directory -------------------------------------------------------------------------------- system-image: ModalAI 3.3.0 BUILDER: ekatzfey BUILD_TIME: 2021-06-06_19:28 kernel: #1 SMP PREEMPT Sun Jun 6 19:41:01 UTC 2021 3.18.71-perf factory-bundle: 1.0.1 (Yocto installation) -------------------------------------------------------------------------------- architecture: aarch64 processor: apq8096 os: GNU/Linux -------------------------------------------------------------------------------- voxl-suite: Package: voxl-suite Version: 0.5.0 Depends: libjpeg_turbo (>= 9.0.4), libmodal_exposure (>= 0.0.2), libmodal_json (>= 0.3.6), libmodal_pipe (>= 2.1.1), lib rc_math (>= 1.1.5), libvoxl_cutils (>= 0.0.2), libvoxl_io (>= 0.5.4), mavlink-camera-manager (>= 0.0.2), mongoose (>= 7. 3.0), opencv (>= 4.5.2-2), openmp (>= 10.0.2), voxl-camera-calibration (>= 0.1.1), voxl-camera-server (>= 0.8.1), voxl-c pu-monitor (>= 0.2.0), voxl-dfs-server (>= 0.2.2), voxl-docker-support (>= 1.1.3), voxl-gphoto2 (>= 0.0.5), voxl-imu-ser ver (>= 0.9.1), voxl-mavlink (>= 0.0.2), voxl-modem (>= 0.12.0), voxl-mpa-tools (>= 0.3.6), voxl-nodes (>= 0.2.0), voxl- portal (>= 0.1.2), voxl-qvio-server (>= 0.3.4), voxl-streamer (>= 0.2.6), voxl-tag-detector (>= 0.0.2), voxl-tflite (>= 2.2.3), voxl-tflite-server (>= 0.1.5), voxl-utils (>= 0.8.4), voxl-vision-px4 (>= 0.9.5), voxl-vpn (>= 0.0.3) Status: install user installed Section: base Architecture: all Maintainer: james@modalai.com MD5Sum: 172dd2541a4b01ec415651b5ded3afab Size: 1956 Filename: voxl-suite_0.5.0_202111041852.ipk Description: meta-package for voxl-suite software collection Installed-Time: 144 --------------------------------------------------------------------------------

@Eric-Katzfey

only 420000 work for me for CRSF RAW

Hi,

I had the same problem.

You can try to transfer to the normal operation (& ADB)
by:
fastboot continue

and disconnect-connect the USB cable in order to enable
the USB change to ADB.

Erez

@buem799 Hi, no worries, I am also very new to this space. ffplay is separate thing, part of the ffmpeg program, not something inside VLC. This is the reddit link that I posted in the thread I listed above

https://www.reddit.com/r/reolink/comments/yzhlxp/found_a_solution_for_rtsp_blackno_video_in_vlc/#:~:text=In VLC%2C under the Tools,video stream in VLC player

If you read through it, the fix was for a windows machine, which I was using at the time. It states further down in the reddit post that live555 support was removed in newer versions of ubuntu (linux operating system). From your screenshots, it looks like you are using ubuntu, so it could make sense that VLC may not work. I believe it is more a ubuntu issue rather than VLC. Don't try to dig into that, especially if you are new to linux. I would install ffmpeg on your system and try to access the RTSP stream using that. I just asked ChatGPT for the commands to do that and will paste below:

sudo apt install ffmpeg

Id recommend asking Chat how to access an RTSP stream using ffplay, or read the documentation 🙂

The other thing you could do, if you had a windows laptop, you could connect the windows laptop to the drone wifi and try to access the RTSP stream via VLC on windows and do the fix included in the reddit link

@Matthew-Booker
This worked! Thank you

@Alex-Kushleyev I initially tried using an LCD screen for the checkerboard, but the camera wasn't detecting it. Should I move the camera around when transitioning between boxes on the LCD screen?

Afterward, I reverted to the physical checkerboard and moved slowly during calibration. Additionally, I switched to the stereo camera configuration (https://docs.modalai.com/voxl2-camera-configs/#c-10-front-stereo-only-ov7251). Calibration completed successfully, and I was able to start the voxl-dfs-server (after renaming the intrinsics/extrinsics files to match the DFS configuration).

However, I'm still not seeing valid output data in the VOXL Portal. Both the DFS server status and journal logs appear normal. Any idea what might be causing this?

The orientation was labeled vertical in the extrinsics file, I updated it to horizontal since the cameras are mounted in that direction, I tried both.

voxl2:~$ voxl-calibrate-camera stereo -s 6x9 -l 0.0254 Waiting for valid pipe... Please open voxl-portal in a web browser to view the camera calibrator overlay stream Running Calibration... Calibrating Left Camera using intrinsics guess for ov7251 stereo cam Matrix [512.0490656858071, 0, 317.943082105687; 0, 512.9677676044445, 249.1010817824914; 0, 0, 1] Distortion [-0.2223760024137635; 0.2834698825913266; 0.006375005556120415; 0.001380405690556171; -0.3234049381178579] distortion_model: plumb_bob Re-projection error reported by calibrateCamera: 0.618295 Calibration Succeded! Calibrating Right Camera using intrinsics guess for ov7251 stereo cam Matrix [499.9941123870856, 0, 302.2300515222531; 0, 500.0159138740167, 197.2845691878148; 0, 0, 1] Distortion [-0.1920328131645855; 0.1661211129668493; -9.2603546772169e-06; -0.0005742159007090549; -0.1386842520292771] distortion_model: plumb_bob Re-projection error reported by calibrateCamera: 0.654897 Calibration Succeded! Calibrating Extrinsics 7 frames will be processed Processing non-fisheye stereo R [0.9998717783469182, -0.01301971984148091, 0.009322754990917012; 0.01315096821001574, 0.9998132816974246, -0.01415816995820597; -0.009136678855605861, 0.01427895782876463, 0.9998563059074108] T [-0.09106229154044132; 0.0003557888497092847; -0.01247277836064075] Re-projection error reported by stereoCalibrate: 0.921971 Detected horizontal stereo pair Distance between cameras: 0.0911 Extrinsics Calibration Succeded! Saved intrinsics to: /data/modalai/opencv_stereo_intrinsics.yml Saved extrinsics to: /data/modalai/opencv_stereo_extrinsics.yml Exiting Cleanly

ce4025ae-5114-4473-ae6a-d9e4862c4b13-image.png

cat opencv_stereo_front_extrinsics.yml

%YAML:1.0 --- R: !!opencv-matrix rows: 3 cols: 3 dt: d data: [ 9.9987177834691821e-01, -1.3019719841480912e-02, 9.3227549909170124e-03, 1.3150968210015740e-02, 9.9981328169742456e-01, -1.4158169958205966e-02, -9.1366788556058610e-03, 1.4278957828764632e-02, 9.9985630590741081e-01 ] T: !!opencv-matrix rows: 3 cols: 1 dt: d data: [ -9.1062291540441320e-02, 3.5578884970928471e-04, -1.2472778360640750e-02 ] reprojection_error: 9.2197082833254862e-01 orientation: vertical calibration_time: "2025-04-29 21:24:04"

cat opencv_stereo_front_intrinsics.yml

%YAML:1.0 --- M1: !!opencv-matrix rows: 3 cols: 3 dt: d data: [ 5.1204906568580714e+02, 0., 3.1794308210568698e+02, 0., 5.1296776760444448e+02, 2.4910108178249143e+02, 0., 0., 1. ] D1: !!opencv-matrix rows: 5 cols: 1 dt: d data: [ -2.2237600241376348e-01, 2.8346988259132661e-01, 6.3750055561204149e-03, 1.3804056905561710e-03, -3.2340493811785792e-01 ] reprojection_error1: 6.1829492384868989e-01 M2: !!opencv-matrix rows: 3 cols: 3 dt: d data: [ 4.9999411238708558e+02, 0., 3.0223005152225312e+02, 0., 5.0001591387401669e+02, 1.9728456918781478e+02, 0., 0., 1. ] D2: !!opencv-matrix rows: 5 cols: 1 dt: d data: [ -1.9203281316458551e-01, 1.6612111296684931e-01, -9.2603546772168998e-06, -5.7421590070905486e-04, -1.3868425202927714e-01 ] reprojection_error2: 6.5489679777844001e-01 width: 640 height: 480 distortion_model: plumb_bob calibration_time: "2025-04-29 21:24:04"