Hey @yunwool
Just to be clear, consider only your first drone, if you run export ROS_DOMAIN_ID=1, then run ros2 topic list, you aren't seeing any topics right?

After you set the ROS_DOMAIN_ID of a drone to 1, to get the PX4 topics to show up, on QGC > Analyze Tools > MAVLink Console, run the following commands:

param set XRCE_DDS_DOM_ID 1 param save

Then power cycle the drone, give it like 15s after boot up, then the topics should come up directly when running ros2 topic list on that drone.

@svempati said in No detections when running custom YOLOv8 model on voxl-tflite-server:

WARNING: Unknown model type provided! Defaulting post-process to object detection.

@svempati I will try recreating this issue today and get back to you!

@Pelle-Bredegg-Hermansen
Hi Pelle,
I emailed you the schematic review report for your considerations, just wanted to post here this task is completed.

Keep us posted!
Thanks!

Hi @Richa
We have not provided our pinouts for this and have no plans to.
For our Micro Coax direct CMOS based sensors, you need to use our products end-to-end to guarantee functionality.

Hope this helps clarify.

@cbay , you could actually test two leptons by disabling i2c port for one (or both) of them. Lepton starts up streaming data by default via SPI, so you can get frames from it without any communication.

In order to do that, you would need to run two instances of voxl-lepton-server and the second instance would have to be modified to read from a different config file and to not kill the existing voxl-lepton-server process (and probably name itself differently, so that the first server does not kill the second during start-up).

If this all works, then in order to actually test two leptons with i2c communication (which we use the set the FFC mode depending on the flight mode and also reset the sensor if it gets into a weird state while streaming), the lepton server functionality would probably need to be added to a C++ class so that multiple instances could be run from the same process. The reason is that there needs to be a single point where the i2c switcher is set to one or the other lepton, right before communicating to one of the leptons (without the other server / thread creating a race condition and trying to do communicate right at the same time)..

I'd have to think about the fastest way of doing this, but at least you should be able to test two leptons with second not using i2c with very minimal changes.

Here is the source code for the voxl-lepton-server in case you did not already find it: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-lepton-server/-/blob/master/src/

Alex

@brandon You'll need to load SDK v1.6.x to get it.

@Nitin-Varma-Vegesna said in Repair:

My Starling 2 drone crashed, and a good amount of damage was done. The PCB board was cracked, and the GPS mount was broken, and I was wondering whether I should submit a Repair Merchandise Authorization, and generally how long does the entire process take from submit an RMA to receiving the drone back?

I submitted an RMA form, but I would still like to know how long the entire process takes generally please?

@Vinny Thanks for the info,

Just to be clear, I am not looking for the PCB design schematics, just a symbol per board showing all the inputs and outputs to the board as a whole which then could be used in a system wiring diagram. If not I can just go ahead and make them myself, as all the info for it is on your docs

@Colby-Howell You can save camera data onboard using voxl-logger, but it will take up a lot of storage very quickly and the voxl2 has < 64gb so be careful with that. If you're not trying to save raw frames and are okay with compression & artifacts you can stream it to a ground computer with voxl-streamer and save it there

For connecting to the drone the easiest (especially cause you don't have a ground radio) is wifi, you can just connect your drone to a somewhat powerful router, set a static IP and ssh in.

For autonomous navigation, the best way in my opinion is to talk to voxl-px4 through the uxrce-dds bridge (implemented on the voxl2 as voxl-microdds-agent) https://docs.px4.io/main/en/middleware/uxrce_dds

@sja123 No, unfortunately, we do not currently support boot from SD card.

@magnetocircuit Yes, this is supported. In the config file for px4 /etc/modalai/voxl-px4.conf set ESC=VOXL2_IO_PWM_ESC.

@Aaron-Porter Hello there,

voxl-evaluate-vins is currently not used by the Autonomy team @ ModalAI, we opted for our new benchmark solution, a bit more consistent in terms of statistical rigor and better integration with voxl-portal. Still, when replaying logs for VINS, it is imperative that one replays them using the ION pipes, as our VINS solution is optimized for cl_mem ptrs. Note that when replaying ION pipes, it is recommend to stop camera-server before replaying -- as clean killing ION pipes via the voxl-replay args is currently being optimized. This should resolve the common segfaults experienced during the replay/benchmark operation itself.

https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-benchmark-vio

Finally, I would recommend updating your VINS to the latest available tag on Gitlab

@Piyush-Singh ,

The voxl-portal does not handle well streaming large images (including in multi-view, where the images are actually appearing small). The voxl-portal back-end uses software JPEG encoding, so one of your streams (hires_large) is 4208x3120, which takes LOT of cpu processing to encode to jpeg.

You can see that the voxl-portal process uses 260% cpu (2.6 full cores), which is a lot.

There is no practical need for streaming small and large uncompressed images to voxl-portal, so you can just enable small video stream, which is much smaller.

Also, if you select an individual camera stream, you can enable advanced camera controls (click on the small check box in lower left) and then you can adjust the JPEG encode quality from default 70 to something much lower in order to use less cpu. This setting will be applied to all cameras and you can go back to multi view after that. Note that the jpeg encode quality only affects voxl-portal view, not h264/h265 encoding.

Please try.

Alex

I'm losing video feed flying just behind a wall not far from me. What can I do to prevent video signal loss? Increase transmit watts or is there a frequency better suited to penetrate thick concrete walls?