@Vinny
As per the parameters you provided, this sensor cannot operate at temperatures below 0 degrees Celsius.

Thank you!

@tahawaru , you may want to investigate the PX4 documentation for using a motion capture system for flight : https://docs.px4.io/main/en/computer_vision/motion_capture.html .

We have not done this type of testing, so may not be able to help.

Alex

@mkriesel , there is no way to turn off power to just the IMU. It seems your IMU is "broken" and it may not be safe to use it for any application that might involve moving parts 🙂

You can try to restart voxl-imu-server, which will perform a complete re-init of the sensor, but this will probably not fix the actual issue even if it helps with temporarily recovering the sensor from the latched state.

Alex

Hi @ashwin,

Our ESC needs to be tuned for the motor / propeller in order to achieve the best performance. In some cases, without tuning, the performance will be very poor, as there is an expectation of the ESC parameters to match the actual motor + propeller. This is done to ensure consistent and responsive behavior of the ESC.

If you are changing motor / propeller, you should perform the tuning procedure described here : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-tools/calibration.md . Since you are using a 2S battery, you can start with the Starling ESC params (https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-params/D0014_starling_1504_3000kv_ms_props/D0014_starling_1504_3000kv_ms_props.xml) and update the tuning parameters as instructed.

Since you mentioned the sinusoidal spinup, not working properly, you will need to enter the correct kV value in to the ESC param file and may need to adjust the start-up power or target spin-up rpm.

the voxl-esc tools come installed on voxl2 in /usr/share/modalai/voxl-esc-tools and the following are useful commands:

make sure to stop voxl-px4 before using voxl-esc tools : systemctl stop voxl-px4 voxl-esc-scan.py will tell you which ESC firmware you are using - you should upload the latest, which is 39.20. voxl-esc-upload-firmware-all.sh script will autodetect the esc and upload the latest firmware to all 4 of the ESC channels voxl-esc-verify-params.py can be used to check which esc params are installed voxl-esc-upload-params.py can be used to upload new ESC parameters.

Please let me know if you have any other questions.

Alex

@Alex-Kushleyev Thank you for the reply

Currently we are buying Voxl2 flight deck from you, I will be integrating in my drone after integrating what I need to do how to make it fly autonomously can you guide that how sdk works and how 3d map will be created how we need to plan a machine in the sdk

I resolved this issue with replacing indoor_vio.params with indoor_vio_missing_gps.params.

Thanks!

@dguido2023 Sorry you are struggling with your Ghost Receiver. Can you please help with an explicit issue or question? We don't have a problem configuring these in the factory, so maybe we can get you setup quickly.

Have you looked through this guide? https://docs.modalai.com/orqa-ghost/

Which SKU of Starling 2 do you have? Was it preconfigured with a Ghost receiver?

What version of SDK are you using?

If you installed the receiver yourself, how is it connected to the VOXL 2?

Are there specific configuration steps you tried that failed?

@LR The 5G configuration on Starling 2 is a fairly new offering so there may not be fully representative docs live.

@Eric-Katzfey Yes. This is regarding the Starling 2 Max GPS-denied Development Drone.

@SKA What pipes do you see listed in /run/mpa? If you run the command voxl-inspect-vio does it show that VIO is running okay?

@tom It's okay, I managed to figure it out. Just had to change the RC protocol in the px4-conf file.

@Eric-Katzfey Awesome, thanks for the feedback!

@GlennTee Great!

Hi @Tamilselvan , you can look at our Starling 2 drone, which comes with either 2 or 3 tracking cameras that can be used for VIO : https://www.modalai.com/products/starling-2 . This drone is designed for indoor navigation but also flies well outdoors. For longer flight times you might want to consider looking at Starling 2 Max.

Video using triple camera VIO on startling 2 : https://www.youtube.com/watch?v=12DWDV7XCiE

You could build your own drone using components similar to Starling 2, if you wanted. The main camera documentation for Starling Front End board (M0173) is here : https://docs.modalai.com/M0173/ which supports several camera options. M0173 plugs into VOXL2 directly and enables those camera configurations.

If you have a custom build drone, you would need to set up PX4 tuning and VIO (Open VINS) to work with your particular camera geometry. For standard drones we have default configuration files that are provided for convenience (so it will be more work to set up the SW after you build a custom drone).

Alex

@Mark-Ogata ,

Starling 2 Max already has 4 or 5 cameras (depending on configuration - 5th could be a TOF sensor if selected). There are two high resolution IMX412 cameras (up to 4056x3040 resolution rolling shutter RGB cameras) and there are two AR0144 monochrome global shutter cameras that are used for feature tracking / VIO (1280x800 resolution).

If you really wanted to, you could add two more high resolution cameras to VOXL camera port J8 (camera ports J6 and J7 are fully used up). Adding the first IMX412 camera would just require you to buy a camera with the correct adapter, such as M0161 camera (with ucoax cable) and M0155 adapter which would plug in to VOXL2's J8. In order to get two IMX412 cameras added to starling 2 Max, it will be a bit more complicated, including a small Kernel change.

It looks like you are potentially looking to re-configure cameras on Starling 2 Max, so my suggestion is first to understand the capabilities of the cameras you have (resolution, field of view, etc) . The lenses on the IMX412 cameras have about 120 degress of horizontal FOV (and you can check it) : https://www.modalai.com/products/msu-m0161 . So for full 360 degree coverage, you would technically only need three of these cameras. However, you have a total of 4 cameras already and the lower resolution AR0144 cameras also have a wide FOV (almost 140 degrees horizontal : https://docs.modalai.com/M0166/) and can be used to supplement the two high resolutions cameras.

It seems to me that you could take the cameras that you already have and build a hardware mount for them. Also, as Eric said you might want to consider using VOXL2 for whatever you are trying to do on the Raspberry pi, since VOXL2 runs Ubuntu linux (but no display).

In terms of USB adapters, your startling 2 max already has a wifi module that uses a USB2 adapter, so you can plug in an ethernet adapter instead of that wifi dongle. BTW M0151 adapter board (which is part of Starling 2 Max, this is were the wifi dongle is plugged in) supports USB 3.0 : https://www.modalai.com/products/m0151

Alex

Hi @Tamilselvan,

Yes, our FPV ESC should be a good match for this motor in terms of power, however you will need to perform tuning and testing (non-flying) to prevent de-syncs, as described here:

https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-tools/doc/low_kv_motor_tuning.md

You would first need to follow our standard tuning guide as described here, but first increase timing advance and sense advance to the numbers from the above link, so that you don't have a de-sync during calibration : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-tools/calibration.md

Please note that the FPV ESC only has the total current sensing, so you would want to run the tests with the ESC ID2, which measures the total current, so it will be reported to the python test scripts.

Just for full disclosure, we do not do a lot of testing using low kV motors, but the parameters are there to adjust and test performance. You would need to do sufficient bench testing to convince yourself that the ESC tuning is good and you are ready to test flying. If you need more guidance for testing the ESC performance, I can help you. You should first start with the link I mentioned above and then modify the script to run continuous tests and perhaps detect anomalies. We may extend our test script to support testing like this with automatic error detection in the future.

If you do not have experience with ESC tuning or do not wish to go through this procedure, then our ESC may not be the best choice for this motor.

Alex

@SKA , this is most likely due to the max disparity value being too large - for 1280x800 resolution the maximum value is 32.

the max disparity parameter limit is as follows:

width <= 640 : max disparity = 64 (or less, in steps of 4) 640 < width <= 1280 : max disparity 32 (or less in steps of 4) 1280 < width <= 1920: 16, 12,8, or 4

So in your case, you should update your max disparity parameter to 32 or less.

I have been testing AR0144 DFS recently and i also found that i needed to increase the min_threshold and cost_threshold from the default of 10 that was used for OV7251. I found that values in the range of 50-80 produced good results.

Here is some additional information regarding DFS:

min_threshold:
Lower bound for adjusting occlusion cost threshold.
When set to < cost_threshold, the occlusion penalty
is varied linearly from this minimum value from the first row
to the last row.
The last row takes cost_threshold.
Range: 0 to 100
Recommended range: 50 to 75
min_threshold <= cost_threshold

cost_threshold:
Occlusion cost threshold.
The higher the value, more smoothness is enforced.
Range: 0 to 100
Recommended range: 50 to 75

Alex