I noticed you can only run the TOF at a rate of 5fps or 15 fps in voxl-camera-server. Is there a specific reason for this. Why not 10fps, for example? Just curious. For my specific application 10 is really all I need.

Hi!

What frame rates does the VOXL2 support with OV9782 cameras? Does it depend on the configuration? Max it seemed I could bump it up to was 30 fps but maybe that was only in my specific configuration (I'll note not one of the officially supported ones!).

Which frame rates are supported and is there a max frame rate? Is there a list I can view somewhere I could view of sensors and supported frame rates? I didn't see fps on the spec sheets.

Also, I am assuming this is how this works but does voxl-qvio-server run at the rate the camera it is using is set to? I know in previous posts it has been mentioned that bumping the fps doesn't make a huge impact. That being said, I did run an AR0144 camera at 60 fps and do I think I saw a bit of an improvement compared to 30. However, the results are a little anecdotal. Observed slightly better quality, num features, and less dropouts in difficult enviroments.

My plan is to run the OV9782 at 60 fps if supported and makes a difference.

Thanks!

@Eric-Katzfey a TOF ranging sensor - VL53L1CB by ST

Hello I am using the libaqp8096 i2c functions https://gitlab.com/voxl-public/voxl-sdk/core-libs/libapq8096-io/-/blob/master/lib/include/voxl_io.h specifically voxl_i2c_read() and voxl_i2c_write(). I am using the voxl read and write functions for reading and writing multiple bytes at a time.

When I print out the read and write buffers, it looks like it properly writes to the buffer but the results from the read buffer are incomplete. For example, if I write uint8_t wrbuffer = 0x1234 to register address 0x0004, it writes 00 04 12 34 (the first two bytes for the address) and reads back 02 34. Another example: I wrote uint8_t wbuffer[4] = {33,55,77,99} and it read back 01 55 77 99.

I noticed this issue happens with a write then read. If I read from a read-only buffer, it reads correctly.