Here are two image samples taking using IMX412 and AR0144. IMX412 is slightly cropped on the sides, but it's also a slightly narrower lens. AR0144 image is without LSC correction. Also images slightly out of focus because the test pattern is very close to the camera. The brightness in the IMX412 image is more evenly distributed (larger, better lens), so the center of the image is not over-exposed, unlike the AR0144. This should be corrected with the proper LSC..

IMX412
imx412_color_sample.png

AR0144-color
ar0144_color_sample.png

@jbhines929 No problem, thanks for the patience!

@taiwohazeez No problem, it would also be helpful to know what SDK version is loaded on your drone. You can check this with voxl-version

Hi @AidanGallagher
That USB2 port Port, J12, on M0062 is not much different than many other expansion board USB ports. It goes through a HUB, and as Tom pointed out, if you use M0130, your setup will simplify.
M00130 is the only USB2 product we have that can power the Doodle directly: https://docs.modalai.com/expansion-design-guide/#usb-expansion-over-j3--j5
a205f92a-157c-434b-a197-e935fa7ed148-image.png
I'm not entirely sure either why your M0062 will not work, but I'm thinking it may be something with the grounding and VBUS connection due to the external board you use for power, and it not sharing a ground with the M0062 where the USB comes from. For example, our MCBL-00085-1 handles all that: https://docs.modalai.com/cable-datasheets/#mcbl-00085
Our USB3 debug board does not have a current limiting IC like M0062 has, and will not impact USB operations. However, with M0062, since it goes through the hub, and it has power control, if anything goes wrong with power or ground, the port may be disabled.
I would first try to see if your J12 port works normally, with a thumb drive for example (or I think you did that with a WiFi and were good). Then, if you want to try to share some more ground connections between your M0062 and the external power supply, that could be a good test.

But, we do suggest you change to an M0130 as you will have a much nicer setup long term.
Hope that helps.

@zauberflote1 @Cliff-Wong @James-Strawson
guys, can you help me with the error mentioned.
now i have an another error where, if I arm the drone, the vio is drifting, and i can see the values increasing without any movement.
what would cause this kind of errors, earlier the drone was flying fine, then it started drifting, even when just armed.

@tom - that solved the problem . The solution was to download and build using voxl-cross:V2.7
Thanks for the very prompt response ! regards, Hector

@Eric-Katzfey thank you for bearing with me, I have moved on to building the project, but running into some issues related to Hexagon SDK.

root@7508b7b53f9a:/usr/local/workspace# ./build.sh *** Starting build *** Setting up the Hexagon SDK environment locally HEXAGON_SDK_ROOT is : /home/4.1.0.4 Setting up the QAIC binary for the platform make: Entering directory '/home/4.1.0.4/ipc/fastrpc/qaic' make: 'bin/qaic' is up to date. make: Leaving directory '/home/4.1.0.4/ipc/fastrpc/qaic' Could not find Androd ndk at /home/4.1.0.4/tools/android-ndk-r19c Please refer to /home/4.1.0.4/docs/tools/setup.html for installing the missed components *** Starting dependencies build *** -- The C compiler identification is GNU 7.5.0 -- The CXX compiler identification is GNU 9.4.0 -- Check for working C compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc -- Check for working C compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Check for working CXX compiler: /usr/bin/c++ -- Check for working CXX compiler: /usr/bin/c++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Configuring done -- Generating done -- Build files have been written to: /usr/local/workspace/px4-firmware/boards/modalai/voxl2/libfc-sensor-api/build Scanning dependencies of target fc_sensor [ 50%] Building C object CMakeFiles/fc_sensor.dir/src/fc_sensor_stub.c.o [100%] Linking C shared library libfc_sensor.so [100%] Built target fc_sensor *** End of dependencies build *** *** Starting apps processor build *** -- PX4 version: v1.14.0-2.0.94-dev (1.14.0) -- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") -- PX4 config file: /usr/local/workspace/px4-firmware/boards/modalai/voxl2/default.px4board -- PLATFORM posix -- LINUX_TARGET y -- TOOLCHAIN aarch64-linux-gnu -- ROMFSROOT px4fmu_common -- ROOTFSDIR /data/px4 -- PX4 config: modalai_voxl2_default -- PX4 platform: posix -- PX4 lockstep: disabled -- The CXX compiler identification is GNU 7.5.0 -- The C compiler identification is GNU 7.5.0 -- The ASM compiler identification is GNU -- Found assembler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc -- Check for working CXX compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-g++ -- Check for working CXX compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-g++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Check for working C compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc -- Check for working C compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- cmake build type: RelWithDebInfo -- ccache enabled (export CCACHE_DISABLE=1 to disable) -- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/linux_pwm_out/module.yaml for VOXL2 -- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/pca9685_pwm_out/module.yaml for VOXL2 -- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/pwm_out/module.yaml for VOXL2 -- Skipping pwm file path /usr/local/workspace/px4-firmware/src/modules/simulation/pwm_out_sim/module_hil.yaml for VOXL2 -- Skipping pwm file path /usr/local/workspace/px4-firmware/src/modules/simulation/pwm_out_sim/module_sim.yaml for VOXL2 -- ROMFS: ROMFS/px4fmu_common Architecture: amd64 ==> CPACK_INSTALL_PREFIX = @DEB_INSTALL_PREFIX@ -- Configuring done -- Generating done -- Build files have been written to: /usr/local/workspace/px4-firmware/build/modalai_voxl2_default [0/568] git submodule src/modules/microdds_client/Micro-XRCE-DDS-Client [4/568] git submodule src/drivers/gps/devices [8/568] git submodule src/modules/mavlink/mavlink [68/568] Performing configure step for 'libmicroxrceddsclient_project' -- libmicroxrceddsclient_project configure command succeeded. See also /usr/local/workspace/px4-firmware/build/modalai_voxl2_default/src/modules/microdds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-configure-*.log [449/568] Performing build step for 'libmicroxrceddsclient_project' -- libmicroxrceddsclient_project build command succeeded. See also /usr/local/workspace/px4-firmware/build/modalai_voxl2_default/src/modules/microdds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-build-*.log [453/568] Performing install step for 'libmicroxrceddsclient_project' -- libmicroxrceddsclient_project install command succeeded. See also /usr/local/workspace/px4-firmware/build/modalai_voxl2_default/src/modules/microdds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-install-*.log [568/568] Linking CXX executable bin/px4 /* Auto Magically Generated file */ /* Do not edit! */ #pragma once #define PX4_GIT_VERSION_STR "5e6a8c257371b6c45e55662daac5fe9fbd08040b" #define PX4_GIT_VERSION_BINARY 0x5e6a8c257371b6c4 #define PX4_GIT_TAG_STR "v1.14.0-2.0.94-dev-dirty" #define PX4_GIT_BRANCH_NAME "" #define PX4_GIT_OEM_VERSION_STR "" #define PX4_GIT_TAG_OR_BRANCH_NAME "v1.14.0-2.0.94-dev-dirty" // special variable: git tag, release or master branch #define MAVLINK_LIB_GIT_VERSION_STR "3ee5382d0c96134b0e1c250d8c2d54bfed0166fa" #define MAVLINK_LIB_GIT_VERSION_BINARY 0x3ee5382d0c96134b #define NUTTX_GIT_VERSION_STR "3f77354c0dc88793a47ff3b57595195ab45f7ba9" #define NUTTX_GIT_VERSION_BINARY 0x3f77354c0dc88793 #define NUTTX_GIT_TAG_STR "v11.0.0" *** End of apps processor build *** *** Starting qurt slpi build *** -- PX4 version: v1.14.0-2.0.94-dev (1.14.0) -- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") -- PX4 config file: /usr/local/workspace/px4-firmware/boards/modalai/voxl2-slpi/default.px4board -- PLATFORM qurt -- TOOLCHAIN qurt -- ROMFSROOT px4fmu_common -- PX4 config: modalai_voxl2-slpi_default -- PX4 platform: qurt -- The CXX compiler identification is Clang 10.0.0 -- The C compiler identification is Clang 10.0.0 -- The ASM compiler identification is unknown -- Found assembler: /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang -- Check for working CXX compiler: /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang++ -- Check for working CXX compiler: /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang++ -- broken CMake Error at /usr/share/cmake-3.16/Modules/CMakeTestCXXCompiler.cmake:53 (message): The C++ compiler "/home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang++" is not able to compile a simple test program. It fails with the following output: Change Dir: /usr/local/workspace/px4-firmware/build/modalai_voxl2-slpi_default/CMakeFiles/CMakeTmp Run Build Command(s):/usr/bin/ninja cmTC_f8c54 && [1/2] Building CXX object CMakeFiles/cmTC_f8c54.dir/testCXXCompiler.cxx.o [2/2] Linking CXX executable cmTC_f8c54 FAILED: cmTC_f8c54 : && /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang++ -Wno-inconsistent-missing-override -DCONFIG_WCHAR_BUILTIN -D__CUSTOM_FILE_IO__ -mv66 -G0 -O3 -Wno-inconsistent-missing-override -DCONFIG_WCHAR_BUILTIN -D__CUSTOM_FILE_IO__ -mv66 -G0 -O3 -Wno-inconsistent-missing-override -DCONFIG_WCHAR_BUILTIN -D__CUSTOM_FILE_IO__ -mv66 -G0 -O3 -Wno-inconsistent-missing-override -DCONFIG_WCHAR_BUILTIN -D__CUSTOM_FILE_IO__ -mv66 -G0 -O3 -mv66 -mG0lib -G0 -fpic -shared -Wl,-Bsymbolic -Wl,--wrap=malloc -Wl,--wrap=calloc -Wl,--wrap=free -Wl,--wrap=realloc -Wl,--wrap=memalign -Wl,--wrap=__stack_chk_fail -Wl,/home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/target/hexagon/lib/v66/G0/pic/libc++.a -lc -mv66 -mG0lib -G0 -fpic -shared -Wl,-Bsymbolic -Wl,--wrap=malloc -Wl,--wrap=calloc -Wl,--wrap=free -Wl,--wrap=realloc -Wl,--wrap=memalign -Wl,--wrap=__stack_chk_fail -Wl,/home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/target/hexagon/lib/v66/G0/pic/libc++.a -lc CMakeFiles/cmTC_f8c54.dir/testCXXCompiler.cxx.o -o cmTC_f8c54 && : hexagon-clang++: error: unable to execute command: Executable "hexagon-link" doesn't exist! hexagon-clang++: error: hexagon-link command failed with exit code 1 (use -v to see invocation) ninja: build stopped: subcommand failed. CMake will not be able to correctly generate this project. Call Stack (most recent call first): CMakeLists.txt:219 (project) -- Configuring incomplete, errors occurred! See also "/usr/local/workspace/px4-firmware/build/modalai_voxl2-slpi_default/CMakeFiles/CMakeOutput.log". See also "/usr/local/workspace/px4-firmware/build/modalai_voxl2-slpi_default/CMakeFiles/CMakeError.log". Error: /usr/local/workspace/px4-firmware/build/modalai_voxl2-slpi_default is not a directory make: *** [Makefile:232: modalai_voxl2-slpi] Error 1 cat: build/modalai_voxl2-slpi_default/src/lib/version/build_git_version.h: No such file or directory *** End of qurt slpi build *** /usr/local/workspace User ID is 1000 Group ID is 1000 *** End of build ***

When downloading I have selected the androidNDK.
841530cf-1384-4a25-8cdd-abc85da72c18-image.png

I then noticed that Hexagon sdk has the ability to download missing components. I tried using instructions provided in /home/4.1.0.4/docs/tools/setup.html to download missing components. To be specific, I tried this command:

$HEXAGON_SDK_ROOT/tools/hexagon_ide/jre/bin/java -jar $HEXAGON_SDK_ROOT/utils/scripts/depDl.jar -c <key> -t $HEXAGON_SDK_ROOT

with the <key> = fullndk. This failed.

When i tried checking out the directory of the java executable being called - the executable was not there. I wonder if this is a problem that occurred because of the installation issue. If you have dealt with missing necessary androidNDK during build, your advice on how to mitigate the issue would be highly appreciated.

Also, there seem to be an Error: /usr/local/workspace/px4-firmware/build/modalai_voxl2-slpi_default is not a directory directory missing. Indeed, during the build it creates /usr/local/workspace/px4-firmware/build/modalai_voxl2_default directory. Is that a bug or is it also because of the sdk installation issues?

PS: Some screenshots of my hexagonsdk directory with alleged java executable:
4569f484-ebed-4766-b403-b97a45b1923f-image.png

@Sarika-Sharma Okay that should be fine, was just double checking the voltage wasn't too high for that ESC.

I'd recommend submitting an RMA: https://www.modalai.com/pages/rma

@victochen , sounds good, feel free to ask more questions.

The 62A current draw (1.3KW!) for one motor is probably OK for motor to sustain for a short period of time, but my guess is that the motor itself would overheat pretty quickly. Unfortunately I could not find any test data about this particular motor, which is unusual.

If we knew the propeller's thrust vs rpm, you could estimate your hover power draw right from this calibration plot (knowing the weight of your drone).

In any case, after you do a short first flight, you should analyse the log data, if you are using PX4, you can use flight-review to view the PX4 logs. Additionally, we maintain our own version of the flight review analysis tool, which includes some VOXL2 specific updates including all the ESC data (commanded and actual rpms, etc). You can find the fork of flight-review and instructions how to use it locally on your machine here : https://github.com/modalai/px4-flight-review

The total current (as the FPV ESC does not measure the individual motor current), will be reported in the battery_status message in the PX4 log and is viewable using flight-review (there is a section for battery voltage / current).

Also just to give you an idea of M0138 performance (and you can reproduce these tests), here is a test of 4 2207 motors with 5x4x3 props, 6S battery, spinning at 25K RPM (in closed loop RPM control mode) with full airflow cooling of the ESC. You can see the the ESC temp(s) go up pretty quickly, but this particular test was pretty short, i think i did not want to cook the motors, since ESC temps were still fine. The ESC is pulling around 125-130A total in this test and the performance is stable. You will notice two temperature bands in the 4 temperature measurements because these temps are reported from different locations (the higher temps are from the MCU's built-in temp sensors, which run a bit hotter due to MCU power consumption) and the lower two temperature measurements are from dedicated temperature sensors located next to the Mosfets (top and bottom of board).

m0138_full_cooling_25000_rpm_8sec.png

voxl-esc tools provide the tools to perform this analysis on the bench pretty easily and find out how your propulsion system is stressed under different conditions. You can also get similar logs from flights / px4-logs for real use case analysis.

Finally, our ESC driver in px4 supports warning and critical temperature limits, which will send out warnings to QGC if those limits are reached. The limits are disabled by default, but you can enable them with params: https://github.com/modalai/px4-firmware/blob/voxl-dev/src/drivers/actuators/voxl_esc/voxl_esc_params.c#L238 . However, i am not 100% sure of the behavior of PX4 if ESC reports critical temps, it could enter some failsafe mode, or something like that - you should double check that, if you enable these warnings.

Alex

Hi @taiwohazeez

Here's the instructions for installing the qrb5165 emulator

https://docs.modalai.com/Qualcomm-Flight-RB5-emulator/

RESOLVED

for those who come after:

it was indeed an ftdi cable issue. Keep in mind that MCBL-00091-1 USB to Serial UART Cable is not a proper cable (i tried two freshly out of the box, and none worked). Currently using this cable: https://www.amazon.sa/-/en/Moyina-Converter-Terminated-BeagleBone-Minnowboard/dp/B06ZYPLFNB

@Alex-Kushleyev Thank you for reverting back.

@Alex-Kushleyev
Thank you so much for the detailed explanation!
I will keep you posted with the update shortly.

@george-kollamkulam That port is internally connected to the 5V coming from the main VOXL2 power (which is technically 5V 6A). Obviously you would be limited by the connector pins, which are rated around 1A max continuous. Also, drawing too much from this pin, can bring down the whole VOXL2 (if that 5V output on J19 is shorted to GND, for example).

@Andrew-Martin You can check your camera calibration files with voxl-check-calibration

If you see any missing I can likely locate them and send them over to you

@george-kollamkulam , yes FLIR Lepton 3.5 just inserts into M0157 board which has the socket for the bare Lepton sensor.

Once you install the sensor into the docket, boot up voxl2 and run voxl-lepton-server. It will autogenerate a default config file /etc/modalai/voxl-lepton-server.conf that will look like this.

{ "spi_bus": 14, "spi_speed": 16000000, "en_i2c": false, "i2c_bus": 0, "shutter_mode": "auto", "flow_shutter_s": 20, "closePeriodInFramesInAir": 1, "openPeriodInFramesInAir": 0, "desiredFfcPeriodMsInAir": 360000, "desiredFfcTempDeltaCentiDegInAir": 600, "en_rotate": false }

You will need to change the SPI bus to 0 and , set en_i2c to true and i2c_bus to 4 because this is the configuration for this Hardware arrangement (M0173 + M0157) per the following documentation : https://docs.modalai.com/voxl2-d0014/#downward-range-finder-and-flir-lepton

Then you can run voxl-lepton-server again in foreground or enable the systemd server using systemctl enable voxl-lepton-server and systemctl start voxl-lepton-server . After that you shoud be able to see the Lepton output using voxl-portal.

Alex

@QSL

For connecting the second TOF to VOXL2, you would need to use VOXL2's J8 port because J6 and J7 will be taken up by the M0173 with the three front cameras.

So you need M0172 plugged into J8 and then plug in M0177 + M0171/M0178 interposer + (actual TOF sensor) assembly into M0172. You can also use an extension M0170 instead of M0177 (https://www.modalai.com/products/msu-m0170).

using M0177:

(voxl2 J8) <-> (M0172 J1L) <-> (M0177) <-> (M0171 / M0178) <-> (TOF Module)

using M0170

(voxl2 J8) <-> (M0172 J1L) <-> (M0170) <-> (M0171 / M0178) <-> (TOF Module)

Please keep in mind that M0177 and M0171 / M0178 and TOF module are usually sold as one unit. Also, M0171 and M0178 are identical except for mounting tabs which can be removed from one to make the other.

I hope that helps!

Alex

M0172
cd921448-ab1a-428a-8e09-5c023f91014d-image.png

M0177
ef01aed2-0e25-4ed8-9172-d17c6404ab91-image.png

M0171 / M0178
a0789a3d-08ca-41b4-bf99-501d21e57798-image.png

Actual TOF Sensor Module
782cb291-28a3-43af-9036-9a0d686cd2e6-image.png

M0170
43b53c46-0d9c-4a31-82eb-3fefa37492c1-image.png

@Eric-Katzfey - Brilliant idea- thank you.

@Eric-Katzfey Thanks for that. I had to start the qvio server and mavlink servers. Also, had to connect the flight controller to qgroundcontrol using the makeshift cable. The RC connection also works fine. Wondering what are the functionalities since the product is reaching its EOL and no new upgrades would be coming in terms of autonomous applications and PX4 integration. Thanks.

@Alex-Kushleyev

I set the "ae_mode" to "off" and it works!

thank you