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    Intergrating VL53L1x Range Finder with VOXL2

    VOXL 2
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    • J
      Jetson Nano
      last edited by 25 Jun 2024, 19:47

      Hello,

      I'm using a VL53L1x rangefinder for reducing drift accumulated during VIO on a Starling system. I'm using the sensor VL53L1X, which I'm connecting to VOXL2 through J19 port where I2C communication lanes (Pins 7,8) are available.

      When I enable range finder parameters in QGC, I'm not getting any data from the rangefinder in mavlink inspector or mavlink console. As mentioned in ModalAI documentation, this sensor is directly compatable with VOXL2. Is there any specific functional parameter which is to be enabled in PX4 config seperately?

      J 1 Reply Last reply 28 Jun 2024, 00:35 Reply Quote 0
      • M
        modaltb ModalAI Team
        last edited by 27 Jun 2024, 15:39

        Hi @Jetson-Nano our implementation is used on the applications processor (not the DSP) so you would want to use this reference:
        https://gitlab.com/voxl-public/voxl-sdk/services/qrb5165-rangefinder-server/-/tree/master

        1 Reply Last reply Reply Quote 0
        • J
          James Strawson ModalAI Team @Jetson Nano
          last edited by 28 Jun 2024, 00:35

          Hi @Jetson-Nano

          The I2C port on J19 is connected to the Sensors DSP and therefore can't be accessed from the main applications processor.

          Here is a new documentation page describing how to hook up and use these sensors.

          https://docs.modalai.com/rangefinders/

          1 Reply Last reply Reply Quote 0
          • J
            Jetson Nano
            last edited by Jetson Nano 4 Jul 2024, 13:20 4 Jul 2024, 13:19

            Thank you @modaltb @James-Strawson,

            Will check and get back. Apart from VL53L1x what are the other Rangefinder sensors which are compatible with VOXL2?

            J 1 Reply Last reply 5 Jul 2024, 07:32 Reply Quote 0
            • J
              Jetson Nano @Jetson Nano
              last edited by 5 Jul 2024, 07:32

              @James-Strawson @modaltb , I checked with reference to the documentation you shared, but still it was not working.

              I used the M0141 USB2 Breakout Board with the VL53L1X Rangefinder, and ran the commands that was there in the documentation.

              voxl-configure-rangefinders 1_downward_on_m0141
              

              And I got the similar output for the following commands

              voxl2:/$ voxl-configure-rangefinders 1_downward_on_m0141 
              creating new config file for 1 downward TOF without multiplexer
              DONE
              enabling  voxl-rangefinder-server systemd service
              Done configuring voxl-rangefinder-server
              voxl2:/$ cat /etc/modalai/voxl-rangefinder-server.conf 
              /**
               * Rangefinder Configuration File
               * This file is used by voxl-rangefinder-server
               * please use voxl-rangefinder-server --config {arrangement}
               * to set up this file.
               *
               * FOV for VL53l1X TOF rangefinder is a diagonal FOV in degrees and
               * can be set between 15 and 27 degrees.
               *
               * vl53l1x_timing_budget_ms MUST be one of 20, 33, 50, 100, 200, 500
               * 100 is default
               * vl53l1x FOV options are 15, 20, and 27 degrees
               * default is 27
               *
               * set id_for_mavlink to a valid id (0+) to publish that sensor reading to
               * mavlink as a DOWNWARD sensor for the autopilot to use
               * set to -1 to disable this feature.
               */
              {
              	"i2c_bus":	1,
              	"vl53l1x_timing_budget_ms":	50,
              	"id_for_mavlink":	0,
              	"sensors":	[{
              			"enabled":	true,
              			"sensor_id":	0,
              			"type":	"TOF_VL53L1X",
              			"fov_deg":	15,
              			"range_max_m":	3,
              			"location_wrt_body":	[-0.02500000037252903, 0.019999999552965164, 0.00800000037997961],
              			"direction_wrt_body":	[0, 0, 1],
              			"is_on_mux":	false,
              			"i2c_mux_address":	112,
              			"i2c_mux_port":	0
              		}]
              }
              

              But the rangefinder server in not running, even after starting the server. It is enabled but not running.

              Screenshot from 2024-07-05 11-38-52.png Screenshot from 2024-07-05 11-39-05.png

              1 Reply Last reply Reply Quote 0
              • M
                modaltb ModalAI Team
                last edited by 11 Jul 2024, 15:33

                Can you detect the sensor on the I2C bus, e.g https://docs.modalai.com/voxl2-linux-user-guide/#i2cdetect-usage ?

                J 1 Reply Last reply 17 Jul 2024, 13:07 Reply Quote 0
                • J
                  Jetson Nano @modaltb
                  last edited by Jetson Nano 17 Jul 2024, 13:24 17 Jul 2024, 13:07

                  @modaltb It is not detecting any sensors, I check the sensor with another FC with PX4 which support VL53L1X and it was detected there.

                  83689947-e4e1-4267-a075-2918b54f68f4-image.png

                  1 Reply Last reply Reply Quote 0
                  • M
                    modaltb ModalAI Team
                    last edited by 17 Jul 2024, 14:14

                    what about with

                    i2cdetect -r -y 1

                    J 1 Reply Last reply 18 Jul 2024, 04:48 Reply Quote 0
                    • J
                      Jetson Nano @modaltb
                      last edited by 18 Jul 2024, 04:48

                      @modaltb I tried detecting in all i2c bus, 0 to 5, it wasn't detected, I got three devices in 4, but it was UU and I think it is the cameras.

                      J 1 Reply Last reply 25 Jul 2024, 07:16 Reply Quote 0
                      • J
                        Jetson Nano @Jetson Nano
                        last edited by 25 Jul 2024, 07:16

                        @modaltb

                        70308483-ccc3-4068-b59f-bc44b2608a01-image.png
                        cf541698-4c24-4180-aad6-79d543f3c9c3-image.png

                        1 Reply Last reply Reply Quote 0
                        • M
                          modaltb ModalAI Team
                          last edited by 25 Jul 2024, 16:48

                          Hi @Jetson-Nano

                          OK we'd expect something on the bus like this:

                          b67f6f17-672e-4d9e-94a7-6dc803bd8e97-image.png

                          Can you describe your wiring setup?

                          1 Reply Last reply Reply Quote 0
                          • J
                            Jetson Nano
                            last edited by 26 Jul 2024, 10:23

                            This is the wiring diagram of the sensor with the USB Expansion Board.
                            Screenshot 2024-07-26 at 3.52.05 PM.png

                            J 1 Reply Last reply 26 Jul 2024, 17:42 Reply Quote 0
                            • J
                              Jetson Nano @Jetson Nano
                              last edited by 26 Jul 2024, 17:42

                              @modaltb Is there any specific SDK we could check for the working of Range-Finder with?

                              M 1 Reply Last reply 30 Jul 2024, 15:22 Reply Quote 0
                              • M
                                modaltb ModalAI Team @Jetson Nano
                                last edited by 30 Jul 2024, 15:22

                                @Jetson-Nano are you using our M0070 board like this? https://docs.modalai.com/rangefinders/#single-rangefinder-using-m0141-expansion-board

                                Or custom? If custom check pin 5, which on our M0070 board is pulled up to 3.3VDC.

                                5639b8e2-b569-4c3e-934e-6ab3816e4ab5-image.png

                                J 1 Reply Last reply 30 Jul 2024, 15:30 Reply Quote 0
                                • J
                                  Jetson Nano @modaltb
                                  last edited by 30 Jul 2024, 15:30

                                  @modaltb I'm using M0141 expansion board.

                                  M 1 Reply Last reply 30 Jul 2024, 15:32 Reply Quote 0
                                  • M
                                    modaltb ModalAI Team @Jetson Nano
                                    last edited by 30 Jul 2024, 15:32

                                    @Jetson-Nano what is the VL53L1X on?

                                    J 1 Reply Last reply 30 Jul 2024, 15:35 Reply Quote 0
                                    • J
                                      Jetson Nano @modaltb
                                      last edited by Jetson Nano 30 Jul 2024, 15:35 30 Jul 2024, 15:35

                                      @modaltb is connected on J5 port of M0141.

                                      M 1 Reply Last reply 30 Jul 2024, 15:37 Reply Quote 0
                                      • M
                                        modaltb ModalAI Team @Jetson Nano
                                        last edited by 30 Jul 2024, 15:37

                                        @Jetson-Nano can you take a picture? for example, we make a M0070 board that has this sensor on it. Are you making your own carrier board for the sensor?

                                        0b5bffdb-4c2d-495a-96db-d42e6dd0c8cb-image.png

                                        J 1 Reply Last reply 30 Jul 2024, 15:43 Reply Quote 0
                                        • J
                                          Jetson Nano @modaltb
                                          last edited by 30 Jul 2024, 15:43

                                          @modaltb This is our setup,

                                          IMG_3702.jpg
                                          IMG_3703.jpg
                                          IMG_3701.jpg

                                          VinnyV 1 Reply Last reply 30 Jul 2024, 17:41 Reply Quote 0
                                          • VinnyV
                                            Vinny ModalAI Team @Jetson Nano
                                            last edited by Vinny 30 Jul 2024, 17:41 30 Jul 2024, 17:41

                                            HI @Jetson-Nano
                                            We have not seen that module before.
                                            Is there a product link you can share so we can investigate for voltage and signal compatibility?

                                            Thanks!

                                            J 1 Reply Last reply 31 Jul 2024, 04:50 Reply Quote 0
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