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    How to do SLAM and VOXL-Mapper flying with Starling Drone ?

    Starling & Starling 2
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    • david devassyD
      david devassy
      last edited by

      Hi,
      We have recently purchased Starling Autonomy Drone. We are Facing following Issue:

      1. No Proper Guide on How to fly the drone Using VOXL Mapper(in Modal AI VOXL Web Portal)
      2. How to do Slamming and Obstacle avoidance Flying?

      Please Guide us on How to use your Web portal to Fly it inside a room using Mapper.

      1 Reply Last reply Reply Quote 0
      • david devassyD
        david devassy
        last edited by

        We have installed voxl-Mapper and started the services, changed offboard mode to trajectory also. When we tell it to go to one location its moving also. But no point cloud map is been generated inside Mapper at Voxl Web portal. Please assist.!Screenshot (1).png

        Eric KatzfeyE 1 Reply Last reply Reply Quote 0
        • Eric KatzfeyE
          Eric Katzfey ModalAI Team @david devassy
          last edited by

          @david-devassy Have you been following the documentation here: https://docs.modalai.com/voxl-mapper/#voxl-mapper?

          david devassyD 1 Reply Last reply Reply Quote 0
          • david devassyD
            david devassy @Eric Katzfey
            last edited by

            @Eric-Katzfey . Yes, we have followed the same only. i think my TOF sensor is not activated. we are not getting any data of TOF sensors on the VOXL Webportal. Can you Guide me on How to activate it.
            following attached images are the data regarding drone.Screenshot (2).png Screenshot (3).png Screenshot (4).png Screenshot (5).png

            tomT 1 Reply Last reply Reply Quote 0
            • tomT
              tom admin @david devassy
              last edited by

              @david-devassy Did you run through voxl-configure-sku -w and voxl-configure-mpa in order to enable / run all of the relevant services?

              david devassyD 2 Replies Last reply Reply Quote 0
              • david devassyD
                david devassy @tom
                last edited by

                @tom ------------------------------------------------------------------
                Welcome to the voxl-configure-sku Wizard!

                VOXL currently thinks it is in the following hardware:

                family code: MRB-D0005 (starling)
                compute board: 4 (voxl2)
                hw version: 3
                cam config: 6
                SKU: MRB-D0005-4-V3-C6

                If this is what you want, select 1 (accept and continue) to
                leave it as-is. Otherwise, select the desired product family:

                1. accept and continue 10) seeker
                2. starling 11) rb5-flight
                3. sentinel 12) flight-deck
                4. fpv 13) voxl-deck
                5. D0010 14) voxl2-flight-deck
                6. px4-autonomy-dev-kit 15) voxl2-test-fixture
                7. stinger 16) voxl2-mini-test-fixture
                8. m500 17) voxl2-board-only
                9. voxlcam 18) voxl2-mini-board-only
                  #? 2
                  selected starling

                MRB-D0005 Starling currently has two versions in circulation.
                Version 2 with silver motors (pre December 2023)
                Version 3 with black motors (December 2023 onward)
                Please select the appropriate one.

                1. quit
                2. 2
                3. 3
                  #? 3

                If you would like to select a special camera config that differs
                from the default for your product family, please select an option.
                Simply hit ENTER to use the default

                01 - ov7251 tracking ov7251 stereo
                02 - ov7251 tracking
                03 - ov7251 tracking ov7251 stereo imx214 hires
                04 - ov7251 tracking imx214 hires
                05 - pmd-tof ov7251 tracking
                06 - D0005 Starling pmd-tof imx214 hires ov7251 tracking
                08 - imx214
                09 - pmd-tof
                10 - ov7251 stereo
                11 - D0006 Sentinel
                12 - ov9782 stereo
                13 - ov9782 stereo imx214 hires
                14 - ov9782 stereo pmd-tof ov7251 tracking (copy)
                15 - D0008 dual 9782 tracking
                16 - pmd-tof ov7251 dual tracking imx214 hires
                17 - D0010 pmd-tof imx412 hires ov7251 tracking ov9782 stereo
                18 - D0008 triple ov9782
                19 - D0005 without tof imx214 hires ov7251 tracking
                20 - D0011 imx412 hires ar0144 tracking
                21 - old C6
                22 - D0013 imx412 flipped ov7251
                23 - D0010 without stereo
                C - use user-defined custom camera config in
                (/data/modalai/custom_camera_config.txt)
                q - Quit The Wizard

                The default camera config for Starling is
                6 (hires+TOF+tracking)

                Simply hit ENTER to use the default

                selection:
                Selecting default camera config

                Your answers would construct the following SKU:

                family code: MRB-D0005 (starling)
                compute board: 4 (voxl2)
                hw version: 3
                cam config: 6
                SKU: MRB-D0005-4-V3-C6

                This sku will be saved to persistent memory so VOXL
                will remember what it is installed in, even between
                system image flashes.

                Press enter to accept and continue.
                If something is wrong press ctrl-C to quit and try again.

                DONE, MRB-D0005-4-V3-C6 has been written to /data/modalai/sku.txt
                Next you will likely want to run voxl-configure-mpa

                voxl2:/$ voxl-configure-mpa

                           Welcome to voxl-configure-mpa!

                VOXL is currently thinks it is in the following hardware:

                family code: MRB-D0005 (starling)
                compute board: 4 (voxl2)
                hw version: 3
                cam config: 6
                SKU: MRB-D0005-4-V3-C6

                If this doesn't look right, quit and run voxl-configure-sku to
                set it correctly. Then run voxl-configure-mpa again.

                Continue? y/n: y
                Continuing

                About to Execute:
                voxl-configure-extrinsics starling_v2_voxl2
                voxl-configure-cameras 6
                voxl-configure-cpu-monitor factory_enable
                voxl-configure-qvio factory_enable_imu_apps
                voxl-configure-open-vins disable
                voxl-configure-dfs factory_disable
                voxl-configure-tag-detector factory_disable
                voxl-configure-tflite factory_disable
                voxl-configure-vision-hub factory_enable
                voxl-configure-mavlink-server factory_enable
                voxl-configure-portal enable
                voxl-configure-lepton disable
                voxl-configure-uvc disable
                voxl-configure-streamer factory_enable
                voxl-configure-modem disable
                voxl-configure-mavcam factory_enable
                voxl-configure-rangefinders disable
                voxl-configure-px4-imu-server factory_disable
                voxl-configure-imu factory_enable
                voxl-configure-flow-server disable
                voxl-configure-feature-tracker disable
                systemctl stop voxl-px4
                systemctl disable voxl-px4
                sleep 3
                voxl-esc setup_starling_black_motors
                voxl-elrs --scan
                systemctl stop voxl-px4
                rm -f /data/px4/param/parameters
                voxl-configure-px4 starling_v2
                systemctl stop voxl-mavlink-server
                sleep 1
                voxl-configure-px4-params --non-interactive --platform MRB-D0005-V2

                enabling voxl-wait-for-fs service

                executing: voxl-configure-extrinsics starling_v2_voxl2
                wiping old extrinsics config file
                copying /usr/share/modalai/extrinsic_configs/starling_v2_voxl2.conf to /etc/modalai/extrinsics.conf
                loading and updating file with voxl-inspect-extrinsics -q
                done configuring extrinsics
                Success!

                executing: voxl-configure-cameras 6
                Camera Configuration: 6

                camera server config helper list:
                tof:pmd-tof:0:
                hires:imx214:1:
                tracking:ov7251:2:

                driver binary list:
                /usr/share/modalai/chi-cdk/irs1645/com.qti.sensormodule.irs1645_0.bin
                /usr/share/modalai/chi-cdk/imx214/com.qti.sensormodule.imx214_2.bin
                /usr/share/modalai/chi-cdk/ov7251/com.qti.sensormodule.ov7251_3.bin

                calling camera-server-config-helper tof:pmd-tof:0: hires:imx214:1: tracking:ov7251:2:
                detected system image 1.7.4
                using new imx214 defaults
                successfully wrote this camera config to disk:

                configuration for 3 cameras:

                cam #0
                name: tof
                sensor type: pmd-tof
                isEnabled: 1
                camId: 0
                camId2: -1
                fps: 5
                en_rotate: 0
                en_rotate2: 0

                en_preview:          1
pre_width:           224
pre_height:          1557
en_raw_preview:      1

en_small_video:      0
small_video_width:   -1
small_video_height:  -1

en_large_video:      0
large_video_width:   -1
large_video_height:  -1

en_snapshot:         0
snap_width:          -1
snap_height:         -1

ae_mode:             off
standby_enabled:     0
decimator:           5
independent_exposure:0

                cam #1
                name: hires
                sensor type: imx214
                isEnabled: 1
                camId: 1
                camId2: -1
                fps: 30
                en_rotate: 0
                en_rotate2: 0

                en_preview:          0
pre_width:           640
pre_height:          480
en_raw_preview:      0

en_small_video:      1
small_video_width:   1024
small_video_height:  768

en_large_video:      1
large_video_width:   4208
large_video_height:  3120

en_snapshot:         1
snap_width:          4208
snap_height:         3120

ae_mode:             isp
standby_enabled:     0
decimator:           1
independent_exposure:0

                cam #2
                name: tracking
                sensor type: ov7251
                isEnabled: 1
                camId: 2
                camId2: -1
                fps: 30
                en_rotate: 0
                en_rotate2: 0

                en_preview:          1
pre_width:           640
pre_height:          480
en_raw_preview:      1

en_small_video:      0
small_video_width:   -1
small_video_height:  -1

en_large_video:      0
large_video_width:   -1
large_video_height:  -1

en_snapshot:         0
snap_width:          -1
snap_height:         -1

ae_mode:             lme_msv
standby_enabled:     0
decimator:           1
independent_exposure:0

                =================================================================
                camera_server_config_helper is done
                copying required camera drivers in place
                /usr/share/modalai/chi-cdk/irs1645/com.qti.sensormodule.irs1645_0.bin
                /usr/share/modalai/chi-cdk/imx214/com.qti.sensormodule.imx214_2.bin
                /usr/share/modalai/chi-cdk/ov7251/com.qti.sensormodule.ov7251_3.bin
                enabling voxl-camera-server

                Done Configuring Cameras
                Please power cycle VOXL to load new drivers
                camera server will start on next reboot

                Success!

                executing: voxl-configure-cpu-monitor factory_enable
                wiping old config file
                Creating new config file: /etc/modalai/voxl-cpu-monitor.conf
                enabling voxl-cpu-monitor systemd service
                Done configuring voxl-cpu-monitor
                Success!

                executing: voxl-configure-qvio factory_enable_imu_apps
                wiping old config file
                loading config file
                Creating new config file: /etc/modalai/voxl-qvio-server.conf
                enabling voxl-qvio-server systemd service
                Done configuring voxl-qvio-server
                Success!

                executing: voxl-configure-open-vins disable
                disabling voxl-open-vins-server systemd service
                stopping voxl-open-vins-server systemd service
                Done configuring voxl-open-vins-server
                Success!

                executing: voxl-configure-dfs factory_disable
                wiping old config file
                Creating new config file: /etc/modalai/voxl-dfs-server.conf
                disabling voxl-dfs-server systemd service
                Removed /etc/systemd/system/multi-user.target.wants/voxl-dfs-server.service.
                stopping voxl-dfs-server systemd service
                Done configuring voxl-dfs-server
                Success!

                executing: voxl-configure-tag-detector factory_disable
                wiping old config file
                Creating new config file: /etc/modalai/voxl-tag-detector.conf
                disabling voxl-tag-detector systemd service
                stopping voxl-tag-detector systemd service
                Done configuring voxl-tag-detector
                Success!

                executing: voxl-configure-tflite factory_disable
                wiping old config file
                Creating new config file: /etc/modalai/voxl-tflite-server.conf
                The config file was modified during parsing, saving the changes to disk
                disabling voxl-tflite-server systemd service
                Removed /etc/systemd/system/multi-user.target.wants/voxl-tflite-server.service.
                stopping voxl-tflite-server systemd service
                Done configuring voxl-tflite-server
                Success!

                executing: voxl-configure-vision-hub factory_enable
                wiping old config file
                Created new json file: /etc/modalai/voxl-vision-hub.conf
                The JSON config file data was modified during parsing, saving the changes to disk
                enabling voxl-vision-hub systemd service
                Done configuring voxl-vision-hub
                service will start on next reboot
                Success!

                executing: voxl-configure-mavlink-server factory_enable
                wiping old config file
                Created new json file: /etc/modalai/voxl-mavlink-server.conf
                enabling voxl-mavlink-server systemd service
                Done configuring voxl-mavlink-server
                Success!

                executing: voxl-configure-portal enable
                enabling voxl-portal systemd service
                Done configuring voxl-portal
                Success!

                executing: voxl-configure-lepton disable
                disabling voxl-lepton-server systemd service
                stopping voxl-lepton-server systemd service
                Done configuring voxl-lepton-server
                Success!

                executing: voxl-configure-uvc disable
                disabling voxl-uvc-server systemd service
                stopping voxl-uvc-server systemd service
                Done configuring voxl-uvc-server
                Success!

                executing: voxl-configure-streamer factory_enable
                wiping old config file
                Creating new config file: /etc/modalai/voxl-streamer.conf
                writing /etc/modalai/voxl-streamer.conf to disk
                parsed config file
                enabling voxl-streamer systemd service
                Done configuring voxl-streamer, it will start on next reboot
                Success!

                executing: voxl-configure-modem disable
                disabling voxl-modem systemd service
                stopping voxl-modem systemd service
                Done configuring voxl-modem
                Success!

                executing: voxl-configure-mavcam factory_enable
                Creating new config file: /etc/modalai/voxl-mavcam-manager.conf
                writing /etc/modalai/voxl-mavcam-manager.conf to disk
                enabling voxl-mavcam-manager systemd service
                Done configuring voxl-mavcam-manager
                It will start automatically on the next reboot
                Success!

                executing: voxl-configure-rangefinders disable
                disabling voxl-rangefinder-server systemd service
                Removed /etc/systemd/system/multi-user.target.wants/voxl-rangefinder-server.service.
                stopping voxl-rangefinder-server systemd service
                Done configuring voxl-rangefinder-server
                Success!

                executing: voxl-configure-px4-imu-server factory_disable
                disabling voxl-px4-imu-server systemd service
                stopping voxl-px4-imu-server systemd service
                Done configuring voxl-px4-imu-server
                Success!

                executing: voxl-configure-imu factory_enable
                wiping old config file
                Creating new config file: /etc/modalai/voxl-imu-server.conf
                enabling voxl-imu-server systemd service
                Done configuring voxl-imu-server
                Success!

                executing: voxl-configure-flow-server disable
                disabling voxl-flow-server systemd service
                stopping voxl-flow-server systemd service
                Done configuring voxl-flow-server
                Success!

                executing: voxl-configure-feature-tracker disable
                disabling voxl-feature-tracker systemd service
                stopping voxl-feature-tracker systemd service
                Done configuring voxl-feature-tracker
                Success!

                executing: systemctl stop voxl-px4
                Success!

                executing: systemctl disable voxl-px4
                Removed /etc/systemd/system/multi-user.target.wants/voxl-px4.service.
                Success!

                executing: sleep 3
                Success!

                executing: voxl-esc setup_starling_black_motors
                enabling bridge
                bridge enabled
                [INFO] Setting CPU to performance mode
                [INFO] Scanning for ESC...
                dpkg-query: no packages found matching voxl-esc-board-detect.py
                dpkg-query: no packages found matching voxl-esc-calibrate.py
                dpkg-query: no packages found matching voxl-esc-led.py
                dpkg-query: no packages found matching voxl-esc-neopixel-test.py
                dpkg-query: no packages found matching voxl-esc-scan.py
                dpkg-query: no packages found matching voxl-esc-spin-helper.sh
                dpkg-query: no packages found matching voxl-esc-spin-sine.py
                dpkg-query: no packages found matching voxl-esc-spin-step.py
                dpkg-query: no packages found matching voxl-esc-spin.py
                dpkg-query: no packages found matching voxl-esc-tools-bin
                dpkg-query: no packages found matching voxl-esc-upload-firmware-all.sh
                dpkg-query: no packages found matching voxl-esc-upload-firmware.py
                dpkg-query: no packages found matching voxl-esc-upload-params.py
                dpkg-query: no packages found matching voxl-esc-verify-params.py
                dpkg-query: no packages found matching voxl_esc_setup_paths.py
                dpkg-query: no packages found matching voxl_serial.py
                [INFO] M0134-1 detected
                [INFO] has for most recent firmware: eb6fb500
                [INFO] Expected ESC firmware info:
                Firmware: modalai_esc_firmware_m0134_1_v0_39_RC10_eb6fb500.bin
                Firmware hash: eb6fb500

                [INFO] Number of ESCs with correct FW: 4
                [INFO] All of the ESCs have the correct firmware loaded
                uploading params file ../voxl-esc-params/starling_1504_3000kv/starling_1504_3000kv.xml
                Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00)
                [GCC 8.4.0]
                dpkg-query: no packages found matching voxl-esc-board-detect.py
                dpkg-query: no packages found matching voxl-esc-calibrate.py
                dpkg-query: no packages found matching voxl-esc-led.py
                dpkg-query: no packages found matching voxl-esc-neopixel-test.py
                dpkg-query: no packages found matching voxl-esc-scan.py
                dpkg-query: no packages found matching voxl-esc-spin-helper.sh
                dpkg-query: no packages found matching voxl-esc-spin-sine.py
                dpkg-query: no packages found matching voxl-esc-spin-step.py
                dpkg-query: no packages found matching voxl-esc-spin.py
                dpkg-query: no packages found matching voxl-esc-tools-bin
                dpkg-query: no packages found matching voxl-esc-upload-firmware-all.sh
                dpkg-query: no packages found matching voxl-esc-upload-firmware.py
                dpkg-query: no packages found matching voxl-esc-upload-params.py
                dpkg-query: no packages found matching voxl-esc-verify-params.py
                dpkg-query: no packages found matching voxl_esc_setup_paths.py
                dpkg-query: no packages found matching voxl_serial.py
                Found voxl-esc tools bin version: 1.6
                VOXL Platform: M0054
                Detected RB5 Flight, VOXL2 M0054 or M0104!
                INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000
                Sending library name request: libslpi_qrb5165_io.so
                Sending initialization request
                INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000, protocol: firmware

                INFO: ESC Information:
                INFO: ---------------------
                ID : 0
                Board : version 37: ModalAi 4-in-1 ESC (M0134-1)
                UID : 0x2033303852465719003E0056
                Firmware : version 39, hash eb6fb500
                Bootloader : version 183, hash b4fa2cf8

                ID         : 1
Board      : version 37: ModalAi 4-in-1 ESC (M0134-1)
UID        : 0x20333038524657190026004F
Firmware   : version   39, hash eb6fb500
Bootloader : version  183, hash b4fa2cf8

ID         : 2
Board      : version 37: ModalAi 4-in-1 ESC (M0134-1)
UID        : 0x203330385246571900260049
Firmware   : version   39, hash eb6fb500
Bootloader : version  183, hash b4fa2cf8

ID         : 3
Board      : version 37: ModalAi 4-in-1 ESC (M0134-1)
UID        : 0x2033303852465718001C002B
Firmware   : version   39, hash eb6fb500
Bootloader : version  183, hash b4fa2cf8

                successfully pinged ESCs
                Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00)
                [GCC 8.4.0]
                dpkg-query: no packages found matching voxl-esc-board-detect.py
                dpkg-query: no packages found matching voxl-esc-calibrate.py
                dpkg-query: no packages found matching voxl-esc-led.py
                dpkg-query: no packages found matching voxl-esc-neopixel-test.py
                dpkg-query: no packages found matching voxl-esc-scan.py
                dpkg-query: no packages found matching voxl-esc-spin-helper.sh
                dpkg-query: no packages found matching voxl-esc-spin-sine.py
                dpkg-query: no packages found matching voxl-esc-spin-step.py
                dpkg-query: no packages found matching voxl-esc-spin.py
                dpkg-query: no packages found matching voxl-esc-tools-bin
                dpkg-query: no packages found matching voxl-esc-upload-firmware-all.sh
                dpkg-query: no packages found matching voxl-esc-upload-firmware.py
                dpkg-query: no packages found matching voxl-esc-upload-params.py
                dpkg-query: no packages found matching voxl-esc-verify-params.py
                dpkg-query: no packages found matching voxl_esc_setup_paths.py
                dpkg-query: no packages found matching voxl_serial.py
                Found voxl-esc tools bin version: 1.6

                INFO: Params file name : ../voxl-esc-params/starling_1504_3000kv/starling_1504_3000kv.xml
                INFO: Params file size : 7602 bytes

                STILL SAME. WE THINK OUR TOF UNIT IS NOT WORKING. ITS DEAD ON ARRIVAL.

                1 Reply Last reply Reply Quote 0
                • david devassyD
                  david devassy @tom
                  last edited by

                  @tom
                  VOXL Platform: M0054
                  Detected RB5 Flight, VOXL2 M0054 or M0104!
                  INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000
                  Sending library name request: libslpi_qrb5165_io.so
                  Sending initialization request
                  INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000
                  INFO: ESCs detected:
                  INFO: ---------------------
                  ID: 0, SW: 39, HW: 37: ModalAi 4-in-1 ESC (M0134-1)
                  ID: 1, SW: 39, HW: 37: ModalAi 4-in-1 ESC (M0134-1)
                  ID: 2, SW: 39, HW: 37: ModalAi 4-in-1 ESC (M0134-1)
                  ID: 3, SW: 39, HW: 37: ModalAi 4-in-1 ESC (M0134-1)

                  INFO: Loading XML config file...
                  INFO: Uploading params for ESC ID 255...
                  -- board config
                  -- id config
                  -- uart config
                  -- tune config
                  DONE
                  INFO: Resetting ESCs...
                  DONE
                  WARNING: Received 12 bytes of data from SLPI while SLPI uart not in use (topic uart_data)
                  disabling bridge
                  bridge disabled
                  Success!

                  executing: voxl-elrs --scan
                  [ERROR] Error reading device information.
                  [ERROR] Ensure that transmitter is turned off and receiver is not in bootloader mode.
                  first try failed, executing a second time: voxl-elrs --scan
                  [ERROR] Error reading device information.
                  [ERROR] Ensure that transmitter is turned off and receiver is not in bootloader mode.
                  FAILED TO EXECUTE: voxl-elrs --scan

                  executing: systemctl stop voxl-px4
                  Success!

                  executing: rm -f /data/px4/param/parameters
                  Success!

                  executing: voxl-configure-px4 starling_v2
                  wiping old config file
                  enabling voxl-px4 systemd service
                  Created symlink /etc/systemd/system/multi-user.target.wants/voxl-px4.service ā†’ /etc/systemd/system/voxl-px4.service.
                  Done configuring voxl-px4
                  Success!

                  executing: systemctl stop voxl-mavlink-server
                  Success!

                  executing: sleep 1
                  Success!

                  executing: voxl-configure-px4-params --non-interactive --platform MRB-D0005-V2
                  [INFO] Voxl-px4 not currently running.
                  [INFO] Starting voxl-px4 service...
                  [INFO] Voxl-px4 started successfully!
                  [INFO] Loading the following param files: platforms/Starling_V2.params, EKF2_helpers/indoor_vio.params, radio_helpers/Commando_8.params.

                  [INFO] Loading file: /usr/share/modalai/px4_params/v1.14/platforms/Starling_V2.params
                  [INFO] Scanning currently loaded parameters...
                  The following parameters about to be loaded differ from those currently loaded:
                  NAME CURRENT NEW
                  [1] CBRK_IO_SAFETY N/A 22027
                  [2] COM_CPU_MAX 0.0 -1.0
                  [3] COM_OF_LOSS_T N/A 3.0
                  [4] NAV_ACC_RAD N/A 2.0
                  [5] GPS_UBX_DYNMODEL N/A 6
                  [6] RTL_RETURN_ALT N/A 30
                  [7] RTL_DESCEND_ALT N/A 10
                  [8] SENS_BOARD_ROT N/A 0
                  [9] BAT1_N_CELLS N/A 2
                  [10] BAT1_R_INTERNAL N/A 0.025
                  [11] BAT1_CAPACITY N/A 2900
                  [12] BAT1_V_CHARGED N/A 4.1
                  [13] BAT1_V_EMPTY N/A 3.2
                  [14] BAT_LOW_THR N/A 0.15
                  [15] BAT_CRIT_THR N/A 0.10
                  [16] BAT_EMERGEN_THR N/A 0.05
                  [17] MPC_THR_HOVER 0.42 0.34
                  [18] THR_MDL_FAC N/A 0.9
                  [19] VOXL_ESC_RPM_MAX 10500.0 15000.0
                  [20] VOXL_ESC_RPM_MIN 1000.0 3000.0
                  [21] VOXL_ESC_FUNC2 103.0 104.0
                  [22] VOXL_ESC_FUNC3 104.0 102.0
                  [23] VOXL_ESC_FUNC4 102.0 103.0
                  [24] VOXL_ESC_T_COSP N/A 0.990000009536743164
                  [25] VOXL_ESC_T_DEAD N/A 20
                  [26] VOXL_ESC_T_EXPO N/A 35
                  [27] VOXL_ESC_T_MINF N/A 0.150000005960464478
                  [28] VOXL_ESC_T_PERC N/A 90
                  [29] VOXL_ESC_VLOG N/A 1
                  [30] MC_BAT_SCALE_EN N/A 0
                  [31] EKF2_IMU_POS_X 0.027 0.0157
                  [32] EKF2_IMU_POS_Y 0.009 0.0078
                  [33] EKF2_IMU_POS_Z -0.019 -0.018
                  [34] EKF2_EV_POS_X N/A 0.0
                  [35] EKF2_EV_POS_Y N/A 0.0
                  [36] EKF2_EV_POS_Z N/A 0.0
                  [37] CA_ROTOR0_PX 0.15 0.085
                  [38] CA_ROTOR0_PY 0.15 0.0625
                  [39] CA_ROTOR1_PX -0.15 -0.085
                  [40] CA_ROTOR1_PY -0.15 -0.0625
                  [41] CA_ROTOR2_PX 0.15 0.085
                  [42] CA_ROTOR2_PY -0.15 -0.0625
                  [43] CA_ROTOR3_PX -0.15 -0.085
                  [44] CA_ROTOR3_PY 0.15 0.0625
                  [45] CA_ROTOR0_AX N/A 0.0
                  [46] CA_ROTOR0_AY N/A 0.0
                  [47] CA_ROTOR1_AX N/A 0.0
                  [48] CA_ROTOR1_AY N/A 0.0
                  [49] CA_ROTOR2_AX N/A 0.0
                  [50] CA_ROTOR2_AY N/A 0.0
                  [51] CA_ROTOR3_AX N/A 0.0
                  [52] CA_ROTOR3_AY N/A 0.0
                  [53] CA_ROTOR0_KM N/A 0.05
                  [54] CA_ROTOR1_KM N/A 0.05
                  [55] MOT_SLEW_MAX N/A 0.0
                  [56] IMU_DGYRO_CUTOFF N/A 60.0
                  [57] IMU_ACCEL_CUTOFF N/A 80.0
                  [58] IMU_GYRO_CUTOFF N/A 80.0
                  [59] IMU_GYRO_DNF_EN N/A 1
                  [60] IMU_GYRO_DNF_HMC N/A 3
                  [61] IMU_GYRO_DNF_BW N/A 15
                  [62] MC_PITCH_P 5.5 16.0
                  [63] MC_PITCHRATE_P 0.08 0.12
                  [64] MC_PITCHRATE_I 0.2 0.05
                  [65] MC_PITCHRATE_D 0.0013 0.0015
                  [66] MC_PITCH_CUTOFF N/A 150.0
                  [67] MC_ROLL_P 5.5 16.0
                  [68] MC_ROLLRATE_P 0.08 0.09
                  [69] MC_ROLLRATE_I 0.2 0.05
                  [70] MC_ROLLRATE_D 0.0013 0.0015
                  [71] MC_ROLL_CUTOFF N/A 150.0
                  [72] MC_YAW_P 2.0 2.8
                  [73] MC_YAWRATE_I 0.1 0.5
                  [74] MC_YAW_CUTOFF N/A 150.0
                  [75] MC_ROLLRATE_MAX N/A 130.0
                  [76] MC_PITCHRATE_MAX N/A 130.0
                  [77] MC_YAWRATE_MAX N/A 150.0
                  [78] MPC_POS_MODE 0.0 4.0
                  [79] MPC_YAW_EXPO 0.2 0.3
                  [80] MPC_XY_MAN_EXPO 0.2 0.45
                  [81] MPC_Z_MAN_EXPO 0.2 0.1
                  [82] MPC_ACC_HOR N/A 3.0
                  [83] MPC_JERK_MAX N/A 40.0
                  [84] MPC_TILTMAX_AIR N/A 30.0
                  [85] MPC_ACC_HOR_MAX N/A 1000.0
                  [86] MPC_ACC_UP_MAX N/A 3.0
                  [87] MPC_ACC_DOWN_MAX N/A 3.0
                  [88] MPC_VEL_MANUAL 5.0 3.0
                  [89] MPC_XY_VEL_MAX 5.0 3.0
                  [90] MPC_XY_CRUISE 5.0 3.0
                  [91] MPC_Z_VEL_MAX_DN 1.5 1.0
                  [92] MPC_Z_VEL_MAX_UP 4.0 1.0
                  [93] MPC_HOLD_MAX_XY N/A 0.0
                  [94] MPC_HOLD_MAX_Z N/A 0.0
                  [95] MPC_THR_MAX 0.75 0.7
                  [96] MPC_MANTHR_MIN 0.05 0.08
                  [97] MPC_XY_P 0.95 3.5
                  [98] MPC_Z_P 1.0 5.0
                  [99] MPC_TKO_RAMP_T 1.5 1.0
                  [100] COM_SPOOLUP_TIME N/A 2.0
                  [101] LNDMC_ROT_MAX N/A 30.0
                  [102] LNDMC_TRIG_TIME N/A 0.5
                  [103] COM_DISARM_LAND N/A 0.1
                  [104] COM_DISARM_PRFLT -1.0 20.0

                  [INFO] Setting params...
                  [ERROR] Failed to set PX4 parameters. Check voxl-px4 status for details.
                  first try failed, executing a second time: voxl-configure-px4-params --non-interactive --platform MRB-D0005-V2
                  [INFO] Voxl-px4 service found and active.
                  [INFO] Loading the following param files: platforms/Starling_V2.params, EKF2_helpers/indoor_vio.params, radio_helpers/Commando_8.params.

                  [INFO] Loading file: /usr/share/modalai/px4_params/v1.14/platforms/Starling_V2.params
                  [INFO] Scanning currently loaded parameters...
                  The following parameters about to be loaded differ from those currently loaded:
                  NAME CURRENT NEW
                  [1] CBRK_IO_SAFETY N/A 22027
                  [2] CBRK_SUPPLY_CHK N/A 894281
                  [3] COM_CPU_MAX N/A -1
                  [4] COM_OF_LOSS_T N/A 3.0
                  [5] NAV_ACC_RAD N/A 2.0
                  [6] GPS_UBX_DYNMODEL N/A 6
                  [7] RTL_RETURN_ALT N/A 30
                  [8] RTL_DESCEND_ALT N/A 10
                  [9] IMU_GYRO_RATEMAX N/A 800
                  [10] SYS_AUTOSTART N/A 4001
                  [11] MAV_TYPE N/A 2
                  [12] SENS_BOARD_ROT N/A 0
                  [13] BAT1_N_CELLS N/A 2
                  [14] BAT1_R_INTERNAL N/A 0.025
                  [15] BAT1_CAPACITY N/A 2900
                  [16] BAT1_V_CHARGED N/A 4.1
                  [17] BAT1_V_EMPTY N/A 3.2
                  [18] BAT_LOW_THR N/A 0.15
                  [19] BAT_CRIT_THR N/A 0.10
                  [20] BAT_EMERGEN_THR N/A 0.05
                  [21] MPC_THR_HOVER N/A 0.34
                  [22] THR_MDL_FAC N/A 0.9
                  [23] VOXL_ESC_FUNC1 N/A 101
                  [24] VOXL_ESC_FUNC2 103.0 104.0
                  [25] VOXL_ESC_FUNC3 104.0 102.0
                  [26] VOXL_ESC_FUNC4 102.0 103.0
                  [27] VOXL_ESC_SDIR1 N/A 0
                  [28] VOXL_ESC_SDIR2 N/A 0
                  [29] VOXL_ESC_SDIR3 N/A 0
                  [30] VOXL_ESC_SDIR4 N/A 0
                  [31] VOXL_ESC_BAUD N/A 2000000
                  [32] VOXL_ESC_CONFIG N/A 1
                  [33] VOXL_ESC_MODE N/A 0
                  [34] VOXL_ESC_REV N/A 0
                  [35] CA_AIRFRAME N/A 0
                  [36] CA_ROTOR_COUNT N/A 4
                  [37] CA_ROTOR2_KM N/A -0.05
                  [38] CA_ROTOR3_KM N/A -0.05
                  [39] MC_AIRMODE N/A 0
                  [40] MC_PITCHRATE_K N/A 1.0
                  [41] MC_ROLLRATE_K N/A 1.0
                  [42] MC_YAWRATE_P N/A 0.15
                  [43] MC_YAWRATE_D N/A 0.0
                  [44] MC_YAWRATE_K N/A 1.0
                  [45] MPC_LAND_SPEED N/A 1.0
                  [46] MPC_THR_MIN N/A 0.08
                  [47] MPC_XY_VEL_P_ACC N/A 3.00
                  [48] MPC_XY_VEL_I_ACC N/A 0.10
                  [49] MPC_XY_VEL_D_ACC N/A 0.00
                  [50] MPC_Z_VEL_P_ACC N/A 8.0
                  [51] MPC_Z_VEL_I_ACC N/A 2.0
                  [52] MPC_Z_VEL_D_ACC N/A 0.0
                  [53] MPC_TKO_SPEED N/A 1.50

                  [INFO] Setting params...
                  [INFO] PX4 parameter configuration successful!

                  [INFO] Loading file: /usr/share/modalai/px4_params/v1.14/EKF2_helpers/indoor_vio.params
                  [INFO] Scanning currently loaded parameters...
                  The following parameters about to be loaded differ from those currently loaded:
                  NAME CURRENT NEW
                  [1] SYS_HAS_MAG N/A 1
                  [2] SYS_HAS_GPS N/A 1
                  [3] COM_ARM_WO_GPS N/A 1
                  [4] EKF2_GPS_CTRL N/A 0
                  [5] EKF2_MAG_TYPE N/A 5
                  [6] EKF2_BARO_CTRL N/A 1
                  [7] EKF2_EV_CTRL N/A 15
                  [8] EKF2_OF_CTRL N/A 0
                  [9] EKF2_RNG_CTRL N/A 0
                  [10] EKF2_HGT_REF N/A 3
                  [11] EKF2_EV_QMIN N/A 1
                  [12] EKF2_EV_NOISE_MD N/A 0
                  [13] EKF2_EVA_NOISE N/A 0.1
                  [14] EKF2_EVP_GATE N/A 5.0
                  [15] EKF2_EVP_NOISE N/A 0.1
                  [16] EKF2_EVV_GATE N/A 3.0
                  [17] EKF2_EVV_NOISE N/A 0.1
                  [18] EKF2_EV_DELAY N/A 0.00

                  [INFO] Setting params...
                  [INFO] PX4 parameter configuration successful!

                  [INFO] Loading file: /usr/share/modalai/px4_params/v1.14/radio_helpers/Commando_8.params
                  [INFO] Scanning currently loaded parameters...
                  The following parameters about to be loaded differ from those currently loaded:
                  NAME CURRENT NEW
                  [1] RC_CHAN_CNT N/A 16
                  [2] RC_MAP_KILL_SW N/A 5
                  [3] RC_MAP_FLTMODE N/A 6
                  [4] COM_FLTMODE1 N/A 0
                  [5] COM_FLTMODE2 N/A -1
                  [6] COM_FLTMODE3 N/A -1
                  [7] COM_FLTMODE4 N/A 2
                  [8] COM_FLTMODE5 N/A -1
                  [9] COM_FLTMODE6 N/A 7
                  [10] RC1_DZ N/A 10.000000000000000000
                  [11] RC1_MAX N/A 2000.000000000000000000
                  [12] RC1_MIN N/A 1000.000000000000000000
                  [13] RC1_REV N/A 1.000000000000000000
                  [14] RC1_TRIM N/A 1500.000000000000000000
                  [15] RC2_DZ N/A 10.000000000000000000
                  [16] RC2_MAX N/A 2000.000000000000000000
                  [17] RC2_MIN N/A 1000.000000000000000000
                  [18] RC2_REV N/A 1.000000000000000000
                  [19] RC2_TRIM N/A 1500.000000000000000000
                  [20] RC3_DZ N/A 10.000000000000000000
                  [21] RC3_MAX N/A 2000.000000000000000000
                  [22] RC3_MIN N/A 1000.000000000000000000
                  [23] RC3_REV N/A 1.000000000000000000
                  [24] RC3_TRIM N/A 1500.000000000000000000
                  [25] RC4_DZ N/A 10.000000000000000000
                  [26] RC4_MAX N/A 2000.000000000000000000
                  [27] RC4_MIN N/A 1000.000000000000000000
                  [28] RC4_REV N/A 1.000000000000000000
                  [29] RC4_TRIM N/A 1500.000000000000000000
                  [30] RC5_DZ N/A 10.000000000000000000
                  [31] RC5_MAX N/A 1988.000000000000000000
                  [32] RC5_MIN N/A 1011.000000000000000000
                  [33] RC5_REV N/A 1.000000000000000000
                  [34] RC5_TRIM N/A 1500.000000000000000000
                  [35] RC6_DZ N/A 10.000000000000000000
                  [36] RC6_MAX N/A 1988.000000000000000000
                  [37] RC6_MIN N/A 1011.000000000000000000
                  [38] RC6_REV N/A 1.000000000000000000
                  [39] RC6_TRIM N/A 1500.000000000000000000
                  [40] RC7_DZ N/A 10.000000000000000000
                  [41] RC7_MAX N/A 1988.000000000000000000
                  [42] RC7_MIN N/A 1011.000000000000000000
                  [43] RC7_REV N/A 1.000000000000000000
                  [44] RC7_TRIM N/A 1500.000000000000000000
                  [45] RC8_DZ N/A 10.000000000000000000
                  [46] RC8_MAX N/A 1988.000000000000000000
                  [47] RC8_MIN N/A 1011.000000000000000000
                  [48] RC8_REV N/A 1.000000000000000000
                  [49] RC8_TRIM N/A 1500.000000000000000000
                  [50] RC9_DZ N/A 0.000000000000000000
                  [51] RC9_MAX N/A 2000.000000000000000000
                  [52] RC9_MIN N/A 1000.000000000000000000
                  [53] RC9_REV N/A 1.000000000000000000
                  [54] RC9_TRIM N/A 1500.000000000000000000
                  [55] RC10_DZ N/A 0.000000000000000000
                  [56] RC10_MAX N/A 2000.000000000000000000
                  [57] RC10_MIN N/A 1000.000000000000000000
                  [58] RC10_REV N/A 1.000000000000000000
                  [59] RC10_TRIM N/A 1500.000000000000000000
                  [60] RC11_DZ N/A 0.000000000000000000
                  [61] RC11_MAX N/A 2000.000000000000000000
                  [62] RC11_MIN N/A 1000.000000000000000000
                  [63] RC11_REV N/A 1.000000000000000000
                  [64] RC11_TRIM N/A 1500.000000000000000000
                  [65] RC12_DZ N/A 0.000000000000000000
                  [66] RC12_MAX N/A 1988.000000000000000000
                  [67] RC12_MIN N/A 1011.000000000000000000
                  [68] RC12_REV N/A 1.000000000000000000
                  [69] RC12_TRIM N/A 1499.000000000000000000
                  [70] RC13_DZ N/A 0.000000000000000000
                  [71] RC13_MAX N/A 2000.000000000000000000
                  [72] RC13_MIN N/A 1000.000000000000000000
                  [73] RC13_REV N/A 1.000000000000000000
                  [74] RC13_TRIM N/A 1500.000000000000000000
                  [75] RC14_DZ N/A 0.000000000000000000
                  [76] RC14_MAX N/A 2000.000000000000000000
                  [77] RC14_MIN N/A 1000.000000000000000000
                  [78] RC14_REV N/A 1.000000000000000000
                  [79] RC14_TRIM N/A 1500.000000000000000000
                  [80] RC15_DZ N/A 0.000000000000000000
                  [81] RC15_MAX N/A 2000.000000000000000000
                  [82] RC15_MIN N/A 1000.000000000000000000
                  [83] RC15_REV N/A 1.000000000000000000
                  [84] RC15_TRIM N/A 1500.000000000000000000
                  [85] RC16_DZ N/A 0.000000000000000000
                  [86] RC16_MAX N/A 2000.000000000000000000
                  [87] RC16_MIN N/A 1000.000000000000000000
                  [88] RC16_REV N/A 1.000000000000000000
                  [89] RC16_TRIM N/A 1500.000000000000000000
                  [90] RC17_DZ N/A 0.000000000000000000
                  [91] RC17_MAX N/A 2000.000000000000000000
                  [92] RC17_MIN N/A 1000.000000000000000000
                  [93] RC17_REV N/A 1.000000000000000000
                  [94] RC17_TRIM N/A 1500.000000000000000000
                  [95] RC18_DZ N/A 0.000000000000000000
                  [96] RC18_MAX N/A 2000.000000000000000000
                  [97] RC18_MIN N/A 1000.000000000000000000
                  [98] RC18_REV N/A 1.000000000000000000
                  [99] RC18_TRIM N/A 1500.000000000000000000
                  [100] RC_MAP_ACRO_SW N/A 0
                  [101] RC_MAP_ARM_SW N/A 0
                  [102] RC_MAP_AUX1 N/A 0
                  [103] RC_MAP_AUX2 N/A 0
                  [104] RC_MAP_AUX3 N/A 0
                  [105] RC_MAP_AUX4 N/A 0
                  [106] RC_MAP_AUX5 N/A 0
                  [107] RC_MAP_AUX6 N/A 0
                  [108] RC_MAP_FAILSAFE N/A 0
                  [109] RC_MAP_FLAPS N/A 0
                  [110] RC_MAP_GEAR_SW N/A 0
                  [111] RC_MAP_LOITER_SW N/A 0
                  [112] RC_MAP_MAN_SW N/A 0
                  [113] RC_MAP_MODE_SW N/A 0
                  [114] RC_MAP_OFFB_SW N/A 0
                  [115] RC_MAP_PARAM1 N/A 0
                  [116] RC_MAP_PARAM2 N/A 0
                  [117] RC_MAP_PARAM3 N/A 0
                  [118] RC_MAP_PITCH N/A 2
                  [119] RC_MAP_POSCTL_SW N/A 0
                  [120] RC_MAP_RATT_SW N/A 0
                  [121] RC_MAP_RETURN_SW N/A 0
                  [122] RC_MAP_ROLL N/A 1
                  [123] RC_MAP_STAB_SW N/A 0
                  [124] RC_MAP_THROTTLE N/A 3
                  [125] RC_MAP_TRANS_SW N/A 0
                  [126] RC_MAP_YAW N/A 4

                  [INFO] Setting params...
                  [INFO] PX4 parameter configuration successful!

                  [INFO] Loading file: /data/px4/param/parameters_gyro.cal
                  [INFO] Scanning currently loaded parameters...
                  The following parameters about to be loaded differ from those currently loaded:
                  NAME CURRENT NEW
                  [1] CAL_GYRO0_ID N/A 2490378
                  [2] CAL_GYRO0_PRIO N/A 50
                  [3] CAL_GYRO0_XOFF N/A 0.0134728
                  [4] CAL_GYRO0_YOFF N/A -0.00290391
                  [5] CAL_GYRO0_ZOFF N/A -0.000202846
                  [6] CAL_GYRO0_ROT N/A -1

                  [INFO] Setting params...
                  [INFO] PX4 parameter configuration successful!
                  [INFO] Trimming duplicate parameters...

                  [INFO] Loading file: /data/px4/param/parameters_acc.cal
                  [INFO] Scanning currently loaded parameters...
                  The following parameters about to be loaded differ from those currently loaded:
                  NAME CURRENT NEW
                  [1] CAL_ACC0_ID N/A 2490378
                  [2] CAL_ACC0_PRIO N/A 50
                  [3] CAL_ACC0_XOFF N/A 0.016479
                  [4] CAL_ACC0_YOFF N/A 0.0495152
                  [5] CAL_ACC0_ZOFF N/A -0.00822353
                  [6] CAL_ACC0_XSCALE N/A 1
                  [7] CAL_ACC0_YSCALE N/A 1
                  [8] CAL_ACC0_ZSCALE N/A 1
                  [9] CAL_ACC0_ROT N/A -1

                  [INFO] Setting params...
                  [INFO] PX4 parameter configuration successful!
                  [INFO] Trimming duplicate parameters...

                  [INFO] Loading file: /data/px4/param/parameters_level.cal
                  [INFO] Scanning currently loaded parameters...
                  The following parameters about to be loaded differ from those currently loaded:
                  NAME CURRENT NEW
                  [1] SENS_BOARD_X_OFF N/A 0.0105941
                  [2] SENS_BOARD_Y_OFF N/A 0.00175017

                  [INFO] Setting params...
                  [INFO] PX4 parameter configuration successful!
                  [INFO] Trimming duplicate parameters...

                  [INFO] Loading file: /data/px4/param/parameters_mag.cal
                  [INFO] Scanning currently loaded parameters...
                  The following parameters about to be loaded differ from those currently loaded:
                  NAME CURRENT NEW
                  [1] CAL_MAG0_ID N/A 527625
                  [2] CAL_MAG0_PRIO N/A 75
                  [3] CAL_MAG0_XOFF N/A -0.284582
                  [4] CAL_MAG0_YOFF N/A -0.281098
                  [5] CAL_MAG0_ZOFF N/A 0.219934
                  [6] CAL_MAG0_XSCALE N/A 1.00463
                  [7] CAL_MAG0_YSCALE N/A 1.01471
                  [8] CAL_MAG0_ZSCALE N/A 0.979607
                  [9] CAL_MAG0_XODIAG N/A -0.0119525
                  [10] CAL_MAG0_YODIAG N/A 0.0184261
                  [11] CAL_MAG0_ZODIAG N/A -0.00372516
                  [12] CAL_MAG0_XCOMP N/A 0
                  [13] CAL_MAG0_YCOMP N/A 0
                  [14] CAL_MAG0_ZCOMP N/A 0
                  [15] CAL_MAG0_ROT N/A 0

                  [INFO] Setting params...
                  [INFO] PX4 parameter configuration successful!
                  [INFO] Trimming duplicate parameters...

                  [INFO] Loading file: /data/px4/param/parameters_rc.cal
                  [INFO] Trimming duplicate parameters...
                  [INFO] Scanning currently loaded parameters...
                  [INFO] No difference in parameters was detected.
                  [INFO] Done configuring for platform MRB-D0005-V2
                  Success running a second time

                       The following steps worked on the second try:

                  voxl-configure-px4-params --non-interactive --platform MRB-D0005-V2

                       FAILED TO EXECUTE the following steps:

                  voxl-elrs --scan

                    Encountered Problems Configuring MPA Services :-/
    Some Services may not start up on next reboot

                  Calibration File Status:
                  Present /data/modalai/voxl-imu-server.cal
                  Present /data/modalai/opencv_tracking_intrinsics.yml
                  Present /data/px4/param/parameters_gyro.cal
                  Present /data/px4/param/parameters_acc.cal
                  Present /data/px4/param/parameters_level.cal
                  Present /data/px4/param/parameters_mag.cal

                              PLEASE POWER CYCLE YOUR VOXL
                  tomT 1 Reply Last reply Reply Quote 0
                  • tomT
                    tom admin @david devassy
                    last edited by

                    @david-devassy What do you see with voxl-list-pipes and systemctl status voxl-camera-server

                    david devassyD 1 Reply Last reply Reply Quote 0
                    • david devassyD
                      david devassy @tom
                      last edited by

                      @tom voxl2:/$ voxl-list-pipes
                      cpu_monitor
                      gcs_ip_list
                      hires_large_color
                      hires_large_encoded
                      hires_large_grey
                      hires_small_color
                      hires_small_encoded
                      hires_small_grey
                      hires_snapshot
                      horizon_cal_io
                      imu_apps
                      imu_apps_fft
                      mavlink_ap_heartbeat
                      mavlink_attitude
                      mavlink_from_gcs
                      mavlink_gps_raw_int
                      mavlink_local_position_ned
                      mavlink_onboard
                      mavlink_sys_status
                      mavlink_to_gcs
                      modal_io_bridge
                      plan_msgs
                      qvio
                      qvio_extended
                      qvio_overlay
                      tracking
                      voa_pc_out
                      voxl_mapper_aligned_ptcloud
                      voxl_mapper_costmap
                      voxl_mesh
                      voxl_mesh_endpoint
                      voxl_planner_render
                      vvhub_body_wrt_fixed
                      vvhub_body_wrt_local
                      vvhub_fixed_pose_input

                      voxl2:/$ 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: active (running) since Fri 2024-04-12 09:02:25 UTC; 3min 59s ago
                      Main PID: 1404 (voxl-camera-ser)
                      Tasks: 68 (limit: 4915)
                      CGroup: /system.slice/voxl-camera-server.service
                      ā””ā”€1404 /usr/bin/voxl-camera-server

                      Apr 12 09:02:25 m0054 voxl-camera-server[1404]: gbm_create_device(156): Info: backend name is: msm_drm
                      Apr 12 09:02:25 m0054 voxl-camera-server[1404]: gbm_create_device(156): Info: backend name is: msm_drm
                      Apr 12 09:02:25 m0054 voxl-camera-server[1404]: gbm_create_device(156): Info: backend name is: msm_drm
                      Apr 12 09:02:25 m0054 voxl-camera-server[1404]: gbm_create_device(156): Info: backend name is: msm_drm
                      Apr 12 09:02:25 m0054 voxl-camera-server[1404]: gbm_create_device(156): Info: backend name is: msm_drm
                      Apr 12 09:02:25 m0054 voxl-camera-server[1404]: Starting Camera: tracking (originally id #2) with id offset: 1
                      Apr 12 09:02:25 m0054 voxl-camera-server[1404]: Using gain limits min: 54 max: 3451
                      Apr 12 09:02:25 m0054 voxl-camera-server[1404]: setting ov7251 BLC register for cam id 1
                      Apr 12 09:02:25 m0054 voxl-camera-server[1404]: ------ voxl-camera-server: Started 2 of 3 cameras
                      Apr 12 09:02:25 m0054 voxl-camera-server[1404]: ------ voxl-camera-server: Camera server is now running
                      voxl2:/$

                      tomT 1 Reply Last reply Reply Quote 0
                      • tomT
                        tom admin @david devassy
                        last edited by

                        @david-devassy Okay so it does seem like the voxl2 is having an issue communicating with the TOF sensor. Is this a stock, unmodified starling?

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                        • david devassyD
                          david devassy @tom
                          last edited by

                          @tom yes its a new one. stock unmodified. i think TOF module is not working properly. Do you provide any warranty for these.?

                          tomT 1 Reply Last reply Reply Quote 0
                          • tomT
                            tom admin @david devassy
                            last edited by tom

                            @david-devassy That's not something I'm in control of but you can look into https://www.modalai.com/pages/rma

                            We do test all sensors and flight test each drone before shipping so the failure would've occurred sometime after

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                            • david devassyD
                              david devassy @tom
                              last edited by

                              @tom
                              I have a new issue

                              Since yesterday, when I turned on the Starling drone, it just sits there. It's not getting armed. When I checked for ADB shell, it's not getting connected, and an error comes up saying no devices found. When I checked the forum, it said it might be bricked due to some file loss. We followed the unbrick tutorial, and after successful flashing of the latest QDL M0054.14.1a-flat-v3, the device is showing up as Qualcomm bulk something. However, ADB still isn't getting connected.
                              Please note that I am unable to enter adb shell and fast boot mode .

                              For unbrick I followed this
                              https://docs.modalai.com/voxl2-unbricking

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