@Jordyn-Heil , yes we make cables from 35 to 180mm : https://www.modalai.com/products/mcbl-00084

If you are purchasing new cameras and need a non-standard cable length (I believe standard is 80mm), you may need to contact us by email for a custom order.

Alex

@shawn_ricardo Not really a better way at this point, I'd like to at some point just make the network interface able to be specified in the config file as opposed to hard-coded as eth0, but haven't gotten to that yet

@garret Oh, nice! Glad it's working now!

@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

@taiwohazeez , may need help from @teddy-zaremba regarding ROS2.

Alex

@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 I tried examining the logs for default modal AI px4 firmware IRIS configuration and my customized firmware with vtol modules enabled. Strangely, the CPU usage seems identical and above 75% even in the default case.

Log plots here: https://drive.google.com/file/d/1UZfAYMRQ-VfYnyf1u__l9NAUHnM8Q0PJ/view?usp=sharing.

I assume one of the cpus is the apps one and the other is the dsp one. This is still strange, since according to my comment above the total cpu usage of the apps was slightly over 70%.

@garret said in Firmware Structure (Adding VTOL support) - Clarifications:

total CPU usage is only slightly over 70%

As for the gazebo sending messages, still looking into it. However, I did some quick diagnostic and found that gazebo's publication rate seems sufficient:

IRIS case root@nikita-ThinkPad-P16s-Gen-2:/usr/workspace/voxl2_hitl_gazebo# gz topic -d 1 -z /gazebo/modalai_world/modalai/mag Hz: 89.91 Hz: 88.87 Hz: 76.84 Hz: 105.65 Hz: 87.52 Hz: 90.77 Hz: 83.98 Hz: 85.79 Hz: 57.25 Hz: 134.63 Hz: 82.31 Hz: 88.04 Hz: 48.27 Hz: 227.83 Hz: 87.30 Hz: 75.15 Hz: 60.36 Hz: 105.97 Hz: 101.91 Hz: 92.13 Hz: 89.28 Hz: 83.36 Hz: 88.95 Hz: 88.49 Hz: 55.99 Hz: 156.46 Hz: 85.59 Hz: 90.70 Hz: 50.35 Hz: 129.66 Hz: 92.53 Hz: 87.62 Hz: 84.50 Hz: 66.56 Hz: 90.34 Hz: 89.11 Hz: 73.71 Hz: 58.14 Hz: 117.21 Hz: 88.86 Hz: 49.12 Hz: 179.37 Hz: 91.40 Hz: 89.39 Hz: 62.59 Hz: 108.00 Hz: 87.86 Hz: 75.88 Hz: 84.17 Hz: 77.79 Hz: 72.78 Hz: 87.25 Hz: 93.21 Hz: 64.89 Hz: 73.10 Hz: 92.97 Hz: 53.24 Hz: 196.72 Hz: 90.09 Hz: 89.55 Hz: 48.60 Hz: 121.67 Hz: 68.07 Hz: 96.66 Hz: 91.59 Hz: 89.99 Hz: 91.62 Hz: 72.11 Hz: 91.43 Hz: 78.47 Hz: 91.06 Hz: 81.71 Hz: 72.23 Hz: 93.85 Hz: 82.83 Hz: 84.47 Hz: 73.80 Hz: 114.91 Hz: 85.34 Hz: 95.42 Hz: 79.51 root@nikita-ThinkPad-P16s-Gen-2:/usr/workspace/voxl2_hitl_gazebo# gz topic -d 1 -z /gazebo/modalai_world/modalai/baro Hz: 45.30 Hz: 33.52 Hz: 40.19 Hz: 38.64 Hz: 39.93 Hz: 45.78 Hz: 41.65 Hz: 42.63 Hz: 44.85 Hz: 39.09 Hz: 45.65 Hz: 36.76 Hz: 41.51 Hz: 43.36 Hz: 34.07 Hz: 47.10 Hz: 45.87 Hz: 39.17 Hz: 53.24 Hz: 40.17 Hz: 37.47 Hz: 37.41 Hz: 50.90 Hz: 37.27 Hz: 53.60 Hz: 38.04 Hz: 45.86 Hz: 43.55 Hz: 43.98 Hz: 44.47 Hz: 40.48 Hz: 39.65 Hz: 44.65 Hz: 43.66 Hz: 41.32 Hz: 42.98 Hz: 40.23 Hz: 44.23 Hz: 42.25 Hz: 30.15 VTOL case root@nikita-ThinkPad-P16s-Gen-2:/usr/workspace/voxl2_hitl_gazebo# gz topic -d 1 -z /gazebo/standard_vtol_hitl_world/standard_vtol_hitl/mag Hz: 261.34 Hz: 268.29 Hz: 165.38 Hz: 301.10 Hz: 219.42 Hz: 318.94 Hz: 258.53 Hz: 260.81 Hz: 259.69 Hz: 261.20 Hz: 230.35 Hz: 246.97 Hz: 105.02 Hz: 27011.70 Hz: 584.93 Hz: 245.19 Hz: 210.23 Hz: 137.50 Hz: 317.01 Hz: 217.37 Hz: 213.23 Hz: 245.10 Hz: 102.70 Hz: 7085.62 Hz: 255.86 Hz: 214.26 Hz: 358.80 Hz: 135.56 Hz: 601.92 Hz: 197.99 Hz: 289.66 Hz: 146.01 Hz: 710.52 Hz: 285.12 Hz: 183.18 Hz: 283.64 Hz: 267.36 Hz: 196.66 Hz: 293.54 Hz: 261.75 Hz: 189.79 Hz: 285.15 Hz: 269.74 Hz: 210.62 Hz: 247.68 Hz: 278.95 Hz: 92.07 Hz: 9.93 Hz: 39858.11 Hz: 249.81 Hz: 2192.14 Hz: 263.26 Hz: 255.81 Hz: 268.84 Hz: 204.21 Hz: 119.26 Hz: 9.63 Hz: 9.72 Hz: 9.71 Hz: 9.96 Hz: 2776.08 Hz: 133.24 Hz: 274.92 Hz: 823.84 Hz: 202.26 Hz: 276.13 Hz: 276.10 Hz: 216.36 Hz: 339.81 Hz: 270.43 Hz: 266.76 Hz: 261.38 Hz: 265.82 Hz: 268.36 Hz: 256.52 Hz: 276.77 Hz: 93.41 Hz: 1257.61 Hz: 263.08 Hz: 263.41 Hz: 146.94 Hz: 270.98 Hz: 243.40 Hz: 283.23 Hz: 150.90 Hz: 1511.17 Hz: 274.21 Hz: 258.02 Hz: 144.53 Hz: 2885.13 Hz: 247.98 Hz: 137.59 Hz: 829.43 Hz: 247.74 Hz: 254.85 Hz: 264.31 Hz: 209.19 Hz: 275.45 Hz: 267.43 Hz: 270.33 Hz: 245.57 Hz: 228.72 Hz: 232.26 Hz: 264.85 Hz: 93.60 Hz: 49265.94 Hz: 499.46 Hz: 233.43 Hz: 273.17 Hz: 234.92 Hz: 233.14 Hz: 258.48 Hz: 278.42 Hz: 225.91 Hz: 280.44 Hz: 135.68 Hz: 276.36 Hz: 134.54 Hz: 282.50 root@nikita-ThinkPad-P16s-Gen-2:/usr/workspace/voxl2_hitl_gazebo# gz topic -d 1 -z /gazebo/standard_vtol_hitl_world/standard_vtol_hitl/baro Hz: 132.49 Hz: 129.18 Hz: 129.00 Hz: 130.49 Hz: 111.43 Hz: 151.83 Hz: 97.87 Hz: 133.37 Hz: 108.81 Hz: 145.29 Hz: 88.34 Hz: 257.54 Hz: 127.70 Hz: 102.37 Hz: 131.12 Hz: 124.66 Hz: 104.16 Hz: 135.17 Hz: 117.07 Hz: 123.88 Hz: 134.75 Hz: 130.16 Hz: 134.76 Hz: 70.86 Hz: 577.87 Hz: 123.25 Hz: 120.28 Hz: 104.71 Hz: 179.62 Hz: 125.18 Hz: 119.61 Hz: 121.50 Hz: 148.17 Hz: 126.87 Hz: 103.36 Hz: 132.89 Hz: 145.11 Hz: 114.83 Hz: 113.25 Hz: 148.53 Hz: 132.36 Hz: 128.08 Hz: 124.23 Hz: 72.73 Hz: 282.04 Hz: 127.52 Hz: 128.52 Hz: 124.72 Hz: 121.43 Hz: 112.05 Hz: 126.82 Hz: 108.68 Hz: 165.72 Hz: 128.03 Hz: 124.98 Hz: 100.47 Hz: 9.51 Hz: 137.65 Hz: 93.98 Hz: 88.69 Hz: 135.25 Hz: 129.01 Hz: 130.18 Hz: 89.62 Hz: 143.84 Hz: 126.38 Hz: 138.17 Hz: 133.42 Hz: 122.09 Hz: 136.52 Hz: 136.22 Hz: 117.27 Hz: 54.04 Hz: 39575.75 Hz: 160.93 Hz: 127.02 Hz: 87.96 Hz: 260.10 Hz: 93.48 Hz: 110.70 Hz: 144.94 Hz: 129.48 Hz: 132.85 Hz: 119.29 Hz: 123.63 Hz: 143.99 Hz: 103.66 Hz: 136.10 Hz: 9.17

Weirdly there is some frequency jumps with VTOL world. Could this be the cause of the error? If you have an idea where these come from , I would appreciate the hint.

Although, when looking at the logs again, this is the magnetometer plots:https://drive.google.com/file/d/1yxWfiHGunIUJAk8WNnSOku5CxXks31so/view?usp=sharing

Apologies for small dot thickness, but it can be noted that magnetometer coming from the vehicle is at twice the frequency that it is coming from the sensor. Ironically, these rates are also off from the frequencies pasted above. For IRIS default the vehicle's magnetometer is at about 2Hz, and same for VTOL. Sensor frequency for IRIS is about 1Hz and same for VTOL. I wonder how this is possible, since for EKF2 to run smoothly it requires at least 5Hz update rate on sensors. I assume I am misinterpreting the data, so if you spot a mistake in my analysis please let me know.

@TomP , oh yeah, my bad.. you found the right one 🙂

@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

@george-kollamkulam , are you saying that just the Lepton and the tracking cameras are not working now, but all the other cameras are working fine?

voxl-camera-server and voxl-lepton-server are completely independent and should not be interfering. However, Please try to unplug the lepton sensor from M0173 board and see if the tracking camera starts working again.

it seems like maybe there is some power issue, since lepton is not clicking, since it should be doing that as soon as it gets power.

Alex

Hi @Alex-Kushleyev , @QSL 170-250mm is quite long. I'm not optimistic 250mm can even work, 170 would be risky.
We can offer our design services, but typically what that results in is a MOQ of a specific new item, such as 300-500pcs depending on the complexity (at normal MRSP which for flexes runs ~$50-80 each) and lead times would be ~14-18 weeks.
What we would need is a .dxf outline of your intended design and we can review that for feasibility and interest. If it really is 250mm, I'd prefer to no-bid it. 200mm might be the edge here (we do not have sophisticated Sigrity tools to confirm, so going on experience here).
M0170 is not ideally suited for back-to-back (the connectors are a bit offset from each other so the net result would be weird) but it may prove if 140mm can work + ~10 mm for the connector transition losses.
In situations like this, I encourage the ME/Industrial Design Team to reconsider placement of sensors and main electronics relative to each other. There are just some constraints the electronics cannot meet easily. Sometimes just simply re-prioritizing the system constraints helps solve the spatial/distance problems. To extend past ~180+mm, I would encourage you use an external design firm that knows how to do mipi repeaters and high speed design. We've had one customer successfully do that, but it takes some skill and we could do it ourselves, but we just do not have the design cycles to support it this calendar year.
Hope this helps and let us know what your thoughts are, and if pursuing us for a custom design is an option, we can reach out over email.

@Eric-Katzfey
I tested what you asked me, since i am using external Fc and doodle labs, I am not able to assign AUX to any button, is there any work around on how to assign AUX

@Idan-Fiksel , it looks like it worked since your machine variant is now 1.0.0 . I assume it was 1.0.1. Sorry the numbering in the name of the kernel is 00.0 vs 00.1…

@daz_22 , thanks for sending the output of the spin script. Just to note, the RPMs are reported as ramping up to around 1000 (by the end of the printout) because during the initial phase (spin-up), the ESC operates in open loop mode, where it drives the motor but does not detect the actual speed. During spin-up the predicted RPM is printed, but it could be false, if the motor is stuck or not even attached. The closed-loop control starts after the smooth spin-up, where the true RPM is reported (however you did not provide those prints, but i suspect the ID0 would just try to restart based on the reported RPM).

The MCU in the ESC channel 0 seems to be functional and communicating, so that is good. However, the motor not spinning is not good. From software side, everything looks normal.

If you believe that the Starling 2 Max arrived with non-functional ESC / wiring (who knows?), you should submit an RMA request in order to correct the situation. modalai.com/rma .

If you think the issue might have been caused due to a crash or something like that and you wish us to fix it, you may still submit the RMA request. Alternatively, you could disassemble the drone to gain access to the ESC and see if you can visually detect the issue with the ESC or wiring. Either ESC channel 0 or wiring seems faulty.

Please let me know if you have any other questions.

Alex

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.

@Ege-Yüceel , in this case, i believe it should be OK to cross compile the voxl-tflite-server with dependencies from SDK 1.3 but deploy the application to VOXL2 that is running SDK 1.4.1. This is because there were no interface changes that would affect voxl-tflite-server (to my knowledge).

We will try to resolve the build issue soon, it should be a matter of fixing up CMakeLists file.

Alex

@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

@dvz https://gitlab.com/WondesenB/voxl-tag-detector