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    • G

      Firmware Structure (Adding VTOL support) - Clarifications

      Ask your questions right here!
      • • • garret
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      G

      @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.

    • T

      Rotate imx412 stream

      Video and Image Sensors
      • • • TomP
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      10
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      64
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      Alex KushleyevA

      @TomP , oh yeah, my bad.. you found the right one šŸ™‚

    • Nse ObotN

      tensorflow lite dev setup failing on Ubuntu 22

      Ask your questions right here!
      • • • Nse Obot
      3
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      3
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      31
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      Alex KushleyevA

      @arcj and @Nse-Obot ,

      Yes we just saw that there is an issue in the build.

      However, it looks like the following workaround is working:

      use voxl-cross:V2.7 use ./install_build_deps.sh qrb5165 sdk-1.3 to install the dependencies ./clean.sh ./build.sh qrb5165

      Please try!

      We will work on fixing the build for voxl-cross:V4.0. The native build on VOXL2 is also failing at the moment.

      Alex

    • K

      VOXL2 mini does not boot with camera connected (AR0144 via M0084)

      Ask your questions right here!
      • • • KLindgren
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      3
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      K

      There might be a problem with the voxl-camera-server according to the output of systemctl status voxl-camera-server so I upgraded to the latest version in gitlab (2.2.4) and still get the same status output below.

      voxl2-mini:/$ systemctl status voxl-camera-server ā— voxl-camera-server.service - voxl-camera-server Loaded: loaded (/usr/bin/voxl-camera-server; enabled; vendor preset: enabled) Active: failed (Result: exit-code) since Thu 2025-07-03 17:42:10 UTC; 2min 6s ago Process: 2832 ExecStart=/usr/bin/voxl-camera-server (code=exited, status=255) Main PID: 2832 (code=exited, status=255) Jul 03 17:42:08 m0104 systemd[1]: voxl-camera-server.service: Main process exited, code=exited, status=255/n/a Jul 03 17:42:08 m0104 systemd[1]: voxl-camera-server.service: Failed with result 'exit-code'. Jul 03 17:42:10 m0104 systemd[1]: voxl-camera-server.service: Service hold-off time over, scheduling restart. Jul 03 17:42:10 m0104 systemd[1]: voxl-camera-server.service: Scheduled restart job, restart counter is at 3. Jul 03 17:42:10 m0104 systemd[1]: Stopped voxl-camera-server. Jul 03 17:42:10 m0104 systemd[1]: voxl-camera-server.service: Start request repeated too quickly. Jul 03 17:42:10 m0104 systemd[1]: voxl-camera-server.service: Failed with result 'exit-code'. Jul 03 17:42:10 m0104 systemd[1]: Failed to start voxl-camera-server.
    • Hector GutierrezH

      Starling 2 - failure when entering offboard mode in Starling 2

      Starling & Starling 2
      • • • Hector Gutierrez
      3
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      Votes
      3
      Posts
      37
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      Hector GutierrezH

      @george-kollamkulam : the problem with the drone shooting straight up in position mode seems related to bad estimation of altitude. In particular, if you are flying indoors (no GPS signal accessible) GPS needs to be eliminated from the altitude estimation since the lack of GPS signal in the sensor fusion seems to cause the problem.
      IN summary, if you are flying indoors and experience this problem, try disabling GPS in PX4 by setting the parameter SYS_HAS_GPS to "disable" in QGroundControl. That seems to have resolved the issue for us - at least for now.

    • T

      Unable to get ROS2 on my Starling 2

      VOXL SDK
      • • • taiwohazeez
      2
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      Votes
      2
      Posts
      15
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      tomT

      @taiwohazeez The path is https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2

      Git will always require a username / password if you're cloning via http

      You can set up an SSH key tied to your gitlab account and clone via SSH to get around this

    • Matthew WellnerM

      Quectel-CM error when Initializing a connection (SDK 1.5.0)

      Ask your questions right here!
      • • • Matthew Wellner
      2
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      2
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      22
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      Matthew WellnerM

      I grabbed the /usr/bin/quectel-CM from another VOXL2 on an older SDK (1.4.1) and swapped out the one that came with 1.5.0 and everything is working again...

    • Meytal LempelM

      voxl_planner: send vx,vy,yaw_rate command

      VOXL SDK
      • • • Meytal Lempel
      2
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      Votes
      2
      Posts
      41
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      Meytal LempelM

      Hi again,

      From investigating the voxl-vision-hub code with added prints for debug, I see that the setpoint SETPOINT_POSITION_MAGIC_NUMBER is sent to mavlink-server from two functions -

      (1) _send_current_position()
      sending the current position, and type-mask ignoring vx,vy,vz,ax,ay,az,yaw_rate

      // fetch latest position and attitude from px4 itself so the setpoint // we are about to send is a close as possible to where we currently are

      (2) execute_setpoint_position_command()
      sending the setpoint as recieved from voxl-planner

      The implemented behaviour of (1) suits the situation of position+yaw command. However for vx+vy+z+yaw_rate command I think something is missing.

      Any help will be appreciated.
      Thank you, Meytal

    • Aaron PorterA

      Connecting an External sensor to the VOXL2

      Ask your questions right here!
      • • • Aaron Porter
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      2
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      38
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      Aaron PorterA

      The overall goal is just to get time synced between the Lidar and the VOXL2's IMU. Oddly enough, I was looking through the voxl-kernel for qrb5165 and the driver for PTP is there. Is the physical layer chip not able to support PTP?

      Where I see the driver in the Kernel:
      https://gitlab.com/voxl-public/system-image-build/qrb5165-kernel/-/tree/qrb5165-ubun1.0-14.1a/drivers/ptp?ref_type=heads

    • I

      VOXL2-VOXL2IO-PX4 firmware

      Ask your questions right here!
      • • • Indra Jaganathan
      1
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      Votes
      1
      Posts
      15
      Views

      No one has replied

    • Jing YuJ

      Starling 2 Max TOF Depth Data Not Publishing

      Image Sensors
      • • • Jing Yu
      1
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      Votes
      1
      Posts
      22
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      No one has replied

    • george kollamkulamG

      Incorrect battery0 voltage on QGC

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      • • • george kollamkulam
      1
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      1
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      18
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      No one has replied

    • Matthew WellnerM

      Flir Boson over m0153 setup

      Ask your questions right here!
      • • • Matthew Wellner
      1
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      1
      Posts
      20
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      No one has replied

    • E

      Flash Flat Build Fails During sahara_run on M0054-1 (VOXL 2)

      Ask your questions right here!
      • • • eranceder
      1
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      1
      Posts
      16
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      No one has replied

    • Rodrigo BetancesR

      Starling 2 Max - GPS issues

      Starling & Starling 2
      • • • Rodrigo Betances
      1
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      1
      Posts
      22
      Views

      No one has replied

    • Hector GutierrezH

      Voxl Vision Hub - Follow tag maneuver does not operate as expected

      Starling & Starling 2
      • • • Hector Gutierrez
      1
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      1
      Posts
      32
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      No one has replied