Integrating lidar sensor
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@Muqing-Cao We haven't used this sensor before but if you use an ethernet to USB adapter, you should be able to get a network connection to the sensor from VOXL 2
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@tom Thanks for your reply. Following up with some more details: i believe you mean connecting to the usb-c connector at the side of the the voxl2 board?
If we want to use the lidar-based odometry to replace the onboard qvio, what should we do? Should we inject the estimation into PX4 using MAVROS? -
@Muqing-Cao No you'd likely want to use an add-on board, this would be the cheapest option to give you a USB-A connector that you could attach a USB to ethernet adapter: https://www.modalai.com/products/m0141?variant=46829445513520
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@tom I see. which port on the voxl 2 should i connect this board to? I wonder if this port has been already occupied on the starling 2 max drone.
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@Muqing-Cao On Starling 2 there is likely a wifi dongle in that port
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@tom Ah... So what is your recommendation in this case? We need both wifi and connection to a ethernet device.
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@Muqing-Cao If you don't want a bulky USB hub on there you can use a different add-on board like this one: https://www.modalai.com/products/m0130-3?variant=48186331693360
it has 1 USB 3.0 and 2 USB 2.0 ports
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@tom I see thanks. How about this one: https://www.modalai.com/products/m0062-2?srsltid=AfmBOoq_b52cK1R5X-8pluAer7oqq-BJb2Y1E2yUVsF2lFkwMl7mAFo2
It already has a usb and ethernet port, which seems to be more ideal for my case. Can it be fitted to starling 2 max without causing other issues? -
@Muqing-Cao Yes that would work as well
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@tom Thanks. I will get one of that.
About using another state estimation source, can you suggest me how to do that? Say we can get lidar-based position estimate in ROS message, can we disable the onboard VIO and feed our position estimate to the onboard flight controller through MAVROS or something else? Please advise.
