@Muqing-Cao Here is the latest beta release: https://storage.googleapis.com/platform-beta-releases/voxl2/voxl2_SDK_1.6.3-beta1.tar.gz

@bendraper Edit /etc/modalai/voxl-vision-hub.conf and set "offboard_mode": "off"

@Peter-Lingås-0 ,

We did have a sample batch of color AR0144 global shutter cameras, but i think we probably run out of those. I can double check. Due to low demand, we are not actively supporting them.

For general object detection applications, i would recommend IMX412 camera (M0161 part number, for example). This camera is 4056x3040 resolution, but it also supports 2x2 binned mode. The advantage of using binned mode (for this context), is reducing the rolling shutter effect.

The amount of rolling shutter distortion / skew is a function of the readout time (time between the start of exposure of first line and last line). This time depends on the camera and specific operating mode.

However, the IMX412 camera in combination with VOXL2 supports a 2x2 binned mode where you get a 1920x1080 image with only about 4.2ms of rolling shutter skew, meaning there is only 4.2ms between the first and last line. You can see more details on the readout time for different modes here : https://docs.modalai.com/camera-video/low-latency-video-streaming/#camera-pipeline-latency-in-different-operating-modes

Additionally, the IMX412 camera module has M12 lens mount, which allows for more flexibility in lens choice as well as supporting generally large lenses, which will improve image quality as well.

Would this be an option for you or is having a global shutter camera a requirement?

Alex

@Moderator

Thank you for your reply.

@dstylesunf ,

M0188 does not have support for the Boson part of the Hadron (mainly difference in power requirements)

However, M0195 supports Boson, which means you can also plug in the Hadron by using M0202 (or older M0159) adapter instead of M0201 (which would be used for Boson). The RGB Camera inside Hadron (which is OV64B) would be treated as an independent hires camera.

Basically, M0202 (M0159) plugs into the back of Hadron docs and then on the other end you could connect both coax cables to M0181 straight into VOXL2 mini or using M0195 instead of M0181.

You can also use M0194 adapter for connecting Hadron to VOXL2 mini. In the diagram above, a Boson with a high-res camera is shown, but you can replace Boson+M0201+hires with Hadron + M0202, which would plug into M0194:

M0194 Boson + Hires Connection Example

fe90d9f8-7197-4c4e-8170-1e2af357864a-image.png

M0195, however, would allow you to connect one extra camera (if you are using a dual tracking camera setup) compared to individual adapters plugged in to VOXL2 J6 and J7.

Please let us know if you have any other questions.

Alex

Update:

I did some further testing and noticed a somewhat inconsistent but repeatable pattern related to SKU reconfiguration and power cycles.
After reconfiguring the SKU (MRB-D0014-4-V1-C27-T0-M22-X0) and then power cycling the VOXL2, the SoftAP network is broadcast as expected. After a second power cycle, the network is still being broadcast. However, after a third power cycle, the network disappears again and is only restored after reconfiguring the SKU once more.
In addition to that, client connectivity is inconsistent. In some cases I’m able to connect to the WiFi network from my PC without issues, while in other cases the connection attempt starts but eventually fails.

@YUUJI-INOUE ,

Yes the square glass piece is the IR cut filter. It should be glued to the lens assembly in the for corners of the square. You could remove it yourself, at your own risk. Please see a similar discussion and results in the following thread : https://forum.modalai.com/topic/4826/msu-m0149-1-ir-filter (this that case, the lens is slightly different and it was much more difficult to remove the IR filter). In your case, the filter may pop out without breaking, but it is likely to break. You may want to put some tape on the filter before removing it, which would help avoid having loose pieces of glass.

Alex

Hi @Martin-Lukac ,

I am really sorry this happened to you! the damage to the ESC is quite spectacular.

I will need to think about this a bit more, but my initial guess of what happened is as follows:

as you mentioned, during the failed calibration attempt, there was a de-sync event, which may suggest the demagnetization time of the motor coils is higher than usual (this is one possibility). A fresh (and larger capacity) battery could have resulted in higher voltage + lower output impedance, causing higher current spikes in the motor (longer demag time). Usually this does not happen with motors of this kV (but much lower like 700 or lower), however it depends on the particular motor. after the de-sync (which it looks like the ESC detected and attempted to restart), the start-up potentially failed because the motor was spinning very fast and it could have gotten into a weird state, applying 80% power to a motor that was not spinning properly. However, in this case i would expect the motor to burn up first before the ESC. Did the motor burn out as well? to resolve the de-sync problem, we typically increase the esc commutation and sense advance (I can go into detail later), but this is documented here: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-tools/doc/low_kv_motor_tuning.md the unfortunate part is that during the motor calibration, the motor is controlled with % power, not RPM commands, and there are fewer safety checks. If this happened in RPM mode, the ESC would have most likely prevented applying such a high power while motor was spinning very slowly.

Considering the outcome of your testing, my recommendation would be for us to test your motor / prop configuration and see if there is a repeatable issue. Are you able to share the exact motor and propeller part number and where to purchase it, if possible?

Thank you

Alex

@john_t , you can use two AR0144 modules (M0166) in a stereo configuration. When connected to VOXL2 using M0173, the two cameras will be synchronized (start of exposure).

Even though we are not actively using dual AR0144 for DFS, we have tested and it works with voxl-dfs-server with some tweaks.

If there is interested in this, we can document how to set it up (using voxl-dfs-server.)

Would you be using your own DFS processing?

Alex

Hello,

1.)
There are 2 possible ways to record video on the orqa goggles with our vrx. One is to insert a microsd card into the slot above the left eye of the goggles and press the red record button on the top right of the goggles. This records video through the orqa goggles and will show the OSD. The second way is to slide away the plastic cover on the VRX. This will expose the usb port used to record video from the vrx. This video will not include the osd and will save as a .h265 video file, which can be converted to your needed format using a variety of free/open sourced tools (ffmpeg is a popular one for this).

2.)
For zorro blue controls please see this image, it should walk through all of the controls you need to know to get started.

ba0cd79c-3ace-4a1a-97e5-8566af360238-image.png

The backtrack switch is shown in the image as recovery. While flying flip this switch to start backtracking. On the osd you will have a visual indicator of how much backtrack is available. This shows as a swirl in the top left of the osd, which will grow as you collect more data for backtrack. Once you enter backtrack the swirl will begin to go away until all the data has been used. Backtrack will perform best immediately following engaging backtrack mode.

To engage turtle mode after a crash start by disarming the drone. Once the drone is disarmed flipped the recovery switch (Same as used for backtrack), arm the drone, and them move the right stick to flip yourself back up. Once you do this you will need to exit turtle mode (by disarming, turning off turtle mode, and arming the drone again).

3.)
It is possible the usbc cable on the vrx came unseated slightly during shipping. Please try removing the plastic housing on the vrx (the one that holds the usbc cable in), unplug it and try replug it in. The connection may be loose. To take off the plastic housing you can use a t5 screwdriver.

If the units are in need of repair, our RMA form can be found here:
https://www.modalai.com/pages/rma?_pos=1&_sid=3c289327d&_ss=r

@mkriesel You'll need to re-flash the SDK and select the correct kernel option that supports C11.

When running ./install.sh you'll see the following options:

Would you like to continue with SDK install? 1) Yes, with questions along the way to configure VOXL 2 2) Yes, just update SDK keeping the same SKU configuration 3) No

Select, option 1, and you'll get the option to choose which kernel to flash

Detected: M0054-1 (QRB5165M) Detected: Config 1 w/ M0173 Breakout Board (Starling 2 Max, Starling 2, FPV V5) ======================================================================================================= In order to support all of VOXL's camera configurations, specific drones require differing kernel images. Please select your drone hardware to proceed with flashing the appropriate kernel image. ======================================================================================================= PLEASE SELECT WHICH KERNEL TO FLASH 0. M0054-1 -> QRB5165M, Starling (D0005), Sentinel (D0006), FPV V4 (D0008), D0010, PX4 Dev Kit (D0011) 1. M0054-1 -> QRB5165M w/ M0173 Camera Breakout Board, Starling 2 Max (D0012), Starling 2 (D0014), FPV V5 (D0008/D0019/D0020) Select your choice from the options above or press [Enter] to continue with current config:

For your use case, you'll want to select option 0 as you are not using an M0173 camera breakout board and the C11 camera config is inherited from the sentinel (D0006) platform.