@ndwe Whether you use a VOXL or Jetson as a companion computer shouldn't make any difference unless you want to use the VOXL SDK. The version you run is totally up to you. If our v1.14.0 based version works for you then use it. We do plan to transition to v1.17.x in the near future. I don't think the issues you are seeing are related to something specific in the flight core v2 hardware setup. I would think that if you swapped it out for some other brand you would see the same issue. I would ask on the PX4 forums to see if others have experienced the same issues.

Hi @jon , do you always see the following warning right before the seg fault? (and never see it when there is no seg fault?)

@jon said in voxl-logger seg fault on shutdown:

WARNING, _stop_helper_and_remove_pipe timed out joining read thread

The way one would normally debug this is using gdb, but that would be tricky if you are spawning the logger from another (python) process and don't have a terminal to type in gdb (after crash) to investigate.. You could potentially attach gdb to an already running (spawned) logger.

Alex

Hi @qubotics-admin ,

Our understanding is that the voxl2_io driver should present itself as a generic PWM output (up to 8 channels) and you should be able to map any function you need to it. Although we have not explicitly tested every function. Can you please clarify which version of voxl-px4 you are using and elaborate on the "limited options" that you have for selecting the PWM function (what are you expecting to be able to set and what are the options).

Alex

@Sarika-Sharma You can get v1.0.10 here: http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/libfc-sensor_1.0.10-202602041609_arm64.deb

Hi @Rowan-Dempster , you are right, actually, there is no option right now to log from an ion buffer using voxl-logger. However, voxl-replay has an option to send camera frames as ion buffers. I have not tested it recently, but you could give it a try : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-logger/-/blob/extend-cam-logging/tools/voxl-replay.cpp

For offline processing, it should not matter much whether you are using ion buffers or not. There would be a bit more cpu usage, but hopefully not too much. Having voxl-replay support cam playback as ion buffers is probably more important than using ion buffers for logging, since then your offline processing pipeline uses the same flow (ion buffers) as the live vio pipeline.

We may add logging from ion buffer, but it's probably not a high priority.

By the way, i wanted to mention one detail. I recently made a change in camera server dev branch to allocate the ion buffers that are used for incoming raw images as uncached buffers. This actually happens to reduce the cpu usage (so that cpu does not have to check / flush cache before sending the buffer to the GPU). The cpu reduction was something like 5% of one core per camera (for a large 4K image). For majority of hires camera use cases, this is beneficial, because usually the cpu never touches the raw10 image before sending to GPU.

However, when you are logging the raw10 image to disk using voxl-logger, the cpu will have to read the contents of the whole image and send it via the pipe - uncached reads are more expensive. There will be increased cpu usage (i dont remember how much), but it should still be fine unless you are trying to log very large images at high rate. If you wanted to profile the cpu usage while logging, you can just disable making the raw buffers uncached and see if that helps. I have not yet figured out a clean way to handle this, maybe i will add a param for type of caching to use for the raw camera buffer.

look for the following comment in https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/dev/src/hal3_camera_mgr.cpp :

//make raw preview stream uncached for Bayer cameras to avoid cpu overhead mapping mipi data to cpu, since it will go to gpu directly

Alex

@Alex-Kushleyev said in Configuration for VOXL 4in1 mini 6S ESC and Newbee Drone Flow 2808 1300KV motors:

ESC M0138 FPV ESC :

Thank you very much for your reply Alex. I appreciate the references and support documentation you provided as well.

@Alex-Kushleyev Thanks Alex, very helpful!

@Myles-Levine , if you are masking out 90% of down-facing camera, then it is probably useless any movement of the features will get it out of the unmasked region very easily and feature will be dropped.. It may hurt VIO as there may be features going in and out, only trackable for a few frames (just adds to the complexity).

You should try to move the down-facing camera to free up it's FOV or even have it facing slightly angled to the back of the drone..

Alex

Hello @Catalystmachine ,

Sorry for the confusion. We have updated the page to be more clear that Boson is not included, see below: "(No Boson)" was added to the kit description.

The title of the product already states "VOXL 2 MIPI Boson+ Adapters for Thermal IR FPV" as well as the Kit description used to say (Before we added (No Boson)) : "PCB Adapters Only..."

The price of the Boson cameras varies significantly, depending on the specifications. You can contact a distributor to get more details. For example : https://www.oemcameras.com/product-category/thermal-imaging-cameras/thermal-imaging-cores/flir-boson-series-htm/boson-plus/ (you can find more at https://oem.flir.com/contact/find-a-dealer/)

Please note that Boson+ series of the Boson sensor is required for compatibility with VOXL2.

Regarding the pricing of the adapter kit, we do offer discounts in higher volumes, if you are interested, please send us a request: https://www.modalai.com/pages/contact-us

ebff1907-0495-4a65-8f27-2138562022d3-image.png

@qubotics-admin First you need to determine the version of PX4 running. With ssh or adb you can run the following at the command line: px4-ver all. You will see PX4 version and Vendor version. So, for example, for px4 version 1.14.0 and vendor version 8.134.3 then you would checkout the tag v1.14.0-8.134.3-dev from the repo to see that commit.

@SKA , I am not sure. please disable all streams except preview and try again. specifically disable:

small_video large_video snapshot

Double check to make sure:
en_raw_preview: true
en_preview: true
en_misp : true

It seems you have at least small_video enabled.

What camera resolution are you requesting? (preview_width, preview_height)

Alex

@cbay voxl-fpv-px4 is based on voxl-px4 but has some custom tuning code / parameters for our fpv drones that isn't in voxl-px4. So, it's kind of a superset. But there isn't anything related to low level i2c drivers so I have no idea how that could be causing this issue.

Hey @voxltester
It seems there is an issue with how MicroXRCE and the microhard modem interfaces are starting up, I had to edit the service files to get the topics on the VOXL2.
Edit /etc/systemd/system/voxl-microdds-agent.service:

[Unit] Description=voxl-microdds-agent SourcePath=/usr/bin/MicroXRCEAgent After=network.target After=multi-user.target [Service] User=root Type=simple ExecStart=/usr/bin/MicroXRCEAgent udp4 -p 8888 [Install] WantedBy=multi-user.target

Edit /etc/systemd/system/voxl-modem.service:

[Unit] Description=Modem Initialization After=sdsprpcd.service [Service] User=root Type=oneshot ExecStartPre=/bin/sleep 2 ExecStart=/usr/bin/voxl-modem-start RemainAfterExit=yes [Install] WantedBy=multi-user.target

Add export ROS_DOMAIN_ID=0 to your .bashrc
Reboot the VOXL2, and the topics should come up
Thanks

Hi @Alex-Kushleyev, sorry for the late reaction, it took some time before i could update to the new SDK (1.6). the system now works normally with the resolution 2704x1540, and downscaled to 1920x1080 for the MISP pipeline. Thanks for the help!

@ey , please send us a request via http://www.modalai.com/pages/contact-us

Alex

@Maxwell-Schaefer Thanks for your reply. Is this step also applicable for the BetaFPV Nano RX? Should this also used ModalAI's firmware repo? Or will this use BetaFPV's? I did look into trying to flash the Nano RX initially, but stopped short of doing it as the physical RX itself did not have a BetaFPV silkscreen on it, so I assumed that it might be using a different firmware from the stock BetaFPV

Are you able to advise on the other queries regarding the new wifi adapter board?