@yashas-katte Could you please start a new forum question for these new ESC issues? Thanks!

@Vinny

@Vinny said in GPS Not OK with VOXL2 PX4:

Hi @kp-ng
Eric has you covered with all SW.
A small tip: From what I see in your picture, please understand that if you have WiFi and GPS antennas next to that very large power supply and no space between them, your radio link performance will be terrible.
There is a good chance you will not pick up any satellites, and your WiFi link will disconnect often.
For optimal performance, try to mimic the spatial separation that you would expect to see on one of our drone platforms.
Thanks!

^Can you provide an example what the ideal routing for wifi antennae would be on the sentinel drone platform (specifically with the microhard modem carrier add-on)? I came across this post while trying to troubleshoot my own issues and realized that the way I have the antennae routed coming out the back of the flight deck puts one of them right next to the gps module because of how the modem is oriented.

@tom
When running our algorithm or doing voxl-streaming while connected to a microhard, the drone is experiencing a random reboot. This issue is difficult to see when connected via wifi (station mode). When the drone reboots, it is disconnected from qgc and reconnected to qgc about 1 minute later. I think they had the same problem, can you tell me how they solved it?

@camharrisvayu Ok, we should be able to close this issue -- I flashed 1.0.0 and uploaded params for the sentinel model and that made it so the RC inputs could control the drone -- not sure which parameter made the difference, but I may investigate and report back if I find out.

@Alex-Kushleyev

Confirmed, changing the MODAL_IO_BAUD to 250000 fixed the problem for me. Thank you so much for the help!

@sansoy

Oh great, if you already have a function that works with libmodal-pipe then you shouldn't have much trouble writing one for the cameras. Take a look at these lines for the initial code to register the callback function to the camera pipe, this sets up _camera_helper_cb to receive images on callback. For an example of parsing that data, maybe check out these lines in a different module. There's a bit of extra info here but this shows the gist of casting the raw char* bytes into something like an OpenCV image. Definitely modify as needed to fit your use case!

Keep me posted, happy to help however I can!

Thomas Patton

@Darshit-Desai , yes i believe you are showing the TOF and Hires camera local frames correctly.

As for the vehicle, the convention we normally use is FRD, but since you mentioned that you are assuming FLU in your case, that also looks correct.

@utari_ais Since you're using a voxl1 px4 is running on the flight core not on the voxl itself like voxl2. Therefore there is no voxl-px4 service on voxl1

@Inverse-AJ @rogerli
Hi, I also struggled with the OBSTACLE_DISTANCE MAVLink message not appearing in the MAVLink Inspector. Moreover, obstacle avoidance was not functioning after I upgraded v1.3.5 to ModalAI SDK v1.5.0. If you're experiencing this issue, ensure the following:

Set MPC_POS_MODE to 0 (Simple Position Control) or 3 (Smooth Position Control). The default value (4, Acceleration-based Input) is incompatible with ModalAI’s VOXL platform.
Set COM_OBS_AVOID to 1. This enables obstacle avoidance in PX4.
Set CP_DIST to a value greater than 0. This specifies the critical distance for collision prevention.
Ensure your drone has a valid home position or local position from QVIO. This is required for proper navigation.
Ensure your drone is in Position Hold mode. Obstacle avoidance requires this flight mode.

Although the OBSTACLE_DISTANCE message does not appear in the MAVLink Inspector, QGroundControl displays the obstacle distance overlay in its telemetry view, and the drone successfully performs obstacle avoidance. Note: This applies to ModalAI SDK v1.5.0; check for updates in newer versions.

f0d0fe9f-61ff-4287-9210-186dafc0879a-Untitled.jpg

@Aaky Well, unfortunately it isn't obvious what is going wrong. You will have to start by disabling everything and when px4 comes up reliably start enabling things to find out the culprit.

@Jeremy-Frederick, can you specify which ESC you are asking about?

The PWM pins on the ModalAI ESCs (which have the pwm signals on a connector or test pads) are bi-directional, and yes they could be used as PWM output. However, a firmware change is required and enabling PX4 to send out PWM signals is another change

We were considering enabling this feature but it is not yet implemented. Can you please provide more information about your requirements?

what type of PWM signal are you trying to send ? min/max range, update frequency, (is it one shot, or just preriodic) how often are you planning to update the value of this PWM signal? how many PWM signals do you need? what is the source for the control of PWM signal in your application (RC or something else?). The reason why I am asking, the ESC would need to receive a serial data packet from voxl_esc driver in px4, so somehow that pwm output information would need to enter the voxl_esc driver.

Alex

@Eric-Katzfey Sure. Here is the link of the new post: https://forum.modalai.com/topic/3649/trouble-in-running-the-mavros_test-project-simple-example?_=1721124109041

@tom it looks like the groups are the same between machines (and yours except I'm not in docker), and the versions of adb, fastboot, and all android packages are the same. I was looking online and some people say it may be related to or solved by udev (https://askubuntu.com/questions/705537/no-permissions-fastboot-fastboot-and-adb-not-working) but I'm not sure I have more more time to troubleshoot this, and I didn't touch anything with udev on the working machine. Hopefully I'll be able to circle back to this eventually, but thank's for your help with everything!

@jonathanrblazer I am glad it worked out for you. yes, I've been running the docker inside the VirtualBox, but you can also run it outside the VM, just use your wifi and "ssh root@ip". Always "commit" any changes you make inside the docker; otherwise, you'll have to re-download your packages over and over again. I also had a lot of issues with communication. The docker container wouldn't communicate with the drone. If you're trying to run MAVROS, follow these steps here https://docs.modalai.com/mavros-0_9/

@Moderator bf357fde-1761-4850-8a9a-4b9ba6c37115-image.png

This is after power cycle (poweroff -f, power source off, turn on again)

@Jetson-Nano To install the new voxl-io-server try dpkg --force-all -i voxl-io-server_0.0.5-202502191136_arm64.deb.

@Alex-Kushleyev would you be able to help troubleshoot this error with the rear tracking camera?

@tom @shawn_ricardo Thanks very much - ill give that a try

@Vinny , I have the schematics ready for review. I will wait for your email to share them with you.

Regards and thanks in advance,
Fernando

@MattO The instructions should be more clear now: https://gitlab.com/voxl-public/other/voxl-python-3.6.9#installing-the-ipk