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.

@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.

@smilon Yes, in order to build you can follow the README in the voxl-px4 project. The Docker provides the build environment so you need to use it.

@Sam-Kiley When on public 3G / 4G / 5G networks we use a VPN and assign fixed addresses to each system component with our VPN configuration. You should be able to do a similar thing with your 5G private network. Does your private network have a connection to the Internet or is it self contained? I don't know anything about 5G private networks but I'd be surprised if it didn't have a way to assign the same IP address to a device on the network so that you effectively have a static IP. Earlier versions of the RB5 SDK set the MAV_BROADCAST parameter in PX4 to 1 and PX4 would then use the network broadcast address to send out it's initial messages. Any QGC instance running on the network will receive that broadcast and respond so that you get automatic connection. However, this can be problematic if there are more than one instance of QGC running since you may connect to an instance that you don't want. Also, some wireless networks do not support broadcast.

@Curious By default the voxl-streamer application assumes a wireless link. But you can change the configuration as needed. See https://docs.modalai.com/voxl-streamer/

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.

@Zachary-Lowell-0 The updated Debian package can be found here: http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-mpa-to-ros2_0.0.3-202406240850_arm64.deb

@griffin Is this on a Starling 2 drone?

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

@wifa799 I think we're going to have to set this up and run some tests to see if we can recreate the issue. Probably won't happen until next week though.

@MikeD said in VOXL2 HITL:

MCBL-00091

I haven't had much luck with that cable for HITL. I use this: https://www.sparkfun.com/products/12977 and add this: https://www.sparkfun.com/products/17240

@MikeD Yes, Gazebo is transmitting over the serial link but it doesn't appear that PX4 receives anything based on dsp_hitl status.

@jonathankampia Unfortunately, the hard part is creating the build Docker.

@jonathankampia Yes, that should work except there is one command missing right before ./build-apps.sh. You need to run ./build-deps.sh before that.

@MikeD The HITL driver runs on the DSP and only uses the serial port. There is no way to make it use Ethernet. What you were seeing was the standard heartbeats being sent out by the Mavlink module in PX4, not related to HITL. That allows you to connect a ground control station while using HITL.

@jonathankampia You would need to add DRIVERS_DISTANCE_SENSOR_LL40LS to boards/modalai/voxl2-slpi/default.px4board and then rebuild.

@MikeD Ah, I see, Wireshark on PC sees heartbeats coming over serial line from VOXL 2. So that's a good sign. I am worried about those extra messages you get, I've never seen that so probably an indication that something isn't correct.