@Samuel-Lehman

If you have the original adapter for Boson+ which allows you to connect it to a USB port, then you can use the FLIR SDK (we use Boson Plus SDK 4.0). Unfortunately, M0153 board does not have J3 connector populated, which would allow you to connect a serial-to-usb adapter to it.

We have several python scripts, which use the Boson SDK to help set up the Boson sensor without the GUI.

query basic sensor info:
https://storage.googleapis.com/modalai_public/temp/boson/boson_read.py

set up sensor for 8bit MIPI mode, 60fps (option to set 30fps):
https://storage.googleapis.com/modalai_public/temp/boson/boson_set_8bit.py

You can put both of these scripts next to the BosonSDK directory and run them. Please check the USB port name inside the scripts.

Once you get that configured, you can put M0153 back on boson. Regarding where to plug it in on Voxl2, please tell me what other cameras you plan to use with your Boson.

Alex

@Saleh-Ibrahim the drones come pre-configured for VIO and are flight tested in VIO mode prior to shipping.

To troubleshoot VIO, please start here: https://docs.modalai.com/voxl-open-vins-server/#troubleshooting

VOA does not ship enabled by default

@Alex-Kushleyev Ok, I will order it in the future.

Regards,
Jacob

Update:

I bought an Alfa Networks AWUS036ACS and it worked out of the box with the M0151 board

@Moderator

Thank you for your reply.

Hi there, I would highly recommend upgrading to the latest SDK 1.6.2.

Q1: For voxl-vision-hub, openvins is just another [abstracted] VIO client, using the same MPA interface as QVIO. Thus, should work the same as QVIO.
Q2: There are no outstanding buffer conflicts between the 2 inputs in that SDK version. Though best to update to 1.6.2 as there have been numerous MPA improvements.

Q3: MAYBE ON GROUND, POSITION LOCK? is reporting that the barometer is reporting <1m and OVINS > 1m (-1 in NED space). It appears OVINS had a blow up, has recovered with a new origin in the local frame. Your output says it must have reseted in the ai/flying and hence the new local origin is above your landing point (fixed frame). Depending how you have PX4's EKF setup could lead to issues like the landing detector not working, or position error when running missions, hence why it's reported as a warning. Your output says it's at 0,0,-15 indicating OVINS restarted at ~15m up, but the PX4 baro says it's at 0. If outdoors, I recommend setting EKF2_HGT_REF = baro, if indoors, you'll need to reconcile a origin offset if VIO resets midair (qvio would require this as well) if using vio data directly waypoint manager (i.e. offboard waypoint mode or custom nav code)

Going forward if staying with 1.4.x,

edit /etc/modalai/voxl-open-vins-server.conf and change:
"en_vio_always_on": true, ssh into the drone and run voxl-vision-hub --debug_fixed_frame --debug_tag_cam --debug_odometry to compare values and see if there is a error in calculation possibly causing vision-hub to restart. move the drone around by hand, point it at a tag as needed and monitor the output from vision-hub. Should tell you where a possible conflict arises.

Hi @Tormod-Axelsson-Hagen
Our descriptions tell you all you might need to know to make your own power module:

2-6S tolerant (so VIN capable of up to ~25.2V+)

6A output at 5V

Current monitoring if you do not use our ESCs (our ESCs provide a current reading to keep PX4 and other autopilots happy and for accurate remaining battery %)

Connector format of your choosing but the Molex 4-pin MINI SPOX is the direct 1:1 for VOXL 2 https://www.digikey.com/en/products/detail/molex/0022057045/403343?s=N4IgTCBcDaIAxzGOBWA7HALCkBdAvkA

If you want to make this flexible for VOXL 2 Mini, make it capable of generating 3.8V and use the MOLEX MICRO ONE family of connectors https://www.digikey.com/en/products/detail/molex/2059720041/13235081?s=N4IgTCBcDa4AwFYCcB2Mc4BYCMIC6AvkA)

The rest is up to you based on your design intent and supply chain constraints and preferred vendors.
Hope this helped!

Hey @yunwool
I would recommend writing export ROS_DOMAIN_ID=1 in your ~/.bashrc and then restarting all terminals so the change takes effect. This should prevent other ROS 2 messages from appearing in your environment, since you’ll effectively be using your own domain.

Optionally, you may want to look into the ROS_LOCALHOST_ONLY variable as well, since I do believe if someone else sets their domain ID to 1, you would see their messages.

Hello,

This behavior sounds like turtle mode may be engaged. What are you using for a controller?

If it is a zorro blue the turtle mode switch is in the top left. As a general rule of thumb all switches should be away from you prior to arming. Controls have changed slightly since the guide on the docs page has been updated. I am working on updating them now. For now, please see the image on this forum post for current control mapping.

Hope this help,
Robbie

You can find the source code here: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-logger/-/blob/master/tools/voxl-replay.cpp

@zaimin78 We no longer sell that module. We do have some in stock though if you reach out at https://modalai.com/contact we should be able to get you a custom order.

@Arsalan-Sheikh You can find a 3D STEP file here https://docs.modalai.com/starling-2-max-datasheet/

We aren't familiar with the Gazebo requirements so hopefully the STEP file gets you what you need

@kgn-mdlai Thank you for bringing this up, a fix to this is currently being worked on.
Thanks

@paul-foley , it looks like our voxl-lepton-server is not setting the FPS field in the metadata : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-lepton-server/-/blob/master/src/publisher.c?ref_type=heads#L338 . I do see above that we do set the framerate in json info about the output pipe (cJSON_AddNumberToObject(json, "framerate", 9);) and the framerate is hardcoded to 9, since i guess all lepton sensors are running at 9fps.

I just made the change to publish the fps : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-lepton-server/-/commit/110b9cce4c021322566e46f36d6878fca55f7d26

You are using an older voxl SDK, so installing latest nightly package (from http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/ will probably not work). So you probably need to take the source of the version you are running now (1.3.3 : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-lepton-server/-/tree/v1.3.3?ref_type=tags) and apply the same change in the source code and build it.

Since i just pushed to dev branch, a new version of leptop server should appear in our package repo tomorrow, and you can download and try it. it might work, but your SDK is 2 major versions down from where we are now (1.4.x vs 1.6.x), so you may want to just build the patched version 1.3.3 :

git clone https://gitlab.com/voxl-public/voxl-sdk/services/voxl-lepton-server.git cd voxl-lepton-server git checkout v1.3.3 #make the change in publisher.c to include fps ... ... #start voxl-cross docker (you can download it in our downloads section: https://developer.modalai.com/asset) docker run -it --rm -v `pwd`:/opt/code -w /opt/code voxl-cross:V4.6 bash ./install_build_deps.sh qrb5165 sdk-1.4 ./build.sh qrb5165 ./make_package.sh #then, outside docker, deploy the new package to voxl2 via adb ./deploy_to_voxl.sh

Please let me know if this works for you!

Alex

@jeremyrbrown5 We have figured it out. It was the parameters SYS_HAS_MAG and SYS_HAS_GPS. Will be testing autonomous flight tomorrow!

@jonathankampia https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-pipe/-/blob/master/library/src/interfaces.c?ref_type=heads#L72

Hello @newdroneflyer ,

In order to adjust focus of the hires camera, you need to do the following:

loosen the screw that holds the lens and prevents it from turning. this will allow the lens to turn within the assembly turn the lens using the lens focus tool (should have come with your Starling 2), it is a black plastic tool that goes around the rim of the lens and allows you to turn the lens. after focusing, tighten the screw that was loosened in step 1.

starling2_hires_focus_steps.png

Here is the picture of the focus tool, it has two sizes - one for hires camera, one for tracking camera (if needed). You should have received one with the Starling2 (in an envelope, probably different packaging).
starling2_focus_tool.jpg

Alex

Hi @JoonaR,

Yes, the Starling 2 drones are shipped with the lepton adapter (M0187), but Lepton sensor itself is not included.

https://docs.modalai.com/M0187/

Alex

0cb77fc6-242f-4477-a15d-3c89f43d8f69-image.png

@cbay ,

As long as the Boson / Boson+ 640 (or 320) supports MIPI output, it should work. We believe that some Boson models do NOT have MIPI support (HW limitation) but all Boson+ do have MIPI support. Please check with your vendor to make sure MIPI output is supported.

Also, did you actually mean M0187, or something else? M0187 is an adapter for a Flir Lepton : https://docs.modalai.com/M0187/

Alex

@YUUJI-INOUE ,

Yes the square glass piece is the IR cut filter. It should be glued to the lens assembly in the for corners of the square. You could remove it yourself, at your own risk. Please see a similar discussion and results in the following thread : https://forum.modalai.com/topic/4826/msu-m0149-1-ir-filter (this that case, the lens is slightly different and it was much more difficult to remove the IR filter). In your case, the filter may pop out without breaking, but it is likely to break. You may want to put some tape on the filter before removing it, which would help avoid having loose pieces of glass.

Alex