@Eric-Katzfey Appreciate your help!

@ApoorvThapliyal : the problem (Error message: "set_position_target_local_ned: coordinate frame 0 unsupported") appeared in QGC after updating VOXL SDK from 1.5.0 to 1.6.3.
The error blocked me from being able to use QGC to calibrate or arm the drone. Stopping and restarting voxl-vision-hub solved the problem.
For now I'm using voxl-vision-hub as it comes on SDK 1.6.3 (no changes yet) and have not made changes to the .conf file (yet).

@vmbasvi That appears to be a Microhard modem, not a WiFi dongle.

@Ben-Linne : Thanks for the excellent instructions. Worked perfectly first shot. betaFPV is back to normal and binds to the radio controller ! Best regards, Hector

@tom said in Latest SDK versions - How to access?:

https://storage.googleapis.com/platform-beta-releases/voxl2/voxl2_SDK_1.6.4-beta8.tar.gz

Thanks @tom !!!

@Matt69 Also what breakout board are you guys using for the ground control side of the Doodle labs radio setup in the guide? https://docs.modalai.com/doodle-labs-user-guide/

@nickanick , can you please clarify which exact WIFI Dongle you would like to use?

Ok so I've been comparing the Sentinel I have on an older SDK with no issues after power cycling with the one I just updated to the latest SDK and I noticed for the sentinel on the older SDK (1.1.2), the /sys/class/gpio only has the following

voxl2:~$ ls /sys/class/gpio/ export gpiochip1076 gpiochip1094 unexport gpiochip1072 gpiochip1085 gpiochip1100

where the sentinel with the latest SDK shows:

sentinel (D0006):~$ ls /sys/class/gpio/ export gpio1152/ gpio1184/ gpio1213/ gpio1259/ gpio1100/ gpio1153/ gpio1185/ gpio1214/ gpiochip1072/ gpio1101/ gpio1154/ gpio1186/ gpio1224/ gpiochip1076/ gpio1136/ gpio1155/ gpio1187/ gpio1231/ gpiochip1085/ gpio1137/ gpio1156/ gpio1188/ gpio1252/ gpiochip1094/ gpio1148/ gpio1157/ gpio1189/ gpio1253/ gpiochip1100/ gpio1149/ gpio1167/ gpio1210/ gpio1254/ unexport gpio1150/ gpio1182/ gpio1211/ gpio1255/ gpio1151/ gpio1183/ gpio1212/ gpio1257/

Then I ran voxl-bind-spektrum -ds on both and get nearly identical output, the SDK 1.6.3 the spektrum bind GPIO pin for M0154 is set even thought I'm on M0054

SDK 1.6.3:

sentinel (D0006):~$ voxl-bind-spektrum -ds Enabling debug mode Writing 1259 to /sys/class/gpio/export for gpio pin 1259 Writing 1 to /sys/class/gpio/gpio%d/value for gpio pin 1259 Writing 1259 to /sys/class/gpio/export for gpio pin 1259 Writing 0 to /sys/class/gpio/gpio%d/value for gpio pin 1259 Writing 1259 to /sys/class/gpio/export for gpio pin 1259 Writing 1 to /sys/class/gpio/gpio%d/value for gpio pin 1259 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing 0 to /sys/class/gpio/gpio%d/value for gpio pin 1146 Writing 1120 to /sys/class/gpio/export for gpio pin 1120 Writing 0 to /sys/class/gpio/gpio%d/value for gpio pin 1120 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing 0 to /sys/class/gpio/gpio%d/value for gpio pin 1146 Writing 1120 to /sys/class/gpio/export for gpio pin 1120 Writing 0 to /sys/class/gpio/gpio%d/value for gpio pin 1120 number of pulses: 7 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing 1 to /sys/class/gpio/gpio%d/value for gpio pin 1146 Writing 1120 to /sys/class/gpio/export for gpio pin 1120 Writing 1 to /sys/class/gpio/gpio%d/value for gpio pin 1120 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing 0 to /sys/class/gpio/gpio%d/value for gpio pin 1146 Writing 1120 to /sys/class/gpio/export for gpio pin 1120 Writing 0 to /sys/class/gpio/gpio%d/value for gpio pin 1120 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing 1 to /sys/class/gpio/gpio%d/value for gpio pin 1146 Writing 1120 to /sys/class/gpio/export for gpio pin 1120 Writing 1 to /sys/class/gpio/gpio%d/value for gpio pin 1120 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing 0 to /sys/class/gpio/gpio%d/value for gpio pin 1146 Writing 1120 to /sys/class/gpio/export for gpio pin 1120 Writing 0 to /sys/class/gpio/gpio%d/value for gpio pin 1120 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing 1 to /sys/class/gpio/gpio%d/value for gpio pin 1146 Writing 1120 to /sys/class/gpio/export for gpio pin 1120 Writing 1 to /sys/class/gpio/gpio%d/value for gpio pin 1120 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing 0 to /sys/class/gpio/gpio%d/value for gpio pin 1146 Writing 1120 to /sys/class/gpio/export for gpio pin 1120 Writing 0 to /sys/class/gpio/gpio%d/value for gpio pin 1120 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing 1 to /sys/class/gpio/gpio%d/value for gpio pin 1146 Writing 1120 to /sys/class/gpio/export for gpio pin 1120 Writing 1 to /sys/class/gpio/gpio%d/value for gpio pin 1120 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing 0 to /sys/class/gpio/gpio%d/value for gpio pin 1146 Writing 1120 to /sys/class/gpio/export for gpio pin 1120 Writing 0 to /sys/class/gpio/gpio%d/value for gpio pin 1120 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing 1 to /sys/class/gpio/gpio%d/value for gpio pin 1146 Writing 1120 to /sys/class/gpio/export for gpio pin 1120 Writing 1 to /sys/class/gpio/gpio%d/value for gpio pin 1120 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing 0 to /sys/class/gpio/gpio%d/value for gpio pin 1146 Writing 1120 to /sys/class/gpio/export for gpio pin 1120 Writing 0 to /sys/class/gpio/gpio%d/value for gpio pin 1120 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing 1 to /sys/class/gpio/gpio%d/value for gpio pin 1146 Writing 1120 to /sys/class/gpio/export for gpio pin 1120 Writing 1 to /sys/class/gpio/gpio%d/value for gpio pin 1120 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing 0 to /sys/class/gpio/gpio%d/value for gpio pin 1146 Writing 1120 to /sys/class/gpio/export for gpio pin 1120 Writing 0 to /sys/class/gpio/gpio%d/value for gpio pin 1120 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing 1 to /sys/class/gpio/gpio%d/value for gpio pin 1146 Writing 1120 to /sys/class/gpio/export for gpio pin 1120 Writing 1 to /sys/class/gpio/gpio%d/value for gpio pin 1120 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing 0 to /sys/class/gpio/gpio%d/value for gpio pin 1146 Writing 1120 to /sys/class/gpio/export for gpio pin 1120 Writing 0 to /sys/class/gpio/gpio%d/value for gpio pin 1120 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing in to /sys/class/gpio/gpio%d/direction for gpio pin 1146 read 0 from gpio pin 1146 Writing 1120 to /sys/class/gpio/export for gpio pin 1120 Writing in to /sys/class/gpio/gpio%d/direction for gpio pin 1120 read 0 from gpio pin 1120 An orange light should now be flashing on your receiver If so, your receiver is successfully in binding mode

SDK 1.1.2

voxl2:~$ voxl-bind-spektrum -ds Enabling debug mode Writing 1259 to /sys/class/gpio/export for gpio pin 1259 Writing 1 to /sys/class/gpio/gpio%d/value for gpio pin 1259 Writing 1259 to /sys/class/gpio/export for gpio pin 1259 Writing 0 to /sys/class/gpio/gpio%d/value for gpio pin 1259 Writing 1259 to /sys/class/gpio/export for gpio pin 1259 Writing 1 to /sys/class/gpio/gpio%d/value for gpio pin 1259 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing 0 to /sys/class/gpio/gpio%d/value for gpio pin 1146 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing 0 to /sys/class/gpio/gpio%d/value for gpio pin 1146 number of pulses: 7 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing 1 to /sys/class/gpio/gpio%d/value for gpio pin 1146 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing 0 to /sys/class/gpio/gpio%d/value for gpio pin 1146 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing 1 to /sys/class/gpio/gpio%d/value for gpio pin 1146 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing 0 to /sys/class/gpio/gpio%d/value for gpio pin 1146 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing 1 to /sys/class/gpio/gpio%d/value for gpio pin 1146 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing 0 to /sys/class/gpio/gpio%d/value for gpio pin 1146 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing 1 to /sys/class/gpio/gpio%d/value for gpio pin 1146 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing 0 to /sys/class/gpio/gpio%d/value for gpio pin 1146 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing 1 to /sys/class/gpio/gpio%d/value for gpio pin 1146 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing 0 to /sys/class/gpio/gpio%d/value for gpio pin 1146 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing 1 to /sys/class/gpio/gpio%d/value for gpio pin 1146 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing 0 to /sys/class/gpio/gpio%d/value for gpio pin 1146 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing 1 to /sys/class/gpio/gpio%d/value for gpio pin 1146 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing 0 to /sys/class/gpio/gpio%d/value for gpio pin 1146 Writing 1146 to /sys/class/gpio/export for gpio pin 1146 Writing in to /sys/class/gpio/gpio%d/direction for gpio pin 1146 read 0 from gpio pin 1146 An orange light should now be flashing on your receiver If so, your receiver is successfully in binding mode

Now the SDK1.1.2 quad shows:

voxl2:~$ ls /sys/class/gpio/ export gpio1259 gpiochip1076 gpiochip1094 unexport gpio1146 gpiochip1072 gpiochip1085 gpiochip1100

And SDK1.6.3:

sentinel (D0006):~$ ls /sys/class/gpio/ export gpio1148 gpio1155 gpio1185 gpio1212 gpio1254 gpiochip1094 gpio1100 gpio1149 gpio1156 gpio1186 gpio1213 gpio1255 gpiochip1100 gpio1101 gpio1150 gpio1157 gpio1187 gpio1214 gpio1257 unexport gpio1120 gpio1151 gpio1167 gpio1188 gpio1224 gpio1259 gpio1136 gpio1152 gpio1182 gpio1189 gpio1231 gpiochip1072 gpio1137 gpio1153 gpio1183 gpio1210 gpio1252 gpiochip1076 gpio1146 gpio1154 gpio1184 gpio1211 gpio1253 gpiochip1085

The pin settings after running voxl-spektrum-bind are the same for both vehicles in /sys/class/gpio/gpio1146 and /sys/class/gpio/gpio1259. After power cycling I'm right back where I started, but the settings for gpio1259 persist on the v1.6.3 quad.

I'm guessing I need to do something with the settings for gpio pin 46 or 159 to fix this. What should the gpio pin settings be on boot for a VOXL2 vehicle with an already bound spektrum receiver? Is the problem that /sys/class/gpio/gpio1259 settings persist between power cycles? Where are all these gpio settings getting written to on boot?

@j-angel ,

We had a small batch of color AR0144, but those have run out and due to low demand, we do not have any stock.

I would like to clarify something. Motion blur is present when using any camera (global shutter or rolling shutter). Global shutter cameras also have exposure control and long exposure times will cause motion blur.

I think what you may be referring to, which is different in rolling shutter cameras (compared to global shutter), is the rolling shutter skew. Rolling shutter cameras use a technique where the start of exposure of each image row is offset slightly, so each row is essentially exposed over a different time frame. The offset is usually very small (4-30 microseconds per line, depends on the camera, mode), but from top to bottom, the rolling shutter effect can add up and be visible when there are moving features in the scene.

The fastest rolling shutter camera we have right now is IMX412 and in the 2x2 binning mode, the 1920x1080 resolution, the total frame readout time is 4ms. (https://docs.modalai.com/camera-video/low-latency-video-streaming/#camera-pipeline-latency-in-different-operating-modes). This means that the difference of the center of exposure between the first and last image row is 4ms.

Considering the information above, 4ms can seem a lot, but keep in mind that is the time delay across the whole image. depending on the size of features, the rolling shutter effect across a smaller image area will be smaller. Using the height of 1080, we can compute the time offset for each line, 4ms / 1080 ~ 4us.

Depending on the size of features that are being tracked, the rolling shutter may not create a lot of local skew. Additionally, the camera timing is deterministic, so it is possible to calculate the time offset of the center of exposure of each line (with respect to the first line). If you want to provide some more details on type of perception, I could provide more guidance.

Unfortunately, right now, we do not have a color global shutter camera option.

Alex

@jon You can use a J19 UART from the apps processor. Take a look at the code in voxl-elrs (https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-elrs/-/tree/dev?ref_type=heads), specifically the file src/elrs_slpi.c. This project accesses SLPI UARTs from an AP userspace process through voxl_io, not through POSIX termios. You cannot have a flight controller running at the same time though so PX4 / ArduPilot / etc. would need to be stopped first.

@Michael-Hatton Yes, you need to have a separate battery charger. I'll see if I can get a recommendation from the team on a good charger to use. I use a Hota D6 Pro, personally.

@Michael-Hatton Did you run through the voxl-configure-modem setup in order to configure APN, etc?

https://docs.modalai.com/voxl-modem/#usage