ModalAI Forum

Yes, of course. VOXL 2 is a Debian Linux single board computer with tons of I/O. Check out the data sheets at https://docs.modalai.com/voxl-2 and there are many options for connectivity and a complete development environment for you to write code to build the capabilities required for your application

Regarding voxl-configure-docker-support, I tried and was unable to replicate it causing VOXL not to boot. voxl-configure-docker-support isn't strictly necessary, it's just a handy tool to apt-install docker-ce from the internet and replace the official docker systemd service with one that we tweaked for VOXL. I did find that the optional docker-autorun service was not starting on boot, that is now fixed in voxl-docker-support v1.2.5 If you are still seeing voxl-configure-docker-support preventing voxl from booting I can look into it more if you provide a full copy/paste of the output from running that command. Perhaps something is different between our configurations.

@Chad-Sweet I haven't tried. However, I manage to get it working by doing a factory reset configuration of the VOXL2. Don't know why it made a difference though.

@Dobry-Kolacz I think I'm getting close. Im pretty consistently getting a reprojection error ~0.6 at this point so still have yet to successfully calibrate stereo extrinsics. Tried new stereo cams, refocusing, different lighting, different scales of checkerboards, but can't get sub 0.5

Understood. Thanks, Chad.

MPA Config took care of it.

Have you tried voxl-streamer instead of trying to visualize using voxl-portal? I've not tried this myself but I would next try voxl-streamer.

This was very helpful, thank you!

Hi @tom, Thank you for your help, I got it going and is now back to a usable state!

@Moderator Pin 8 is not needed. The USB on Voxl/Voxl2 J13/J3 is always a HOST. Previous gen designs used this for OTG selection, so we manage this directly on Voxl2. For all intents and purposes, pin 8 is a "dead pin" and should be N.C. (no connect). Let us know if you have any other questions. Thanks

@JoeC gotcha. If you could email us at: contact@modalai.com we can get started

Have you used an oscilloscope to probe the line from the flight controller to VOXL2 to make sure the flight controller is sending data at the correct baudrate? Also note that the logic level of that UART connector on M0125 is 3.3V, I'm not sure if that matches the expected logic level of the port you are using on the CubeOrange. Also note PX4 requires some serial port configuration. We normally use mavlink channel 1 with the Telem2 port on our flight core set to 921600 and 'onboard' mode. This translates to the following px4 param settings, note that yours will most likely be different due to using a different flight controller in a different configuration. MAV_1_CONFIG 102 MAV_1_FORWARD 0 MAV_1_MODE 2 MAV_1_RATE 0 SER_TEL2_BAUD 921600

Hi @Eric-Katzfey, We had some finds. Here's what we've understood so far: Two things are needed to make a voxl-px4 package using px4-firmware(voxl-dev) modalai_rb5-flight_default modalai_rb5-flight_qurt And each one needs the following different crsf_parse function modalai_rb5-flight_default needs crsf_parse(6 arguments) modalai_rb5-flight_qrut needs crsf_parse(8 arguments) Each px4-firmware has a different version of crsf_parse Branch: main has crsf_parse(6 arguments) Branch: voxl-dev has crsf_parse(8 arguments) Our goal was to build the voxl-px4 included MicroRTPS_bridge in px4-firmware(branch: voxl-dev), so we added the following two functions to crsf.cpp in px4-firmware. bool crsf_parse_buffer(uint16_t *values, uint16_t *num_values, uint16_t max_channels) as crsf_parse_buffer_6 bool crsf_parse(const uint64_t now, const uint8_t *frame, unsigned len, uint16_t *values, uint16_t *num_values, uint16_t max_channels) as crsf_parse_6 Then the build progressed to 89% and stopped with an error below. ERROR #1 [ 89%] Building CXX object src/systemcmds/pwm/CMakeFiles/systemcmds__pwm.dir/pwm.cpp.o /usr/local/workspace/px4-firmware/src/systemcmds/pwm/pwm.cpp: In function 'int pwm_main(int, char**)': /usr/local/workspace/px4-firmware/src/systemcmds/pwm/pwm.cpp:810:3: error: 'qurt_loop' was not declared in this scope 810 | qurt_loop = 320; | ^~~~~~~~~ compilation terminated due to -Wfatal-errors. make[3]: *** [src/systemcmds/pwm/CMakeFiles/systemcmds__pwm.dir/build.make:63: src/systemcmds/pwm/CMakeFiles/systemcmds__pwm.dir/pwm.cpp.o] Error 1 make[3]: Leaving directory '/usr/local/workspace/px4-firmware/build/modalai_rb5-flight_default' make[2]: *** [CMakeFiles/Makefile2:12085: src/systemcmds/pwm/CMakeFiles/systemcmds__pwm.dir/all] Error 2 make[2]: Leaving directory '/usr/local/workspace/px4-firmware/build/modalai_rb5-flight_default' make[1]: *** [Makefile:152: all] Error 2 make[1]: Leaving directory '/usr/local/workspace/px4-firmware/build/modalai_rb5-flight_default' make: *** [Makefile:222: modalai_rb5-flight_default] Error 2 We changed the int qurt_loop variable's scope to like this. Before [image: 1670957157167-32b86fac-1631-4048-b2ce-a29792ee533b-untitled.png] After [image: 1670957171221-f6a25f03-3c63-4f66-92e4-b3181adacef6-untitled-1.png] After that, an error occurred for the label for jump, and it was resolved by changing it as follows. ERROR #2 [ 89%] Building CXX object src/systemcmds/pwm/CMakeFiles/systemcmds__pwm.dir/pwm.cpp.o /usr/local/workspace/px4-firmware/src/systemcmds/pwm/pwm.cpp: In function 'int pwm_main(int, char**)': /usr/local/workspace/px4-firmware/src/systemcmds/pwm/pwm.cpp:864:1: error: jump to label 'err_out_no_test_2' 864 | err_out_no_test_2: | ^~~~~~~~~~~~~~~~~ compilation terminated due to -Wfatal-errors. make[3]: *** [src/systemcmds/pwm/CMakeFiles/systemcmds__pwm.dir/build.make:63: src/systemcmds/pwm/CMakeFiles/systemcmds__pwm.dir/pwm.cpp.o] Error 1 make[3]: Leaving directory '/usr/local/workspace/px4-firmware/build/modalai_rb5-flight_default' make[2]: *** [CMakeFiles/Makefile2:12085: src/systemcmds/pwm/CMakeFiles/systemcmds__pwm.dir/all] Error 2 make[2]: Leaving directory '/usr/local/workspace/px4-firmware/build/modalai_rb5-flight_default' make[1]: *** [Makefile:152: all] Error 2 make[1]: Leaving directory '/usr/local/workspace/px4-firmware/build/modalai_rb5-flight_default' So we changed the goto command to "return 0" instead of using err_out_no_test_2 label. After that, the build.sh worked and the make_packages.sh also worked.(in the voxl-px4) However, it did not run with the following error on voxl2. ERROR #3 voxl2:~$ voxl-px4 Found DSP signature file /usr/bin/voxl-px4: line 42: /usr/bin/px4: cannot execute binary file: Exec format error Based on the above results, we think the voxl-px4 with microRTPS_bridge can be built by changing modalai_rb5-flight_default and modalai_rb5-flight_qurt to use the same crsf_parse. So if you think our thinking is correct, can you give us some guidance? If it is not possible in px4-firmware(branch: voxl-dev), can we build voxl-px4(included micrortps_bridge) using another branch? Any advice would be appreciated.

Hi @liftedsystems I just saw this now.. sorry for our delays on this... We respond better when you start a new thread because we ALL get notified of it internally ... Thread replies are on a "best effort" basis to check so we miss some.... but if you wish to do so, please just tag us using the "@" like you did to get Chad and we will see that at a higher level too, but new threads are always the best! Thanks, and I hope Travis gave you the info you were hoping for!!

@Adrian-Hidalgo I redesigned the mounting piece for the cameras, used new refocused cameras, and fixed some errors in my general camera extrinsics file (although I'm not sure that last one is related)

Hi @modaltb Thanks for sharing that information. It happened today and changing the power cable fixed it.