@Darshit-Desai , yes, feel free to modify the code as you need for right now for your own testing. Once i have a chance, i will make the mode selection (long / short) and FPS more flexible.

I hope this unblocked your work and you can move forward.

Alex

On my setup yes that was all I needed to do, but we are still going to do a "full proper tune" on our S500 based frame (Sentinel dev drone) and I will confirm with you that we are getting performance as expected after this and share a video. Our flight test team will be doing that this week, thanks for the patience!!!

@AP123 What was the resolution to this issue? My team is experiencing a similar problem. Were you able to access the microhard web portal through the VOXL 2?

@Viktor-Gal I am troubling localization with QVIO. So I wanted to change vio algorithm to OpenVINS. I flashed my drone to nightly version but openvins still very unstable. Could you give me some guidance for openvins?

Questions

openvins configuration & versions Did you enable the voxl-feature-tracker? camera settings (single or multi, camera model, etc)

My status

voxl-suite: 1.4.1-202502132201 Camera: old-version of tracking camera (640x480) - link voxl-open-vins-server: 0.3.0-202502061726 voxl-feature-tracker: 0.5.2-202412171357

@Alex-Kushleyev - thanks, I submitted the RMA request, will let you know after I have the chance to replace and test the replacement parts.
Thanks, Hector

@vmassague Awesome!

@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.