@Jetson-Nano ,

We have not tried QVIO with Boson, it may work (but we can't really support that). The boson output is usually a bit fuzzy, so i am not sure how the feature detection will work, but it may be ok. Disabling FFC will definitely resolve the gaps in the frame feed, but disabling the FFC will also affect the Boson image quality, which may degrade over time.

If you wanted to use any USB (thermal) camera with VIO, you would just have to use voxl-uvc-server to publish the images to mpa, so that voxl-qvio-server can subscribe to them. The only issue is that the uvc interface does not provide accurate timestamp of the camera, but it may be ok just to use the time of arrival of the frame. QVIO does estimate the time offset between the IMU and camera, so as long as the timestamp is consistently captured, it should be ok..

Alex

@Morten-Nissov ,

Is it just the specific camera (tracking) not working in a specific port? what if you connect TOF or IMX214 camera there?

For your configuration using the M0135 interposer, kernel variant 2.0.0 is the correct one to use. Using kernel 2.0.2 will result in some cameras not working due to different pins used for camera reset (which get properly routed in M0188 and M0195 camera adapter boards for the coax cameras).

So i would suggest using the correct kernel 2.0.0, then test one camera at a time and see if you can narrow it down to a camera or port not working.

Alex

@Vinny Thanks for the info,

Just to be clear, I am not looking for the PCB design schematics, just a symbol per board showing all the inputs and outputs to the board as a whole which then could be used in a system wiring diagram. If not I can just go ahead and make them myself, as all the info for it is on your docs

@Nitin-Varma-Vegesna Are you using EKF2_EV_CTRL to supplement the GPS denial?

@Richa

The IMX664 camera does have a sync input, but we are currently not enabling it in the camera driver.

The sync signal is typically driven by VOXL2 in majority of our use cases and we currently only synchronize the tracking cameras (AR0144).

If IMX664 outputs a sync signal while voxl2 is also outputting that signal, there would be a gpio contention. It is possible to disable voxl2 sync line so that it is not driven.

If you had your own adapter board (or M0173 ?) and wanted to use two IMX664 cameras in master / slave mode, assuming no contention on the sync line, there would need to be some modifications in the camera driver (they could be trivial, but we have not tested it yet on IMX664, but can look into it).

Can you please describe your use case a bit more (specifically, are you going to use our adapter, like M0173) or designing your won adapter that will connect the cameras to VOXL2?

Alex

@Nitin-Varma-Vegesna said in Repair:

My Starling 2 drone crashed, and a good amount of damage was done. The PCB board was cracked, and the GPS mount was broken, and I was wondering whether I should submit a Repair Merchandise Authorization, and generally how long does the entire process take from submit an RMA to receiving the drone back?

I submitted an RMA form, but I would still like to know how long the entire process takes generally please?

@magnetocircuit Yes, this is supported. In the config file for px4 /etc/modalai/voxl-px4.conf set ESC=VOXL2_IO_PWM_ESC.

@Aaron-Porter Hello there,

voxl-evaluate-vins is currently not used by the Autonomy team @ ModalAI, we opted for our new benchmark solution, a bit more consistent in terms of statistical rigor and better integration with voxl-portal. Still, when replaying logs for VINS, it is imperative that one replays them using the ION pipes, as our VINS solution is optimized for cl_mem ptrs. Note that when replaying ION pipes, it is recommend to stop camera-server before replaying -- as clean killing ION pipes via the voxl-replay args is currently being optimized. This should resolve the common segfaults experienced during the replay/benchmark operation itself.

https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-benchmark-vio

Finally, I would recommend updating your VINS to the latest available tag on Gitlab

@sja123 No, unfortunately, we do not currently support boot from SD card.