@Eric-Katzfey Thank you for the reply,
If I understand correctly, the example you provided shows MAVSDK running directly on the VOXL — so on the drone itself. However, we want to run our script on a separate PC to be able to control all drones at once. We're not sure which port to use to communicate with PX4 while also taking advantage of the relocalization handled by VOXL.

Thank you again for your help!

@Alex-Kushleyev, I using voxl2 with M0173 board with camera config 29.
The errors are now solved, I made the necessary changes and reconfigured every server and pipeline and calibrated the cameras.

@KnightHawk06 , DFS on VOXL2 uses the Qualcomm's proprietary implementation of the DFS algorithm, which runs on the specialized DSP (CVP - Computer Vision Processor). Unfortunately we do not have any details about the actual algorithm.

Alex

@Moderator
Which configuration allows 2D ground mapping, does it have a downward facing camera?
Is there a whole kit of ground control station (controller) available (meaning ready to fly/control, including receiver, display, joysticks...)?
Resolution in real time and latency of the video streaming?

@pettertei I'd recommend filing an RMA and we can debug the issue: https://www.modalai.com/pages/rma

@Zachary-Lowell-0 Yes I installed voxl-ros2-foxy. This time I just tried "source /opt/ros/foxy/mpa_to_ros2/install/setup.bash" and that was accepted. However, looking now px4_msgs is still not recognized within my program.
73d768a7-bab0-42d9-b73e-b4e84749294a-image.png

@claw said in VOXL2 ROS2 Starling Code Inconsistencies:

@Zachary-Lowell-0 Thank you for your help and guidance. Is there a way to get the status information like battery voltage using Python?

Reply

@claw yes you can follow this post to get battery over the DDS: https://forum.modalai.com/topic/4353/voxl2-px4-ros2-mpa-to-ros2-for-battery-voltage-problems/12?_=1745355297145

@GlennTee Thanks for the follow up!

@Alex-Kushleyev Thank you for the support. I will make the changes you have mentioned.

@Alex-Kushleyev

Hi @yardy Are you using the jumper blocks J14.15/J14.17 to JP1.10/JP1.12 respectively for QUP_19?

It was connected to JP1.9/JP1.11 (because of the jumpers... I was wrong)

It's working!

Many thanks🤙

@jacob-yaacubov We have some add-on boards that would allow connection of 2 USB cameras. For example: https://www.modalai.com/collections/voxl-2-add-ons/products/voxl-microhard-modem-usb-hub and https://www.modalai.com/collections/voxl-2-add-ons/products/voxl-lte?variant=32449203601459

@tom Thank you!
I am adding an imx214 on J8L.

@Eric-Katzfey Sure!

@inteous yes, there are a number of considerations

Please see:
https://docs.modalai.com/configure-extrinsics/
https://docs.modalai.com/calibrate-cameras/

@Eric-Katzfey Okay, thanks again for all your help!

@Jskim
Finally, I tried a test.
I tried changing the video player and the Streamer died immediately.
The conclusion is that the Streamer died even when it was in the foreground.
플레이어 변경하면 바로 죽음.jpg

Thanks,

JS, Kim

Hello @dan64,

The px4-esc-cal-tool does not apply to ModalAI uart-based ESCs. That tool was used for calibrating ESC response to PWM control signal for old-style ESCs.

There is no need to re-calibrate the ModalAI ESC if you use a stock configuration, such as the motor + propeller that comes with Starling 2 MAX.

The ESC parameters for this motor + propeller are located here : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-params/D0012_Starling_MAX/esc_params_m0129_f2203_5_1500kv_7x3.7x3.xml

You could use voxl-esc tools to verify this. Since you already ran the spin test using voxl-esc tools, this should be somewhat familiar.

./voxl-esc-verify-params.py

This should query all the params on your ESC and they should match the same param file (which is also stored in /usr/share/modalai/voxl-esc-params/ folder.

From the test spin results, it does appear that a motor may be faulty. I am assuming this behavior happens every time you run the test. However, you can never know for sure that the motor is at fault - it could be an ESC issue. In such case, the best thing to do is to do a similar test with another motor attached to the ESC channel in question. The ESC with the correct params is tuned for this motor + propeller and has been thoroughly tested, so I do not recommend trying to fix this by modifying ESC parameters (this will most likely result in a wasted effort).

You can purchase the Starling 2 Max replacement motor here : https://www.modalai.com/products/starling-2-max-replacement-parts?variant=49704826896688 . It looks like the image for the motor has the wrong kV (2850), but the actual motor kV will be 1500.

The motor used on Starling 2 Max very similar to Tmotor 2203.5 1500kv, you could also replace it with this one without changing any parameters.

Testing a replacement motor should be relatively easy if you cut the motor leads on the motor arm and not disassemble the drone to get access to the ESC. Remove the old motor and solder and heat shrink the connections for the new motor and repeat the spin test (in order to make sure that the spin direction of the new motor matches the old motor, you can mark the wires before cutting and solder the new motor in the same wire order). If you wanted to not cut the motor wires along the arm, then you would need to do some disassembly to gain access to the ESC solder pads. (instructions outlined here : https://forum.modalai.com/topic/4023/motor-replacement-instructions-starling-2-max).

I am curious what the motor spinning actually looks / sounds like, so if you are able to record a short video of the motor spinning, starting from the spin-up (just the faulty ID), that could be helpful:

./voxl-esc-spin.py --id 1 --power 15

Alex