@Alex-Kushleyev
This is the output i get from dmesg -w, the i put 2 enters at the place where the camera stream duplicates.
I do see the same error mesages as you sent, but only with id 6 instead of 3. I am quite certain i am using the 8-bit drives, since the files in /usr/lib/camera/ do not specify 10_bit, or 12_bit, and the output format of the sensor is RAW8

[ 420.109884] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.60 [ 420.109907] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.56 [ 420.109942] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.79 [ 420.123279] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 997 CAM_ACQUIRE_DEV Success, sensor_id:0x577,sensor_slave_addr:0x34 [ 420.180419] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.58 [ 420.182197] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.56 [ 420.184391] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.60 [ 420.184436] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.79 [ 420.194168] CAM_ERR: CAM-ISP: cam_ife_csid_cid_reserve: 1040 CSID:5 IPP resource not available [ 420.194171] CAM_ERR: CAM-ISP: cam_ife_csid_cid_reserve: 1040 CSID:4 IPP resource not available [ 420.194173] CAM_ERR: CAM-ISP: cam_ife_csid_cid_reserve: 1040 CSID:3 IPP resource not available [ 420.194175] CAM_ERR: CAM-ISP: cam_ife_csid_cid_reserve: 1040 CSID:2 IPP resource not available [ 420.194201] CAM_ERR: CAM-ISP: cam_ife_hw_mgr_print_acquire_info: 710 Successfully acquire single IFE[1 -1] with [11 pix] [0 pd] [0 rdi] ports for ctx:0 [ 420.199051] CAM_INFO: CAM-CSIPHY: cam_csiphy_core_cfg: 1137 START_DEV: CSIPHY_IDX: 1, Device_slot: 0, Datarate: 1500000000, Settletime: 2200000000 [ 420.204368] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 997 CAM_ACQUIRE_DEV Success, sensor_id:0x356,sensor_slave_addr:0x30 [ 420.207707] CAM_INFO: CAM-ISP: cam_vfe_bus_ver3_init_hw: 3659 Overriding clock gating at bus input [ 420.207712] CAM_INFO: CAM-ISP: cam_vfe_top_ver3_init_hw: 246 Disable clock gating at IFE top [ 420.207731] CAM_ERR: CAM-ISP: cam_ife_mgr_start_hw: 4510 ->Config HW, 000000002005597e [ 420.208476] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 1089 CAM_START_DEV Success, sensor_id:0x577,sensor_slave_addr:0x34 [ 420.217046] CAM_INFO: CAM-ISP: __cam_isp_ctx_sof_in_epoch: 1660 First SOF in EPCR ctx:3 frame_id:1 next substate EPOCH [ 420.291920] CAM_ERR: CAM-ISP: cam_ife_csid_cid_reserve: 1040 CSID:5 IPP resource not available [ 420.291923] CAM_ERR: CAM-ISP: cam_ife_csid_cid_reserve: 1040 CSID:4 IPP resource not available [ 420.291925] CAM_ERR: CAM-ISP: cam_ife_csid_cid_reserve: 1040 CSID:3 IPP resource not available [ 420.291926] CAM_ERR: CAM-ISP: cam_ife_csid_cid_reserve: 1040 CSID:2 IPP resource not available [ 420.291947] CAM_ERR: CAM-ISP: cam_ife_hw_mgr_print_acquire_info: 710 Successfully acquire single IFE[0 -1] with [11 pix] [0 pd] [0 rdi] ports for ctx:4 [ 420.297184] CAM_INFO: CAM-CSIPHY: cam_csiphy_core_cfg: 1137 START_DEV: CSIPHY_IDX: 2, Device_slot: 0, Datarate: 1500000000, Settletime: 2200000000 [ 420.305641] CAM_INFO: CAM-ISP: cam_vfe_bus_ver3_init_hw: 3659 Overriding clock gating at bus input [ 420.305645] CAM_INFO: CAM-ISP: cam_vfe_top_ver3_init_hw: 246 Disable clock gating at IFE top [ 420.305659] CAM_ERR: CAM-ISP: cam_ife_mgr_start_hw: 4510 ->Config HW, 000000002005597e [ 420.306460] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 1089 CAM_START_DEV Success, sensor_id:0x577,sensor_slave_addr:0x34 [ 420.315030] CAM_INFO: CAM-ISP: __cam_isp_ctx_sof_in_epoch: 1660 First SOF in EPCR ctx:4 frame_id:1 next substate EPOCH [ 420.531299] CAM_ERR: CAM-ISP: cam_ife_hw_mgr_print_acquire_info: 710 Successfully acquire single IFE[5 -1] with [0 pix] [0 pd] [1 rdi] ports for ctx:5 [ 420.532371] CAM_INFO: CAM-CSIPHY: cam_csiphy_core_cfg: 1137 START_DEV: CSIPHY_IDX: 0, Device_slot: 1, Datarate: 592000000, Settletime: 2800000000 [ 420.533160] CAM_INFO: CAM-ISP: cam_vfe_bus_ver3_init_hw: 3659 Overriding clock gating at bus input [ 420.533164] CAM_INFO: CAM-ISP: cam_vfe_top_ver3_init_hw: 246 Disable clock gating at IFE top [ 420.533174] CAM_ERR: CAM-ISP: cam_ife_mgr_start_hw: 4510 ->Config HW, 000000002005597e [ 420.555764] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 1089 CAM_START_DEV Success, sensor_id:0x356,sensor_slave_addr:0x30 [ 423.218172] cam_ife_csid_irq: 73 callbacks suppressed [ 423.218177] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4903 CSID:6 ERROR_CRC [ 423.218949] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4903 CSID:6 ERROR_CRC [ 423.222473] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4903 CSID:6 ERROR_CRC [ 424.215015] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4903 CSID:6 ERROR_CRC [ 424.215712] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4903 CSID:6 ERROR_CRC [ 424.218606] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4903 CSID:6 ERROR_CRC [ 425.214507] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4903 CSID:6 ERROR_CRC [ 425.215872] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4903 CSID:6 ERROR_CRC [ 425.215911] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4903 CSID:6 ERROR_CRC [ 425.216231] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4903 CSID:6 ERROR_CRC [ 429.211853] cam_ife_csid_irq: 8 callbacks suppressed [ 429.211856] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4903 CSID:6 ERROR_CRC [ 429.211948] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4903 CSID:6 ERROR_CRC [ 429.212130] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4903 CSID:6 ERROR_CRC [ 429.212208] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4903 CSID:6 ERROR_CRC [ 429.212289] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4903 CSID:6 ERROR_CRC [ 429.212672] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4903 CSID:6 ERROR_CRC [ 429.212811] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4903 CSID:6 ERROR_CRC [ 429.212943] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4903 CSID:6 ERROR_CRC [ 429.213919] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4903 CSID:6 ERROR_CRC [ 429.214209] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4903 CSID:6 ERROR_CRC [ 434.214444] cam_ife_csid_irq: 45 callbacks suppressed [ 434.214448] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4903 CSID:6 ERROR_CRC [ 434.214659] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4903 CSID:6 ERROR_CRC [ 434.214698] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4903 CSID:6 ERROR_CRC [ 434.214739] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4903 CSID:6 ERROR_CRC [ 434.214778] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4903 CSID:6 ERROR_CRC [ 434.214818] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4903 CSID:6 ERROR_CRC [ 434.214838] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4903 CSID:6 ERROR_CRC [ 434.214858] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4903 CSID:6 ERROR_CRC [ 434.214878] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4903 CSID:6 ERROR_CRC [ 434.214898] CAM_ERR: CAM-ISP: cam_ife_csid_irq: 4903 CSID:6 ERROR_CRC [ 434.215584] CAM_INFO: CAM-ISP: cam_ife_csid_halt_csi2: 1931 CSID: 6 cnt: 1 Halt csi2 rx [ 434.215593] CAM_INFO: CAM-CSIPHY: cam_csiphy_subdev_handle_message: 22 subdev index : 0 CSIPHY index: 0 [ 434.215597] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 103 PHY base addr= pK-error offset=0x8b0 size=11 [ 434.215602] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY0_IRQ_STATUS_ADDR0 = 0xc4 [ 434.215607] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY0_IRQ_STATUS_ADDR1 = 0x1 [ 434.215611] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY0_IRQ_STATUS_ADDR2 = 0x0 [ 434.215616] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY0_IRQ_STATUS_ADDR3 = 0x0 [ 434.215620] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY0_IRQ_STATUS_ADDR4 = 0x0 [ 434.215625] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY0_IRQ_STATUS_ADDR5 = 0x0 [ 434.215629] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY0_IRQ_STATUS_ADDR6 = 0x7 [ 434.215633] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY0_IRQ_STATUS_ADDR7 = 0x0 [ 434.215638] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY0_IRQ_STATUS_ADDR8 = 0x60 [ 434.215642] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY0_IRQ_STATUS_ADDR9 = 0x50 [ 434.215647] CAM_INFO: CAM-CSIPHY: cam_csiphy_status_dmp: 117 CSIPHY0_IRQ_STATUS_ADDR10 = 0xc4 [ 434.215650] CAM_INFO: CAM-CSIPHY: cam_csiphy_subdev_handle_message: 22 subdev index : 1 CSIPHY index: 0 [ 434.215653] CAM_INFO: CAM-CSIPHY: cam_csiphy_subdev_handle_message: 22 subdev index : 2 CSIPHY index: 0 [ 434.215655] CAM_INFO: CAM-CSIPHY: cam_csiphy_subdev_handle_message: 22 subdev index : 3 CSIPHY index: 0 [ 434.215658] CAM_INFO: CAM-CSIPHY: cam_csiphy_subdev_handle_message: 22 subdev index : 4 CSIPHY index: 0 [ 434.215660] CAM_INFO: CAM-CSIPHY: cam_csiphy_subdev_handle_message: 22 subdev index : 5 CSIPHY index: 0 [ 434.215673] CAM_ERR: CAM-ISP: cam_csid_evt_bottom_half_handler: 4616 idx 6 err 5 phy 0 lane type:0 ln num:1 ln cfg:0x2 cnt 1 [ 434.215675] cam_csid_evt_bottom_half_handler: 1 callbacks suppressed [ 434.215677] CAM_ERR: CAM-ISP: cam_csid_evt_bottom_half_handler: 4621 status RDI0: cc0 [ 434.215678] CAM_ERR: CAM-ISP: cam_csid_evt_bottom_half_handler: 4621 status RDI1: 0 [ 434.215681] CAM_ERR: CAM-ISP: cam_csid_evt_bottom_half_handler: 4621 status RDI2: 0 [ 434.215683] CAM_ERR: CAM-ISP: cam_csid_evt_bottom_half_handler: 4621 status RDI3: 0 [ 434.215685] CAM_ERR: CAM-ISP: cam_csid_evt_bottom_half_handler: 4621 status TOP: 0 [ 434.215687] CAM_ERR: CAM-ISP: cam_csid_evt_bottom_half_handler: 4621 status RX: 80011 [ 434.215689] CAM_ERR: CAM-ISP: cam_csid_evt_bottom_half_handler: 4621 status IPP: 0 [ 434.215691] CAM_ERR: CAM-ISP: cam_csid_evt_bottom_half_handler: 4621 status PPP: 0 [ 434.215693] CAM_ERR: CAM-ISP: cam_csid_evt_bottom_half_handler: 4621 status UDI0: 0 [ 434.215694] CAM_ERR: CAM-ISP: cam_csid_evt_bottom_half_handler: 4621 status UDI1: 0

@tom Thank you. I will submit an RMA request.

@clange Yes, definitely. All the support to build a Debian package for installation is in https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_HAL_QURT/packaging

@John-Nomikos Hi, Can you please explain how you solved this? I am facing same problem where my camera is connected via USB to ethenret convertor with Microhard add-on board and my host machine is unable to ping my camera but can ping voxl2.

@tom Thank you for your answer!

Unfortunately the overlay does not appear, even when the drone is armed. We are using Starling 2 drones with SDK 1.6.2.
Also in the voxl-open-vins-server.conf we can't find a setting for something related to the overlay.

Do you have any ideas what we can try to see the ov_overlay again?

Thank you in advance!

I fix this issue.
switch the Pin1 & Pin4 of MCBL-00010 cable is OK

@Alex-Kushleyev Hi Alex, I appreciate you looking into our use case for us (as always!). Please let me know if I can help by providing more details regarding the structure of our clients that are consuming the camera pipes. If there is a detail Cleo can't share publicly on the forum I can always email you as well or hop on a quick call to elaborate.

Understood about the misp pipes, that expensive read access would explain both point #1 and the strange part of point #2 in my original post.

We at Cleo will be monitoring this closely, since CPU usage regressions is pretty much the only gating item for us upgrading our robotic perception stack to SDK1.6. The misp_norm pipes are a great benefit to that perception stack and we'd of course love to take advantage of them as soon as possible. Thus we are definitely open to trying out zero-copy client approaches for keeping CPU usage down, or any other optimizations you could share examples of for us to try out on our use case.

Hello @Teon,

This is more of a general question, not specifically related to VOXL2. However, here is some information that you might find helpful.

Base station

Raspberry Pi ZED-F9P receiver with dual band helical antenna, connected to RPI via USB configure ZED-F9P to be a in base station mode (will require data collection for localizing the base station precisely). Check Ublox docs configure ZED-F9P to output RTCM3 corrections over usb to RPI run NTRIP caster software (you will need to find one..) which will connect to USB port and serve the RTCM3 data to the clients via NTRIP protocol
-- this would require an NTRIP client on the client side (alternatively) publish the RTCM data via Mavlink directly to the drone (MAVSDK). would need a client that would connect to Ublox via USB and send out mavlink messages to your drone
-- https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_rtk.html
-- https://github.com/mavlink/MAVSDK/issues/2352

Rover (VOXL2)

wifi connection to the base station server based, on the following docs (https://docs.px4.io/main/en/advanced/rtk_gps) the PX4 gps driver will automatically forward RTCM packets to the attached GPS receiver. The Px4 GPS driver will need to receive the Mavlink GPS_RTCM_DATA packet. if you use the NTRIP caster in the step above, you could use a NTRIP client and have the client publish the mavlink GPS_RTCM_DATA message locally on VOXL2 .

I will ask around to see if we have a better documentation for this..

Alex

@Seungjae-Baek , the resolution of the camera should depend on the use case. However, it is also important to keep in mind what exactly you are doing with the images coming from the hires cameras. For example, if you set the resolution to 4K and you try to view those uncompressed images using voxl-portal, this process will be very taxing on the CPU for the following reason: when you view uncompressed images in voxl-portal, these images are encoded with a software JPG encoder and then sent from voxl2 to your browser. This process is very cpu-heavy. On the contrary, if you use h264 / h265 stream, it should be perfectly fine to encode 4K30 video to disk or even stream, since H264 / H265 encoding is done by a hardware encoder.

voxl-portal, actually does support showing h264 (but not h265) 30FPS streams, so that would be a lot more efficient for the CPU, since there would be no jpg encoding. Otherwise, if you are using raw frames (not _encoded) in voxl-portal , please keep in mind that you will always have a lot of cpu overhead. voxl-portal is designed for debugging / development purposes, so it's not necessarily the most efficient solution for video streaming. For real video streaming use cases, you would use h264 or h265 encoding and save to disk on voxl2 + stream the encoded video for remote viewing. You could encode the same camera source with two different resolutions / codecs / bitrates.

If you need help setting up a specific use case, please provide some details and I can help you further.

Alex

@cbay ,

We support any camera that is compatible with UVC (plugged into a usb port). Please look into voxl-uvc-server. https://docs.modalai.com/voxl-uvc-server/

Regarding NIR, have you considered using a regular camera (most cameras are sensitive to NIR) and install a lens with a NIR pass filter (if you dont want to see visible light)? Then you could use one of our hi-res cameras like IMX412 or IMX664. I can get you spectral response plot of those sensors if you need.

Alex

Confirmed - can run the dds with humble running in the docker container:

voxl2 (M0054):~$ apt-get install voxl-microdds-agent Reading package lists... Done Building dependency tree Reading state information... Done The following NEW packages will be installed: voxl-microdds-agent 0 upgraded, 1 newly installed, 0 to remove and 40 not upgraded. Need to get 0 B/4874 kB of archives. After this operation, 0 B of additional disk space will be used. Get:1 file:/data/voxl-suite-offline-packages ./ voxl-microdds-agent 3.0.0-0 [4874 kB] debconf: delaying package configuration, since apt-utils is not installed Selecting previously unselected package voxl-microdds-agent. (Reading database ... 104493 files and directories currently installed.) Preparing to unpack .../voxl-microdds-agent_3.0.0-0_arm64.deb ... Unpacking voxl-microdds-agent (3.0.0-0) ... Setting up voxl-microdds-agent (3.0.0-0) ... voxl2 (M0054):~$ systemctl start voxl-microdds-agent voxl2 (M0054):~$ systemctl status voxl-microdds-agent ● voxl-microdds-agent.service - voxl-microdds-agent Loaded: loaded (/usr/bin/MicroXRCEAgent; disabled; vendor preset: enabled) Active: active (running) since Tue 2025-11-25 15:13:37 UTC; 14s ago Main PID: 3370 (MicroXRCEAgent) Tasks: 28 (limit: 4915) CGroup: /system.slice/voxl-microdds-agent.service └─3370 /usr/bin/MicroXRCEAgent udp4 -p 8888 Nov 25 15:13:38 m0054 MicroXRCEAgent[3370]: [1764083618.308177] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x00000001, datawriter_id: 0x0DF(5), publisher_id: 0x0DF(3) Nov 25 15:13:38 m0054 MicroXRCEAgent[3370]: [1764083618.308829] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x0E6(2), participant_id: 0x001(1) Nov 25 15:13:38 m0054 MicroXRCEAgent[3370]: [1764083618.308994] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x00000001, publisher_id: 0x0E6(3), participant_id: 0x001(1) Nov 25 15:13:38 m0054 MicroXRCEAgent[3370]: [1764083618.309525] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x00000001, datawriter_id: 0x0E6(5), publisher_id: 0x0E6(3) Nov 25 15:13:38 m0054 MicroXRCEAgent[3370]: [1764083618.310013] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x0EB(2), participant_id: 0x001(1) Nov 25 15:13:38 m0054 MicroXRCEAgent[3370]: [1764083618.310133] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x00000001, publisher_id: 0x0EB(3), participant_id: 0x001(1) Nov 25 15:13:38 m0054 MicroXRCEAgent[3370]: [1764083618.310468] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x00000001, datawriter_id: 0x0EB(5), publisher_id: 0x0EB(3) Nov 25 15:13:38 m0054 MicroXRCEAgent[3370]: [1764083618.310981] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x0F0(2), participant_id: 0x001(1) Nov 25 15:13:38 m0054 MicroXRCEAgent[3370]: [1764083618.311145] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x00000001, publisher_id: 0x0F0(3), participant_id: 0x001(1) Nov 25 15:13:38 m0054 MicroXRCEAgent[3370]: [1764083618.311488] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x00000001, datawriter_id: 0x0F0(5), publisher_id: 0x0F0(3) voxl2 (M0054):~$ docker images REPOSITORY TAG IMAGE ID CREATED SIZE ros2-image ed11b766 1040efe3dc33 2 weeks ago 2.33GB voxl2 (M0054):~$ docker run -it --rm --net=host --ipc=host ros2-image /bin/bash root@m0054:/# cd root@m0054:~# ls root@m0054:~# source /opt/ros/humble/setup.bash root@m0054:~# ros2 topic list /fmu/in/obstacle_distance /fmu/in/offboard_control_mode /fmu/in/onboard_computer_status /fmu/in/sensor_optical_flow /fmu/in/telemetry_status /fmu/in/trajectory_setpoint /fmu/in/vehicle_attitude_setpoint /fmu/in/vehicle_command /fmu/in/vehicle_mocap_odometry /fmu/in/vehicle_rates_setpoint /fmu/in/vehicle_trajectory_bezier /fmu/in/vehicle_trajectory_waypoint /fmu/in/vehicle_visual_odometry /fmu/out/battery_status /fmu/out/failsafe_flags /fmu/out/position_setpoint_triplet /fmu/out/sensor_combined /fmu/out/timesync_status /fmu/out/vehicle_attitude /fmu/out/vehicle_control_mode /fmu/out/vehicle_local_position /fmu/out/vehicle_odometry /fmu/out/vehicle_status /parameter_events /rosout

@Aaky , 5A hover / 12A max (per motor) should be easy for M0129 in terms of current capacity. Just make sure you have some cooling. Sufficient cooling should be determined by testing and monitoring ESC temps, which are available in the ESC telemetry and PX4.

Alex

@taiwohazeez , the image is indeed blurry. Did the camera come like this or did something happen to the camera / lens?

Also, i am assuming that the blur is not coming from the camera moving around (that is to say the camera is stationary during those image captures).

Please inspect the lens on the outside to make sure it's not scratched or damaged, as this can also contribute to the issue.

In any case, adjusting focus on a camera is usually as simple as turning the lens slightly CW or CCW. Since the image is almost focus, i expect that the adjustment would be within 1 full turn from the existing lens position in the lens holder. If the camera lens is being held by a plastic mount, it should have a screw on the side of the plastic mount, which clamps the mount around the lens. The screw needs to be loosened and then you can use the focus tool to turn the lens slightly while looking at the image view in voxl-portal. For this particular camera with a wide lens, the hyperfocal distance will be around 10cm, meaning that when properly focused, everything beyond 10cm away should appear in focus. With this in mind, you should some target (checkerboard is fine) 0.3 - 0.5m away and turn the lens back and forth (with the plastic tool) to try achieve the best focus. If you cannot achieve good focus (the best focus is still blurry), it probably means that either the lens is damaged dirty (front or back side of the lens).

If you do unscrew the lens all the way out (by turning counter-clockwise until the lens comes out), don't leave the camera exposed like this for a long period of time, so that dust does not get on the camera sensor.

Also, what is the exposure and gain reported in the stats below the image in the voxl-portal view, when you view the camera stream (without the calibration). The environment seems pretty dark, i would recommend more lighting, but let's double check the reported exposure and gain (from auto exposure). Also, please make sure your checkerboard pattern is as flat as possible (this is unrelated to blurry image, but will result in better calibration results).

Please try focusing the camera and let me know if you have any questions.

Alex

@Capstone-0 Our drone crashed and we ditched our project but has ModalAI added support for AT commands for the 5G (I assume EM9291) modem yet? If not, I figured out how to do it and posted instructions here

https://forum.modalai.com/post/19131

Once you get those commands, you can set up a service to query the modem for its signal strength and pump the output somewhere. Someone else in that forum discusses it a bit.

@kabumei
Hello, my name is Naoki, I am keen on this project, could you send me a detail to major.gits501@gmail.com?