@tom i figured it out thank you

@mkriesel , the exposure and gain period parameters should be set to 1. They were used a long time ago for Auto Exposure control for ov7251 camera, which would have weird image flicker issues if you updated gain every frame, so we would use ae_gain_period set to 2. The issue with ov7251 was also resolved a while ago and it supports gain period of 1.

These parameters specify the update period (in frames) for sending out the new gain and exposure from the AE algo. So these parameters should be set to 1, which is the default for AR0144.

There is no practical reason to use any value other than 1.

Alex

Here is the output of voxl-camera-server -l, which shows that the system detects 5 cameras, including the TOF sensor:
4.png
5.png

@george-kollamkulam , something seems fishy here.

The Starling 2 drone has the VOXL Mini ESC, which acts as the APM (measures voltage and total current). The ESC sends this data to PX4 via UART together with regular ESC telelmetry.

The Battery status packet is an uint16 with 0.001V resolution, so the maximum voltage it could report would be about 65V (2^16 millivolts).

packet definition:
https://github.com/modalai/px4-firmware/blob/voxl-dev/src/drivers/actuators/voxl_esc/qc_esc_packet.h#L157

packet parsing:
https://github.com/modalai/px4-firmware/blob/voxl-dev/src/drivers/actuators/voxl_esc/voxl_esc.cpp#L577

I suspect something else is going on. Maybe you need to choose a different Source for the battery monitoring (not Power Module)?

Is this voltage 267.55V updating or just stuck at that value?

Alex

I grabbed the /usr/bin/quectel-CM from another VOXL2 on an older SDK (1.4.1) and swapped out the one that came with 1.5.0 and everything is working again...

Hi again,

From investigating the voxl-vision-hub code with added prints for debug, I see that the setpoint SETPOINT_POSITION_MAGIC_NUMBER is sent to mavlink-server from two functions -

(1) _send_current_position()
sending the current position, and type-mask ignoring vx,vy,vz,ax,ay,az,yaw_rate

// fetch latest position and attitude from px4 itself so the setpoint // we are about to send is a close as possible to where we currently are

(2) execute_setpoint_position_command()
sending the setpoint as recieved from voxl-planner

The implemented behaviour of (1) suits the situation of position+yaw command. However for vx+vy+z+yaw_rate command I think something is missing.

Any help will be appreciated.
Thank you, Meytal

The overall goal is just to get time synced between the Lidar and the VOXL2's IMU. Oddly enough, I was looking through the voxl-kernel for qrb5165 and the driver for PTP is there. Is the physical layer chip not able to support PTP?

Where I see the driver in the Kernel:
https://gitlab.com/voxl-public/system-image-build/qrb5165-kernel/-/tree/qrb5165-ubun1.0-14.1a/drivers/ptp?ref_type=heads

@Ligma We designed the VRX to be compatible with any off the shelf HDMI input display.

We have used HDZERO goggles with the VRX so you should have no issues there

HI @teddy-zaremba
That is the correct approach. We have no mentions of direct servo support from VOXL 2 or any HW. All servos, just like an ESC, need power from an independent battery source not from VOXL 2.
Thanks for clarifying here on the Forum.

The latest firmware for M0065 can be found on gitlab here

or directly on voxl2 in /usr/share/modalai/voxl2-io-tools/firmware/

Once updated, the firmware will be detected as version 2. The previous version 1 is no longer supported due to several bugs.

Alex

@smiley ,

The Boson and Hadron are supported the same way by the VOXL2 camera pipeline (same drivers, camera server settings). You just need to use the correct cables / interposers for connecting the sensor depending on the selection of Boson or Hadron. There is no distinction at all from the VOXL2 SW and it does not know whether a standalone Boson or Boson inside Hadron is connected.

Please let me know if you have any other questions.

Alex

@Hector-Gutierrez Point a small fan at the VOXL 2 while you have it on your desktop. You need to have air flow. When it is on a drone and flying you get a lot of airflow from the propellers but on the desktop you should have a small fan.

@tonygurney , please see the doc page regarding GPIO and the offset:

https://docs.modalai.com/voxl2-linux-user-guide/#gpios

specifically,

Starting SDK 1.2.X/System Image 1.7.3, GPIOs are exported by default in /sys/class/gpio, the GPIO have an offest of 1100 (e.g. GPIO 84 = 1184).