ModalAI Forum

@Eric-Katzfey Yes the Mavlink Packets will be sent form PX4 running on the VOXL2 through the Trip Module and then to the Doodle, and vice versa for the data flow from the GCS to PX4. My understanding is that the Trip is just running a extension of Mavlink to allow for specific gimbal and camera commands. Also it is performing Video compression.

@Chase-Riley the recommended approach is to use J18 ESC port directly: https://docs.modalai.com/voxl2-external-flight-controller/#voxl-2-connecting-an-external-flight-controller

@perfx I'd recommend reaching out to Ascend Engineering, they're ModalAI product experts and they'll be able to help you out: https://www.ascendengineer.com/

@daniel-p-nikolov said in Issue recognizing camera MSU-0107 using M0135 dual camera board: Tried various setups, however, it does not see any camera connected to the VOXL2. Reply @daniel-p-nikolov I would recommend doing a custom camera config setup. What you can do here is run voxl-configure-cameras C and then vim into /data/modalai/custom_camera_config.txt and then proceed to edit the file for this port and position - so in this case it would be J7 lower info is hires, imx412, and false. Then proceed to rerun voxl-configure-cameras C again and then rerun voxl-camera-server and see if cameras are detected. There could be a mismatch occuring of the port and such when using the non custom script. Zach

@arcj can you share your working tflite configuration with M0014 and the configuration that is not working with M0025?

Hi @Alex-Kushleyev , Thank you for your suggestion. Now I understood. how to use my existing stereo, and tracking cameras on voxel-2.

@Jetson-Nano Please take a look at the following links: https://docs.modalai.com/M0169/ https://docs.modalai.com/M0178/#requirements https://docs.modalai.com/voxl2-coax-camera-bundles/#mdk-m0173-1-01 [image: M0173_C26_Config.png] M0169 was built to support the new TOF sensor using the existing (at that time) flex cables and interposers, but those were not designed to carry 5V from VOXL2, therefore M0169 requires additional connector to supply 5V (which can be taken from the same APM that is supplying 5V to VOXL2). TOF V2 sensor can output much higher IR power compared to TOF V1, and the existing interposers / power rails were not designed for that, so an additional 5V input to M0169 is required. Now, with M0173 (aka Starling 2 Front End), the front end plugs into VOXL2 and makes use of the available 5V on VOXL2 (which was not possible using older interposers and extension cables). M0171 / M0178 is able to pull 5V directly from VOXL via the Starling 2 Front End. M0178 is basically an M0171 with a tab for mounting. In order to use M0178 / M0171, you have to use M0177 flex that is connected to M0173 camera front end (which plugs into VOXL2). So there is basically two options for connecting TOF V2 to VOXL2: VOXL2 -> (M0135 or M0076) -> (M0074 or M0036 extender) - > (M0169 + 5V power) -> TOF V2 VOXL2 -> M0173 -> M0177 - > (M0171 or M0178) -> TOF V2 I know that is a lot of board numbers, but hopefully that makes sense.. Alex

@smilon we're still working on it but slower than I had originally planned. we're using it on a feature light product right now without camera support, once we have camera support in place I'll try to get some preview releases in place, 'hoping' that's in Q1/Q2 but as an optimistic engineer speaking

@John-Nomikos , 1.4 GB/s is certainly impossible for SD card write speed, so there is definitely some trickery going on here. Because VOXL2 has a lot of RAM, the cache can be substantial, but I thought that sync command would solve that issue, but apparently not. In case of writing on top of an existing file, i believe this is a bad test case because as you are changing contents of an existing file (overwriting on top of existing data), the file system needs to be updated to remove references to old data and i think it can be a bit tricky in case of these unstructured overwriting with various block sizes, etc - so this is probably why that process is slower. If you find a reliable way of testing the SD card write speed in the SD card slot, please let us know! I will play around with it as well. Alex

@John-Nomikos Edit: I swapped SD card readers (the original was UHS-I, this one is now UHS-II) and now am seeing 150-200 MB/s for both hats. Speed difference was likely caused by the card reader and not the voxl2. Still weird that there was a speed difference, but oh well

@Alex-Kushleyev, no need for super low-latency FPV, just using a higher megapixel sensor to stabilize down to what we can consistently stream down the radio link. Some form of digital gimbal would be great too, where we can steer the field of view to a specific region

@restore you'll need to use PX4 logs for that

@Aaky voxl-tflite-server is a wrapper for TensorFlow Lite. So, anything you can get to work in standard TensorFlow Lite you should be able to get working in voxl-tflite-server https://ai.google.dev/edge/litert

@Aaky great to hear, from my experience when the board is booting directly to fastboot it is often a power issue

@Eric-Katzfey Sure, Thank you!

About 95C is when the temperature control loop will kick in and start reducing the maximum core frequencies (gradually). You can monitor the cpu usage and current core frequencies using voxl-inspect-cpu. Here are the maximum core frequencies for all cores: cpu0 1804.8 cpu1 1804.8 cpu2 1804.8 cpu3 1804.8 cpu4 2419.2 cpu5 2419.2 cpu6 2419.2 cpu7 2841.6 If you set the cpu governor mode to perf (voxl-set-cpu-mode perf), it will pin all the cores to max frequency and they will stay there unless they are being throttled due to temperature, which you can check using voxl-inspect-cpu.

@Morten-Nissov , About the IMU dt, sorry, i got it backwards, the dt is 0.976ms, so that would be slightly above 1khz. So we are on the same page. Yes, reducing the FIFO size results in more SPI read transactions, which means that the CPU / Kernel has to do more work. There is a per transaction overhead that is much more significant than just getting more data per single transaction. Let's not bother with the PR because it is a 2-character change . I will get to it and test it soon. Alex

@cy208183395 Can you test this with SITL? Does it work fine there but not on VOXL 2?