@alan123 Hi, sorry for the late reply. Unfortunatly, we have not finished it yet. We're switching from ntrip to ros2

@Sarika-Sharma ,

Since you are testing different configurations, i would suggest to reduce the number of cameras first to find working cases and see if you may have a bad camera or a bad flex cable.

So, try both tracking camera one at a time, then hires camera by itself, then two tracking cameras, then two tracking + hires, etc..

Alex

@Jetson-Nano ,

We have not tried QVIO with Boson, it may work (but we can't really support that). The boson output is usually a bit fuzzy, so i am not sure how the feature detection will work, but it may be ok. Disabling FFC will definitely resolve the gaps in the frame feed, but disabling the FFC will also affect the Boson image quality, which may degrade over time.

If you wanted to use any USB (thermal) camera with VIO, you would just have to use voxl-uvc-server to publish the images to mpa, so that voxl-qvio-server can subscribe to them. The only issue is that the uvc interface does not provide accurate timestamp of the camera, but it may be ok just to use the time of arrival of the frame. QVIO does estimate the time offset between the IMU and camera, so as long as the timestamp is consistently captured, it should be ok..

Alex

@Morten-Nissov ,

Is it just the specific camera (tracking) not working in a specific port? what if you connect TOF or IMX214 camera there?

For your configuration using the M0135 interposer, kernel variant 2.0.0 is the correct one to use. Using kernel 2.0.2 will result in some cameras not working due to different pins used for camera reset (which get properly routed in M0188 and M0195 camera adapter boards for the coax cameras).

So i would suggest using the correct kernel 2.0.0, then test one camera at a time and see if you can narrow it down to a camera or port not working.

Alex

@Muqing-Cao Did you get this working? I was able to get state estimation with the Mid360 through MAVROS, but am now thinking about getting some LiDAR and camera vision fusion for a more robust approach.

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.

@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.

@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?

@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