ModalAI Forum

@labkit it is part of the SDK but not installed on the kernel - on you voxl2 please run the following: sudo apt-get install voxl-ros2-foxy sudo apt-get install voxl-microdds-agent sudo apt-get install voxl-mpa-to-ros2 voxl-configure-mpa-to-ros2 Once this is done you should be ready to use ros2 by running source /opt/ros/foxy/setup.bash as well as export ROS_HOME=/opt/ros/foxy Hope this helps. Also ensure that for the voxl-configure-mpa-to-ros2 line you have an active internet connection on the voxl2 as this requires some pip installs. Thanks! Zach

When we start voxl-tag-detector service with "en_tag_fixed_frame": true any change to offboard mode makes the drone loose the position, heavily drifting sideways. Isn't the px4 control referenced only to local frame? If so tag relocalization shouldn't affect the hold position. Is there any other configuration we are missing?

@Moderator Hello, thanks for your help. However I am still confused about what to do with this information. Is there a special version of the SDK I need to install for our version (M0054-2)? It says it requires SDK version 1.1.3+ and we are trying to install 1.2.0 which should be ok, correct?

@kgn-mdlai Is HITL interesting for your purposes? https://docs.modalai.com/voxl2-PX4-hitl/

Thanks for the wonderful support from team modal AI. Here is the solution which they have shared with me, which is tested and working 100%. Please download the attached file file: Download this Move into the ufs sub directory of that release ^: cd 2024-02-09-1.7.4-M0054-2/ufs Slide the SW2 switch to ON to be in QDL mode Plug in power and USB Run: sudo qdl --debug --storage ufs --include . prog_firehose_ddr.elf rawprogram_unsparse0.xml rawprogram1.xml rawprogram2.xml rawprogram3.xml rawprogram4.xml rawprogram5.xml patch0.xml patch1.xml patch2.xml patch3.xml patch4.xml patch5.xml

@ayrric yes, you can find it here: https://www.modalai.com/products/m0155

@tom I have a new issue Since yesterday, when I turned on the Starling drone, it just sits there. It's not getting armed. When I checked for ADB shell, it's not getting connected, and an error comes up saying no devices found. When I checked the forum, it said it might be bricked due to some file loss. We followed the unbrick tutorial, and after successful flashing of the latest QDL M0054.14.1a-flat-v3, the device is showing up as Qualcomm bulk something. However, ADB still isn't getting connected. Please note that I am unable to enter adb shell and fast boot mode . For unbrick I followed this https://docs.modalai.com/voxl2-unbricking

@Jetson-Nano In SDK 1.2.0 we did start pushing the default config of voxl-mapper a big harder with smaller voxl sizes, longer ray lengths, and double the UI update rate to better complement the newer TOF sensors on the Starling 2. Part of this update was also to lock some of the heavier parts of the mapper processing to cores 4,5,6 to make sure VIO wasn't affected too much. However, if you are still seeing a difference in VIO performance between mapper being on and off then there may still be some optimization to be done. Just to confirm you are seeing worse VIO performance when mapper is enabled, correct? If so, please try increasing the voxl_size parameter in /etc/modalai/voxl-mapper.conf from the default 0.1 to 0.25, and set the cpu into performance mode on bootup by changing the normal_cpu_mode field to "performance" in /etc/modalai/voxl-cpu-monitor.conf. The map will be very course and ugly with such a big voxel size but I'm just curious if the power cpu use helps resolve the issue. For reference, here is the commit history for voxl-mapper showing the recent tweaks for SDK 1.2 and newer that turn up some of the knobs.

Good tip. For anyone testing without the GPS module attached, setting SYS_HAS_MAG=0 and EKF2_MAG_TYPE=5 seems to be the key part since the compass is on the GPS board. I was also looking at some compass-related references on 123compass.org while trying to understand the magnetometer side of it.

@Moderator As far as I can see, there is no interference in the area, I am working along for like 100's of meters. I don't have any such equipment in my premises which can interfere. Physically, I checked the "915MHz ELRS Receiver" (BetaFPV Nano RX) and it's not lose. What else I can check? Please help us fix all the issues, we are in agony since we started using this (Starling) kit. I have other open issues too. Starling gone rogue (uncontrollable) in Position flight mode

What does /etc/modalai/voxl-vision-hub.conf contain? Did you follow the setup instructions and configure offboard_mode to trajectory?

@Eric-Katzfey We loaded the default parameters with QGC and everything is back to normal. Thank you for your help!

Hi @riteshsharma We usually recommend a small screwdriver (flat edge) or tweezers to actuate those small switches. For the FASTBOOT switch, you need to use something less likely to break the top plastic, so the back end of a qtip or a pencil is good for that one.

@Jetson-Nano Looks like MPC_POS_MODE is needed as well per the documentation https://docs.px4.io/main/en/computer_vision/collision_prevention.html

@Darshit-Desai , yes i believe you are showing the TOF and Hires camera local frames correctly. As for the vehicle, the convention we normally use is FRD, but since you mentioned that you are assuming FLU in your case, that also looks correct.

@thomas Thank you the update procedure worked and the results I posted in this thread https://forum.modalai.com/post/14049

Thanks @Alex-Kushleyev, will do, much appreciated

@Mihir-Bala Technically it should work, we have not done any pre-integration as you've mentioned