@J-B-Song Hello J.B Song, Did you connect HDMI via USB-C on VOXL2? Did you use this image
7d1ec055-c0a2-497c-8c85-be95d56a1125-image.png
Hope your reply soon, thanks so much.

@Huynh-Gremsy You cannot connect peripherals to the USBC port in that way, you'll have to use one of our add-on boards that breakout USB ports

@Eric-Katzfey never mind about the cable, I found them on Amazon...

@Eric-Katzfey I did the systemctl stop and started service again. I guess rebooting the board earlier did not have the same effect. The compass calibration in Q is working now (no more "no mag found" error) which I guess it means the mag is working now and our gps is working too.

here is the output of voxl-p4 -d by the way:

INFO [qshell] Send cmd: 'lis3mdl start -R 10 -X -b 1' INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] [qshell] qshell gotten: lis3mdl start -R 10 -X -b 1 INFO [muorb] [qshell] arg0 = 'lis3mdl' INFO [muorb] [qshell] arg1 = 'start' INFO [muorb] [qshell] arg2 = '-R' INFO [muorb] [qshell] arg3 = '10' INFO [muorb] [qshell] arg4 = '-X' INFO [muorb] [qshell] arg5 = '-b' INFO [muorb] [qshell] arg6 = '1' INFO [muorb] [drivers__device] *** I2C Device ID 0x51e09 335369 INFO [muorb] [drivers__device] Set up I2C bus mutex for bus 1 INFO [muorb] lis3mdl #0 on I2C bus 1 INFO [muorb] (external) INFO [muorb] address 0x1E INFO [muorb] rotation 10 INFO [muorb] INFO [muorb] [qshell] Ok executing command: lis3mdl start -R 10 -X -b 1

@Rowan-Dempster ,

Here is where the raw data from the TOF sensor comes into voxl-camera-server : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/dev/src/hal3_camera_mgr.cpp?ref_type=heads#L1242

The data is in the MIPI12 packed format. The TOF library expects RAW16 format, so the data is converted from MIPI12 to RAW16 and fed into the TOF processing library. It is possible that dumping the RAW data is what RRF recording would be doing, so you could add that functionality to camera server to write the raw data to file. I could also help with publishing the RAW12 data as is to a mpa channel, so you can log it outside of the camera server (for example using voxl-record-raw-image utility. You could clarify with PMD if that would work (in other words, you would need to know the log format of the RRF recording)

We have not tried enabling the raw data logging. However, if you know what function needs to be called within PMD library (maybe you just enable logging, and it does everything for you), you should be able to add it somewhere in the TOF init code, maybe here : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/dev/src/tof_interface.cpp?ref_type=heads#L982

You can find the API header files for Royale / Spectre in /usr/include/royale either on VOXL2 directly on in /opt/sysroots/qrb5165_1/usr/include/royale the voxl-cross:V4.4 docker.

Hopefully that helps!

Alex

Hello @Aaky ,

If you have a new motor / prop, please follow these instructions for initial tuning : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-tools/calibration.md?ref_type=heads

We don't have this specific motor / propeller combo, but if you send a link where I can purchase these, I would be happy to do a tuning pass and some testing for you.

Alex

@tomverstappen , I am glad you got this resolved. The "unknown board" message you were receiving was due to the older release of voxl-esc package, which did not recognize (and did not have firmware for) the M0129-6 ESC, which is the 6S-compatible version of the M0129 ESC.

I hope this clarifies that issue.

Alex

@Matthew-Wellner , thanks for the update!

Out of curiosity, does the properly configured Boson work with original hardware + the CCI workaround in the kernel? It would be helpful for us to have that information for debugging.

Please send back the non-working adapters when you get a chance.

Thank you!

Alex

@Moderator Mint operates on the TMobile network so you we use the APN: fast.t-mobile.com.

I have noticed that when I use the Mint SIM in an Android phone it uses the wholesale APN but fast.t-mobile.com will work with our modems.

@Aryananand We have a lot of customers using Starling 2 for warehouse inspection type flights, that would be my recommendation

@Eric-Katzfey thank you for reverting back, it was very helpful, i was able to get multiple streams.

@Alex-Kushleyev,

Yes, what you have described for the client application is what I am trying to design. Ideally, I would have time synchronization so that frames always line up, but if latency isn't too big of an issue, this should work fine. I was planning on working with the RGB image, but I'm open to using YUV if it offers a noticeable reduction in latency. Also, to clarify my current setup, I have 4 AR0144 cameras placed at 90-degree angles to one another, so there is plenty of overlap between adjacent cameras for stitching.

A simple example would be extremely useful! Thanks for your help!

@Muqing-Cao said in Integrating lidar sensor:

About using another state estimation source, can you suggest me how to do that? Say we can get lidar-based position estimate in ROS message, can we disable the onboard VIO and feed our position estimate to the onboard flight controller through MAVROS or something else? Please advise.

Please help advise on this question, thanks

@Alex-Kushleyev This worked! Thank you

@Eric-Katzfey Thank you for reverting back, I am able to get the turtle mode working now, The error was due to the safety parameters, once i changed it to the FPV setup, it was working.

Once again thank you for the support. It was really helpful.

@psafi In this case we don't use voxl-mavlink-server directly because we are essentially setting up a "mavlink device" straight into px4.

@Alex-Kushleyev , thanks! We'll give it a try and let you know how it goes.