There is a new module under development that allows you to pipe VGA (640x480) video from the hires camera at 30fps via MPA so that it can be streamed with voxl-streamer using RTSP while simultaneously saving 4k HD video at 30fps encoded as h265 into a file, preferably on the SD card on voxl. This module is now available in beta and will be officially released in upcoming releases of the voxl SDK for voxl, rb5-flight, and voxl 2. The beta package is available using wget https://storage.googleapis.com/modalai_public/modal_packages/archive/voxl-hires-server_0.0.1.ipk. It is meant for use on voxl only and is compatible with voxl platform release 3-3-0-0.5.0-a. In order to use it with voxl-camera-server, reconfigure voxl-camera-server to not use the hires camera. For example, call voxl-configure-cameras and choose option 1 Tracking + Stereo to allow voxl-camera-server to access the tracking and stereo cameras but not the hires camera. Then you can use voxl-hires-server for the hires camera. Use voxl-hires-server -h to see the available options. More documentation will be available upon official release of this new package.

@kitkatSG Yes, we have enabled most resolutions in that sensor now and are preparing a release to address this issue.

@Kessie Excellent, glad to hear you got it working! And thanks for adding the details on what you had to do to the posting!

@JoeC Seems like it is an SD card issue. I was able to recreate the problem when using a SanDisk Extreme 32GB card. But when using a SanDisk Ultra 16GB card everything works fine.

@Morten-Nissov 1MHz is a supported clock rate for i2c on the DSP based on what I can see in the code. But we have never tried running a device at 1MHz on i2c so it's tough to say why it wouldn't be working for you.

@ceu-gomez PX4 on VOXL2 is composed of two separate applications. One is on the applications processor (running Ubuntu) and the other is on the DSP (running Qurt RTOS). They use the muorb module to communicate topic data back and forth. The spare i2c on J19 is mapped to the DSP, not the applications processor, so Ubuntu has no access to it. To gain access to it on Ubuntu side with PX4 running would require some new code. This is something that is on our development roadmap but no definitive answer on when we will be able to get to it.

@JoeC SDK 1.1.1 is now available. Please use the installer in the voxl2_SDK_1.1.1.tar.gz archive to install this.

@Dan It's not really documented anywhere other than the source code. The best place to look is at the muorb module code. That is what implements the uorb communicator interface to allow advertisements, subscription requests, and topic data to flow between the DSP and the Linux side.

@Hammas-Ali We have not tried either of those streaming protocols. Voxl is a Linux computer so it is likely that you can implement RTMP or DASH. voxl-streamer uses GStreamer so, if there are RTMP or DASH GStreamer elements available, it shouldn't be too hard to incorporate them.

An update to UVC camera support has been started. It will increase number of supported cameras by allowing MJPEG and will increase number of supported viewers including latest QGroundControl versions. Target availability is mid-December.

@Thomas-Müller VOXL 2 can be used outdoors.

@Daniel-Rincon Yes, please start a new post for the VIO question

@Daniel-Rincon It seems like all that should be possible with MAVSDK. I asked about GPS because of the message MAVSDK gave you about waiting for a global position.

@Thomas-Müller We support ArduPilot. But you can run it directly on VOXL 2, you don't need a separate flight controller, as long as you are okay with the I/O limitations of the VOXL 2.

@constantines Unfortunately, the PX4 Mavlink module is only running on the applications processor (Linux) and not on the DSP side. Mavlink would have to be added to the DSP PX4 build.

@garret Here's the source code for our branch of Gazebo: https://github.com/modalai/PX4-SITL_gazebo-classic/tree/voxl-dev

@Daniel-Rincon said in Cant use Mavsdk! please Help!:

Waiting for the drone to have a global position estimation....

Does your drone have GPS? Is the GPS getting a proper fix?

@garret As best I can tell the diff_pressure field in the Mavlink HIL_SENSOR message sent from Gazebo would have this info but it is an optional field so not sure if Gazebo is actually populating it. If it is then it will be made available within PX4 via the differential_pressure topic.

@Yufei-Jiang What hardware are you using? Is this PX4 running on VOXL 2?

@cguzikowski Yes, very odd. Hopefully it just works now