@Eric-Katzfey @Tamas-Pal-0 For future users troubleshooting HITL setup, I was having the same issue as above. This cable would not allow me to set the latency or share data with the VOXL 2 through J18 port, but this cable works as intended.
Best posts made by Taylor Presley
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RE: HITL with voxl 2posted in Ask your questions right here!
Latest posts made by Taylor Presley
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RE: Voxl-mapper on VOXL2posted in Mapping and Planning
@Jgaucin @tom Any tips on getting this to work? I am running into the same issue using a Sentinel with voxl-suite 1.1
Any help is appreciated!
Thanks,
Taylor -
Calibrating Extrinsics and DFSposted in VOXL 2
Re: VOXL2 Stereo Calibrate ERROR
Hey everyone,
I'm recalibrating the Sentinel stereo cameras because it was not publishing DFS (even though the server is running).
Upon trying to recalibrate, I'm having a similar issue to @AP123 post VOXL2 Stereo Calibrate ERROR.
All comments and recommendations are welcome!
Thanks,
Taylorvoxl2:/$ voxl-calibrate-camera stereo_front -s 6x9 -l 0.02 Please open voxl-portal in a web browser to view the camera calibrator overlay stream Running Calibration... Calibrating Left Camera Running Calibration... Running Calibration... Running Calibration... Matrix [548.5382302680308, 0, 285.3415669716975; 0, 547.0025566893958, 235.3038337229943; 0, 0, 1] Distortion [-0.2424323763061194; 0.1269460760379177; -0.004142521667776578; 0.002519660999314344; 0] distortion_model: plumb_bob Re-projection error reported by calibrateCamera: 0.484597 Calibration Succeded! Calibrating Right Camera Running Calibration... Running Calibration... Matrix [543.062224502327, 0, 301.719040785862; 0, 542.0482517180614, 245.9552291727296; 0, 0, 1] Distortion [-0.236760512593058; 0.1416137307136648; -0.002976128262009898; 0.0009654060730829055; 0] distortion_model: plumb_bob Re-projection error reported by calibrateCamera: 0.528407 Calibration Succeded! Calibrating Extrinsics 7 frames will be processed R [0.999257189294548, -0.03760915797903753, -0.008403622984628861; 0.03775986819471018, 0.9991144801232372, 0.01855930930804526; 0.007698181413691082, -0.01886284295066306, 0.999792444039632] T [-0.07616424149746555; -0.001485191500948734; -0.01076830039005899] Re-projection error reported by stereoCalibrate: 1.421312 Detected horizontal stereo pair Distance between cameras: 0.0762 Extrinsics Calibration Failed exceeded allowable max reprojection error: 0.5 Saved intrinsics to: /data/modalai/opencv_stereo_front_intrinsics.yml Running Calibration... Exiting CleanlyAdditional details for reference:
voxl2:/$ voxl-inspect-services Scanning services... Service Name | Enabled | Running | CPU Usage ------------------------------------------------------------------- docker-autorun | Disabled | Not Running | modallink-relink | Disabled | Not Running | voxl-camera-server | Enabled | Running | 97.7% voxl-cpu-monitor | Enabled | Running | 0.4% voxl-dfs-server | Enabled | Running | 18.2% voxl-feature-tracker | Disabled | Not Running | voxl-flow-server | Disabled | Not Running | voxl-imu-server | Enabled | Running | 4.4% voxl-lepton-server | Disabled | Not Running | voxl-mavcam-manager | Enabled | Running | 0.0% voxl-mavlink-server | Enabled | Running | 2.7% voxl-modem | Disabled | Not Running | voxl-neopixel-manager | Disabled | Not Running | voxl-open-vins-server | Disabled | Not Running | voxl-portal | Enabled | Running | 31.8% voxl-px4-imu-server | Disabled | Not Running | voxl-px4 | Enabled | Running | 29.5% voxl-qvio-server | Enabled | Running | 13.5% voxl-rangefinder-server | Disabled | Not Running | voxl-remote-id | Disabled | Not Running | voxl-softap | Enabled | Completed | voxl-static-ip | Disabled | Not Running | voxl-streamer | Enabled | Running | 0.0% voxl-tag-detector | Disabled | Not Running | voxl-tflite-server | Disabled | Not Running | voxl-time-sync | Disabled | Not Running | voxl-uvc-server | Disabled | Not Running | voxl-vision-hub | Enabled | Running | 4.1% voxl-wait-for-fs | Enabled | Completed |mdr@mdr-System-Product-Name:~$ adb shell * daemon not running; starting now at tcp:5037 * daemon started successfully ▂▂▂▂▂▂▂▂▂▂▂▂▂ ▂▄▆▆██▛▀▀▀▀▀▀▀▀▜████▆▆▄▂ ███╗ ███╗ ██████╗ ██████╗ █████╗ ██╗ ▗▆████▀▔ ▔▔▀▀▀▀▚▄ ████╗ ████║██╔═══██╗██╔══██╗██╔══██╗██║ ▗▟████▀ ▗██▖ ▐█ ▝▀▆▄▄▄ ██╔████╔██║██║ ██║██║ ██║███████║██║ ▟████▀ ▗█▘▝█▖ ▐█ ▜█▀ ██║╚██╔╝██║██║ ██║██║ ██║██╔══██║██║ █▌ ▐█▌ ▗█▘ ▝█▖ ▐█ ▐▄ ██║ ╚═╝ ██║╚██████╔╝██████╔╝██║ ██║███████╗ ▀████ ▗█▘ ▝█▖ ▐█ ▂▄███ ╚═╝ ╚═╝ ╚═════╝ ╚═════╝ ╚═╝ ╚═╝╚══════╝ ▀▀██▄▄ ▂▆███▀ ▀▀██▄▄ ▀▀▆▄▄▄▄▆██▀▀▀▘ -------------------------------------------------------------------------------- system-image: 1.7.4-M0054-14.1a-perf kernel: #1 SMP PREEMPT Fri Feb 9 21:59:24 UTC 2024 4.19.125 -------------------------------------------------------------------------------- hw platform: M0054 mach.var: 1.0 -------------------------------------------------------------------------------- voxl-suite: 1.1.3-1 -
voxl-dfs-server stack smashingposted in Ask your questions right here!
Hey guys,
I've recently been having trouble with the voxl-dfs-server. I'm running voxl-suite 1.0 on Sentinel. I've recalibrated the stereo cameras and enabled the server, but it isn't running. When I try to run I get a "stack smashing" error. Has anyone else encountered this issue? Any recommendations to fix? Code is below, all inputs are appreciated!
▂▂▂▂▂▂▂▂▂▂▂▂▂ ▂▄▆▆██▛▀▀▀▀▀▀▀▀▜████▆▆▄▂ ███╗ ███╗ ██████╗ ██████╗ █████╗ ██╗ ▗▆████▀▔ ▔▔▀▀▀▀▚▄ ████╗ ████║██╔═══██╗██╔══██╗██╔══██╗██║ ▗▟████▀ ▗██▖ ▐█ ▝▀▆▄▄▄ ██╔████╔██║██║ ██║██║ ██║███████║██║ ▟████▀ ▗█▘▝█▖ ▐█ ▜█▀█▄ ██║╚██╔╝██║██║ ██║██║ ██║██╔══██║██║ █▌ ▐█▌ ▗█▘ ▝█▖ ▐█ ▐▄ ▄█ ██║ ╚═╝ ██║╚██████╔╝██████╔╝██║ ██║███████╗ ▀████ ▗█▘ ▝█▖ ▐█ ▂▄███▀ ╚═╝ ╚═╝ ╚═════╝ ╚═════╝ ╚═╝ ╚═╝╚══════╝ ▀▀██▄▄ ▂▆███▀ ▀▀██▄▄ ▀▀▆▄▄▄▄▆██▀▀▀▘ -------------------------------------------------------------------------------- system-image: 1.6.2-M0054-14.1a-perf kernel: #1 SMP PREEMPT Fri May 19 22:19:33 UTC 2023 4.19.125 -------------------------------------------------------------------------------- hw version: M0054 -------------------------------------------------------------------------------- voxl-suite: -------------------------------------------------------------------------------- current IP: wlan0: 192.168.8.1 -------------------------------------------------------------------------------- voxl2:/$ voxl-inspect-services Scanning services... Service Name | Enabled | Running | CPU Usage --------------------------------------------------------------- docker-autorun | Disabled | Not Running | docker-daemon | Disabled | Not Running | modallink-relink | Disabled | Not Running | voxl-camera-server | Enabled | Running | 71.8% voxl-cpu-monitor | Enabled | Running | 0.5% voxl-dfs-server | Enabled | Not Running | voxl-imu-server | Enabled | Running | 5.3% voxl-lepton-server | Disabled | Not Running | voxl-mavcam-manager | Enabled | Running | 0.0% voxl-mavlink-server | Enabled | Running | 2.5% voxl-modem | Disabled | Not Running | voxl-portal | Enabled | Running | 0.2% voxl-px4-imu-server | Disabled | Not Running | voxl-px4 | Enabled | Running | 33.0% voxl-qvio-server | Enabled | Running | 37.6% voxl-remote-id | Disabled | Not Running | voxl-softap | Enabled | Completed | voxl-static-ip | Disabled | Not Running | voxl-streamer | Enabled | Running | 0.0% voxl-tag-detector | Enabled | Running | 18.5% voxl-tflite-server | Enabled | Running | 0.9% voxl-time-sync | Disabled | Not Running | voxl-uvc-server | Disabled | Not Running | voxl-vision-hub | Enabled | Running | 2.3% voxl-wait-for-fs | Enabled | Completed | voxl2:/$ voxl-configure-dfs-server bash: voxl-configure-dfs-server: command not found voxl2:/$ voxl-configure-dfs-server enable bash: voxl-configure-dfs-server: command not found voxl2:/$ systemctl enable voxl-dfs-server voxl2:/$ voxl2:/$ voxl-dfs-server ================================================================= min_disparity: 4 max_disparity: 64 min_threshold: 10 cost_threshold: 10 width: 640 height: 480 pc_skip_n_lines: 4 dfs pair #0 enable: 1 input_pipe: stereo_front skip_n_frames: 1 blur_size: 0 post_median_size: 0 intrinsics_file: /data/modalai/opencv_stereo_front_intrinsics.yml extrinsics_file: /data/modalai/opencv_stereo_front_extrinsics.yml dfs pair #1 enable: 1 input_pipe: stereo_rear skip_n_frames: 1 blur_size: 0 post_median_size: 0 intrinsics_file: /data/modalai/opencv_stereo_rear_intrinsics.yml extrinsics_file: /data/modalai/opencv_stereo_rear_extrinsics.yml ================================================================= loading calibration files for Pair #0, loaded these lens params: f: 476.498688 cx: 337.858215 cy: 244.905640 baseline_m: 0.080362 for Pair #1, loaded these lens params: f: 501.284851 cx: 323.020020 cy: 223.681076 baseline_m: 0.079995 initializing dfs module opening cameras paused client voxl-vision-hub0 connected to ch 2 client voxl-vision-hub0 connected to ch 5 connected to pipe stereo_front connected to pipe stereo_rear *** stack smashing detected ***: <unknown> terminated Aborted -
RE: VOXL 2 No ESC(s) detectedposted in VOXL 2
@Alex-Kushleyev we were able to run voxl-esc tools but could only spin up 3 motors. The new ESC that you sent us works now and I'm able to spin all the motors. I wasn't able really to trace a root cause, but I'm just happy that it's working now. Thanks for all the help so far!
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RE: VOXL 2 No ESC(s) detectedposted in VOXL 2
@Alex-Kushleyev @Vinny @modaltb It has taken a while for me to run this to ground, but I have an update. It does look like there is a tx packet into ESC and a reply when I run the script, and from what I can tell they are simultaneous. Both are at 3.3V and measuring resistance between the lines is ~40-50 kilohms.
I've ordered another ESC and will perform the same tests to see if I can get a successful scan on it. Thanks for the help so far!
Taylor
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RE: VOXL 2 No ESC(s) detectedposted in VOXL 2
@modaltb @Vinny I'm using an Adafruit USB to TTL cable that I had around. Only gnd, tx, and rx are connected, and the ESC is powered by the power supply. It had the same issue.
mdr@mdr-System-Product-Name:~/voxl-esc-dev-python27/tools$ python voxl-esc-scan.py INFO: Device and baud rate are not provided, attempting to autodetect.. Scanning for ESC firmware: /dev/ttyUSB0, baud: 250000 Scanning for ESC firmware: /dev/ttyUSB0, baud: 2000000 Scanning for ESC firmware: /dev/ttyUSB0, baud: 921600 Scanning for ESC firmware: /dev/ttyUSB0, baud: 57600 Scanning for ESC firmware: /dev/ttyUSB0, baud: 115200 Scanning for ESC firmware: /dev/ttyUSB0, baud: 230400 Scanning for ESC bootloader: /dev/ttyUSB0, baud: 38400 Scanning for ESC bootloader: /dev/ttyUSB0, baud: 230400 Scanning for ESC bootloader: /dev/ttyUSB0, baud: 921600 ERROR: No ESC(s) detected, exiting.I can order the other dongle, but I'm measuring traffic on Tx and Rx. Thoughts?
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RE: VOXL 2 No ESC(s) detectedposted in VOXL 2
@modaltb confirmed I'm using J18 and the ESC has power (I get an LED blink and quick chirp on connection). I've got a borrowed oscilloscope and confirmed there is traffic on the ESC. I also tried switching TX/RX on the cabling and this didn't help. I've also now installed voxl-esc per this discussion now and still get the following:
voxl2:/$ voxl-esc scan enabling bridge bridge enabled Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) [GCC 8.4.0] Found voxl-esc tools bin version: 1.1 VOXL Platform: M0054 Detected VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000 INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 250000 INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 921600 INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 230400 INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 57600 INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 115200 INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 38400 Updated baud rate to 38400 INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400 Updated baud rate to 230400 ERROR: No ESC(s) detected, exiting. FAILED to ping ESCs disabling bridge bridge disabledWhat would you recommend for next step?
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VOXL 2 No ESC(s) detectedposted in VOXL 2
I am following the installation instructions for VOXL 2 found here. I've reflashed the system image with release 0.9.5 from 3/30, installed the slpi uart bridge package to VOXL2, disabled px4, and created the symlink for libpx4. I've also doublechecked that the MCBL_00029-1 cable is correct per this wiring diagram.
I've run out of options, can someone help me troubleshoot connecting/configuring the VOXL 2 ESC board? Any help is greatly appreciated!
Outputs are below, thanks in advance,
Taylormdr@mdr-System-Product-Name:~/Downloads$ adb shell ▂▂▂▂▂▂▂▂▂▂▂▂▂ ▂▄▆▆██▛▀▀▀▀▀▀▀▀▜████▆▆▄▂ ███╗ ███╗ ██████╗ ██████╗ █████╗ ██╗ ▗▆████▀▔ ▔▔▀▀▀▀▚▄ ████╗ ████║██╔═══██╗██╔══██╗██╔══██╗██║ ▗▟████▀ ▗██▖ ▐█ ▝▀▆▄▄▄ ██╔████╔██║██║ ██║██║ ██║███████║██║ ▟████▀ ▗█▘▝█▖ ▐█ ▜█▀ ██║╚██╔╝██║██║ ██║██║ ██║██╔══██║██║ █▌ ▐█▌ ▗█▘ ▝█▖ ▐█ ▐▄ ██║ ╚═╝ ██║╚██████╔╝██████╔╝██║ ██║███████╗ ▀████ ▗█▘ ▝█▖ ▐█ ▂▄███ ╚═╝ ╚═╝ ╚═════╝ ╚═════╝ ╚═╝ ╚═╝╚══════╝ ▀▀██▄▄ ▂▆███▀ ▀▀██▄▄ ▀▀▆▄▄▄▄▆██▀▀▀▘ -------------------------------------------------------------------------------- system-image: 1.5.5-M0054-14.1a-perf kernel: #1 SMP PREEMPT Fri Mar 24 00:48:55 UTC 2023 4.19.125 -------------------------------------------------------------------------------- hw version: M0054 -------------------------------------------------------------------------------- voxl-suite: 0.9.5 -------------------------------------------------------------------------------- voxl2:/$ cd /home/root/voxl-esc/voxl-esc-tools/ voxl2:~/voxl-esc/voxl-esc-tools(dev)$ ./voxl-esc-scan.py Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) [GCC 8.4.0] Found voxl-esc tools bin version: 1.1 VOXL Platform: M0054 Detected VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000 INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 250000 INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 921600 INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 230400 INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 57600 INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 115200 INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 38400 Updated baud rate to 38400 INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400 Updated baud rate to 230400 ERROR: No ESC(s) detected, exiting. voxl2:~/voxl-esc/voxl-esc-tools(dev)$ voxl-inspect-services Service Name | Enabled | Running | CPU Usage --------------------------------------------------------------- docker-autorun | Disabled | Not Running | docker-daemon | Disabled | Not Running | modallink-relink | Disabled | Not Running | voxl-camera-server | Disabled | Not Running | voxl-cpu-monitor | Disabled | Not Running | voxl-dfs-server | Disabled | Not Running | voxl-imu-server | Disabled | Not Running | voxl-mavlink-server | Disabled | Not Running | voxl-modem | Disabled | Not Running | voxl-portal | Disabled | Not Running | voxl-px4-imu-server | Disabled | Not Running | voxl-px4 | Disabled | Not Running | voxl-qvio-server | Disabled | Not Running | voxl-remote-id | Disabled | Not Running | voxl-softap | Disabled | Not Running | voxl-static-ip | Disabled | Not Running | voxl-streamer | Disabled | Not Running | voxl-tag-detector | Disabled | Not Running | voxl-tflite-server | Disabled | Not Running | voxl-time-sync | Disabled | Not Running | voxl-vision-px4 | Disabled | Not Running | voxl-wait-for-fs | Enabled | Completed | -
RE: VOXL 2 Spektrum RC Issueposted in VOXL 2
@Eric-Katzfey I've been stuck on travel for the past month but happy to report that your solution worked! input_rc is publishing and I was able to calibrate in QGC.