Flir Boson+ Issues on VOXL2 Mini
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Set up is as follows: FLIR Boson+ with M0201 adapter board (red) connected to J1 port M0181 board plugged into J7 port of VOXL2 mini.
Steps taken:
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Set up Boson+ camera using FLIR software, followed all steps detailed here: https://docs.modalai.com/M0153/
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Was not able to run
voxl-configure-cameras 51orvoxl-configure-cameras 52as the documentation suggested, so instead added 'boson-fpv' to the J7_LOWER field of the custom config file located at /data/modalai/custom_camera_config.txt
Then ran voxl-configure-cameras and picked the 'C' option, which generated this camera config file:
(I also have an imx412 hooked up to the J6 connector on the mini)
"version": 0.1, "fsync_en": false, "fsync_gpio": 109, "cameras": [{ "type": "imx412", "name": "hires", "enabled": true, "camera_id": 0, "fps": 30, "en_preview": false, "preview_width": 640, "preview_height": 480, "en_raw_preview": false, "en_small_video": true, "small_video_width": 1024, "small_video_height": 768, "small_venc_mode": "h264", "small_venc_br_ctrl": "cqp", "small_venc_Qfixed": 30, "small_venc_Qmin": 15, "small_venc_Qmax": 40, "small_venc_nPframes": 9, "small_venc_mbps": 2, "small_venc_osd": false, "en_large_video": true, "large_video_width": 4056, "large_video_height": 3040, "large_venc_mode": "h264", "large_venc_br_ctrl": "cqp", "large_venc_Qfixed": 40, "large_venc_Qmin": 15, "large_venc_Qmax": 50, "large_venc_nPframes": 29, "large_venc_mbps": 40, "large_venc_osd": false, "en_snapshot": true, "en_snapshot_width": 4056, "en_snapshot_height": 3040, "exif_focal_length": 3.0999999046325684, "exif_focal_length_in_35mm_format": 17, "exif_fnumber": 1.2400000095367432, "snapshot_jpeg_quality": 75, "ae_mode": "isp", "gain_min": 54, "gain_max": 8000 }, { "type": "boson-fpv", "name": "boson", "enabled": true, "camera_id": 1, "fps": 30, "en_rotate": false, "en_preview": true, "preview_width": 640, "preview_height": 512, "en_raw_preview": true, "en_small_video": true, "small_video_width": 640, "small_video_height": 512, "small_venc_mode": "h265", "small_venc_br_ctrl": "cbr", "small_venc_Qfixed": 38, "small_venc_Qmin": 15, "small_venc_Qmax": 50, "small_venc_nPframes": 29, "small_venc_mbps": 2, "small_venc_osd": false, "ae_mode": "lme_msv", "gain_min": 54, "gain_max": 8000, "ae_desired_msv": 60, "exposure_min_us": 20, "exposure_max_us": 33000, "exposure_soft_min_us": 5000, "ae_filter_alpha": 0.600000023841858, "ae_ignore_fraction": 0.20000000298023224, "ae_slope": 0.05000000074505806, "ae_exposure_period": 1, "ae_gain_period": 1 }] }- Restarted camera server & drone etc.
I am able to see the camera listed when running
voxl-camera-server -l. However, when I try to view the stream via eithervoxl-inspect-cam -aor the portal, the VOXL just crashes. I don't know how to get any more verbose debug info, and I believe everything is set up correctly with regards to the camera & the software running on the VOXL. -
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Just to update with some extra information, this is the exact camera: https://www.oemcameras.com/product/22640a032-htm/
@jonathankampia ,
(just FYI we just updated some more information about M0201 / M0153 here : https://docs.modalai.com/M0153/)
It seems that connection is not an issue in your case. However, the config file is not correct.
Please use the minimum config, as provided in the Hadron setup docs. We will update the Boson setup with a minimum config as well.
FLIR Hadron
ModalAI technical documentation for VOXL and VOXL 2 Companion Computers for PX4 and ArduPilot Obstacle Avoidance and GPS-denied navigation, assembled in the USA
ModalAI Technical Docs (docs.modalai.com)
What is happening is that the ISP is not liking the custom resolution of the Boson (640x512) and it causes a low level buffer overrun, causing voxl to crash. So disabling small and large streams should fix it. use preview stream only and enable raw preview.
Here is the config snippet from the above link:
{ "type": "boson", "name": "boson", "enabled": true, "camera_id": 0, "fps": 30, "en_preview": true, "en_misp": false, "preview_width": 640, "preview_height": 512, "en_raw_preview": true, "en_small_video": false, "en_large_video": false, "ae_mode": "off" },(please note that after you run
voxl-camera-serverwith this minimal config entry, the camera server will auto populate some additional fields). Also note that i did not paste the full config here, just the camera entry - a few more lines at the top and bottom (mostly braces) are misssing.I am going to add Boson support in our MISP processing pipeline so you will be able to get h264/h265 encoded boson video feed as well, but meanwhile you could just use voxl-streamer to encode these relatively small frames.
Please let me know if the config update fixes your issue.
Alex
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@jonathankampia ,
(just FYI we just updated some more information about M0201 / M0153 here : https://docs.modalai.com/M0153/)
It seems that connection is not an issue in your case. However, the config file is not correct.
Please use the minimum config, as provided in the Hadron setup docs. We will update the Boson setup with a minimum config as well.
FLIR Hadron
ModalAI technical documentation for VOXL and VOXL 2 Companion Computers for PX4 and ArduPilot Obstacle Avoidance and GPS-denied navigation, assembled in the USA
ModalAI Technical Docs (docs.modalai.com)
What is happening is that the ISP is not liking the custom resolution of the Boson (640x512) and it causes a low level buffer overrun, causing voxl to crash. So disabling small and large streams should fix it. use preview stream only and enable raw preview.
Here is the config snippet from the above link:
{ "type": "boson", "name": "boson", "enabled": true, "camera_id": 0, "fps": 30, "en_preview": true, "en_misp": false, "preview_width": 640, "preview_height": 512, "en_raw_preview": true, "en_small_video": false, "en_large_video": false, "ae_mode": "off" },(please note that after you run
voxl-camera-serverwith this minimal config entry, the camera server will auto populate some additional fields). Also note that i did not paste the full config here, just the camera entry - a few more lines at the top and bottom (mostly braces) are misssing.I am going to add Boson support in our MISP processing pipeline so you will be able to get h264/h265 encoded boson video feed as well, but meanwhile you could just use voxl-streamer to encode these relatively small frames.
Please let me know if the config update fixes your issue.
Alex
@Alex-Kushleyev Hey, thanks for the response! It fixed the crashing issue, and I can see frames being processed by running 'voxl-inspect-cam -a', but viewing the boson feed on the web portal shows a blank (black) video feed. I copied the config snippet into my file (swapping out the camera for the correct one). Something interesting to note is that even though I configured the camera for 30fps in FLIR software and on VOXL end, it seems to only be streaming about 11-12 fps. Maybe something is wrong on the camera side?
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@jonathankampia ,
(just FYI we just updated some more information about M0201 / M0153 here : https://docs.modalai.com/M0153/)
It seems that connection is not an issue in your case. However, the config file is not correct.
Please use the minimum config, as provided in the Hadron setup docs. We will update the Boson setup with a minimum config as well.
FLIR Hadron
ModalAI technical documentation for VOXL and VOXL 2 Companion Computers for PX4 and ArduPilot Obstacle Avoidance and GPS-denied navigation, assembled in the USA
ModalAI Technical Docs (docs.modalai.com)
What is happening is that the ISP is not liking the custom resolution of the Boson (640x512) and it causes a low level buffer overrun, causing voxl to crash. So disabling small and large streams should fix it. use preview stream only and enable raw preview.
Here is the config snippet from the above link:
{ "type": "boson", "name": "boson", "enabled": true, "camera_id": 0, "fps": 30, "en_preview": true, "en_misp": false, "preview_width": 640, "preview_height": 512, "en_raw_preview": true, "en_small_video": false, "en_large_video": false, "ae_mode": "off" },(please note that after you run
voxl-camera-serverwith this minimal config entry, the camera server will auto populate some additional fields). Also note that i did not paste the full config here, just the camera entry - a few more lines at the top and bottom (mostly braces) are misssing.I am going to add Boson support in our MISP processing pipeline so you will be able to get h264/h265 encoded boson video feed as well, but meanwhile you could just use voxl-streamer to encode these relatively small frames.
Please let me know if the config update fixes your issue.
Alex
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@Alex-Kushleyev Just gonna bump this
@jonathankampia ,
Have you checked that your Boson actually works (using a USB interface with either Flir GUI or a UVC interface)?
Also, is your Boson configured to send MIPI data in 8-bit raw format?
The camera server cannot change the FPS of Boson (or any of its streaming parameters). In fact there is no communication at all happening from VOXL2 to Boson (besides just probing / detection) - all the settings have to be configured by the user prior connecting to VOXL2 (including resolution, fps, etc).
M0153 MIPI Boson Image Sensor Adapter
ModalAI technical documentation for VOXL and VOXL 2 Companion Computers for PX4 and ArduPilot Obstacle Avoidance and GPS-denied navigation, assembled in the USA
ModalAI Technical Docs (docs.modalai.com)
Please double check these points..
Alex
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