Intergrating VL53L1x Range Finder with VOXL2

[modaltb]

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

[James Strawson]

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.

Rangefinders

ModalAI technical documentation for VOXL and VOXL 2 Companion Computers for PX4 and ArduPilot Obstacle Avoidance and GPS-denied navigation, assembled in the USA

ModalAI Technical Docs (docs.modalai.com)

[Jetson Nano]

Thank you @modaltb @James-Strawson,

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

[Jetson Nano]

@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.

[modaltb]

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

[Jetson Nano]

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

[modaltb]

what about with

i2cdetect -r -y 1

[Jetson Nano]

@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.

[Jetson Nano]

@modaltb

[modaltb]

Hi @Jetson-Nano

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

Can you describe your wiring setup?

[Jetson Nano]

This is the wiring diagram of the sensor with the USB Expansion Board.

[Jetson Nano]

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

[modaltb]

@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.

[Jetson Nano]

@modaltb I'm using M0141 expansion board.

[modaltb]

@Jetson-Nano what is the VL53L1X on?

[Jetson Nano]

@modaltb is connected on J5 port of M0141.

[modaltb]

@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?

[Jetson Nano]

@modaltb This is our setup,

[Vinny]

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!

[Jetson Nano]

@Vinny @modaltb Here is the link of the product

Just a moment...

(www.ktron.in)

Thanks!