ModalAI Forum

@Projects-a You can connect the i2c to the J5 connector on M0141 and spi to J10 on VOXL 2 board if you want to stay with M0141

@Judoor-0 You can use QGroundControl v5 and later. Then once your drone coots and connected to the QGC, mouse click on the desirable position and select Set Estimator Origin option. This will be your [0,0,0] in local frame and [lat, lon, alt] in global [image: 1752642917216-24ef863e-534d-4894-b99d-d1cacd609954-untitled.jpg]

@Moderator Thanks for the response. Follow up question, are the voxl-side timesync requests only used for updating gps timestamps? After reading the code you linked and running mavlink-server in timesync debug mode I think that the only thing not working is the voxl timesync requests. It looks like when I start sending hil_gps or odometry mavlink messages to the autopilot pipe, one of the autopilot's responses to the voxl timesync requests is dropped or comes in after a new value for last_voxl_time_sent is generated. Then the timesync handler can't recover because it's getting responses that are 1 step behind moving forward (see below). Since it looks like it continues to get reasonable values for now-ts1 for the autopilot requests, I don't think this is an issue depending on what voxl-side timesync is being used for. Not sure why I'm getting the RTT too high warning in my PX4 log though output from mavlink server timesync debug mode at the point when I started sending odom/gps mavlink messages to the autopilot: sending our own ts request at 408744677609 ap ms ahead of voxl: -0.2ms timesync: now-ts1 = 0.6ms sending our own ts request at 408845331615 ap ms ahead of voxl: -0.3ms timesync: now-ts1 = 0.9ms sending our own ts request at 408945169337 timesync: now-ts1 = 0.2ms sending our own ts request at 409044439310 timesync: now-ts1 = 0.3ms sending our own ts request at **409145346227** timesync: now-ts1 = 0.5ms sending our own ts request at **409244599326** unknown timesync request ts1 = **409145346227** tc1 = 409263819000 last_voxl_time_sent = 409244599326 timesync: now-ts1 = 0.3ms sending our own ts request at 409345147918 unknown timesync request ts1 = **409244599326** tc1 = 409406867000 last_voxl_time_sent = 409345147918 timesync: now-ts1 = 0.2ms sending our own ts request at 409445248290 unknown timesync request ts1 = 409345147918 tc1 = 409506047000 last_voxl_time_sent = 409445248290 timesync: now-ts1 = 0.2ms sending our own ts request at 409545084726 unknown timesync request ts1 = 409445248290 tc1 = 409608198000 last_voxl_time_sent = 409545084726 timesync: now-ts1 = 0.4ms sending our own ts request at 409645091472 unknown timesync request ts1 = 409545084726 tc1 = 409717154000 last_voxl_time_sent = 409645091472

@thomas I assume we don't want to be dealing with 4k raw arrays on the CPU for performance reasons. So yeah as early as possible in the image proc pipeline, and how early we can push it is what I'm asking for advice on. We'll also reach out to @Alex-Kushleyev thanks!!

@Eric-Katzfey That works, thanks!

@wilkinsaf Yeah you're absolutely right! Happy to help you out if you have any more questions about that process. -Thomas

@AndriiHlyvko On VOXL 2, the snapshot pipe from voxl-camera-server will use the latest gps data and update the exif data of the jpg image with the latitude and longitude voxl-camera-server receives GPS data here voxl-mavlink-server publishes GPS data here You can use the voxl-inspect-gps tool to verify the GPS data is being published correctly

Thank you - I was able to make it work for one camera with the following changes. etc/modalai/voxl-camera-server.conf changed "camera_id_second": to -1 to get just one camera, changed "en_preview": to false, Added:"en_small_video": true, "small_video_width": 1280, "small_video_height": 800, restart voxl-camera-server service etc/modalai/voxl-streamer.conf "input-pipe": "stereo_small_encoded" etc/modalai/voxl-mavcam-manager.conf "video_record_pipe_name": "stereo_small_encoded",

@Rowan-Dempster, i looked through the changelog of our project (https://gitlab.com/voxl-public/voxl-sdk/third-party/voxl-eigen3/) and it does not look that there are any changes done to eigen3 itself, i think it is just a package we inherited from VOXL1, which did not use apt. If you are willing to try it, remove voxl-eigen3 package (which may temporarily break something - note which packages require it). We could potentially update whatever gets broken to be happy with either voxl-eigen3 or eigen3 installed using apt.

@jenyeom , i am not sure, can you please try setting cpu mode to performance: voxl-set-cpu-mode perf This will prevent cpu from sleeping excessively in low power mode. Perhaps the dt is so low that the cpu oversleeps and does not handle all the imu messages.

@Jeffrey-Mao I am assuming you are asking about VOXL2 with ov7251 stereo in combo mode (using a single 4-lane camera port) Please check in /usr/lib/camera, you should see two com.qti.sensormodule.ov7251_combo* files. you should remove them and replace them with ones from /usr/share/modalai/chi-cdk/ov7251-combo-flip, making sure you copy the files with the same camera slot index (the number at the end before .bin). Then simply restart voxl-camera-server and the cameras should be rotated 180 (this happens by reversing the direction the images are read from the camera itself, not rotated in software)

@tyorb It would be a massive undertaking and we would only be able to provide very minimal support. I'd definitely recommend against it.

@michi Yeah, I'd be curious to know what your results are like using a custom YOLOv5 model. If things are still slow, the issue might be in your quantization process. However if it speeds up, it may just be that the model architecture is too big. I have it on my to-do list at some point in the next few weeks to add YOLOv8 to our list of default models so when/if I do that I'll keep you posted with the results of that as well. Keep me posted on how I can be of assistance! Thomas Patton

Thanks it works like a charm now for the help

@Manu-Bhardwaj Hey Manu, happy to help you with this and any other questions you may have. Can I start by asking what version of the VOXL SDK you're using? /etc/modalai/voxl-tflite-server.conf is a file that is written upon flashing the SDK and so I'm surprised to hear the file isn't being found. If by some chance it got deleted, you might benefit from re-flashing the SDK. Also in your email I saw you had some other questions about VOXL TFlite Server, maybe you'd like to post those here or create a new forum topic? Looking forward to helping you on this! Thomas Patton

@Darshit-Desai Can you try the v1.13 PX4 for the Flight Core? https://docs.modalai.com/flight-core-v2-firmware/