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    Morten Nissov

    @Morten Nissov

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    Best posts made by Morten Nissov

    • RE: Query regarding connecting bigger ESCs

      @Alex-Kushleyev Understood.

      We were thinking of the mini ESSC: https://www.modalai.com/products/voxl-esc-mini?variant=47206467371312. But that's not necessarily a hard requirement, is it written which ones have this jumper? Sorry if I missed it.

      We're not opposed to doing some of this ourselves either, if it's not a feature you were planning on or wanted to add. Before seeing this message we were brainstorming re-purposing the GNSS UART for this instead, and other such more "hacky" solutions.

      Morten

      posted in ESCs
      Morten NissovM
      Morten Nissov
    • Maximum I2C Clock Frequency

      Hi,

      As a followup to this, we've made an I2C driver for our magnetometer, which seems to work. Though reading X, Y, and Z values is taking a bit long for purposes (approx 2ms for all three at 400KHz I2C clock) given that we want to read from 4 of such sensors.

      We tried playing with a teensy microcontroller and found increasing the I2C rate to 1MHz clock worked well. Trying to increase the I2C clock speed in the voxl 2 mini we find that px4 crashes after loading the mag driver.

      I haven't been able to find anything online, but do you have information about the max i2c frequency for this device? We're repurposing the J19 MAG pins (bus 1) for this.

      posted in Ask your questions right here!
      Morten NissovM
      Morten Nissov

    Latest posts made by Morten Nissov

    • RE: Compatible ToF sensor setup with VOXL2 Mini

      @Alex-Kushleyev Thanks for getting back to us so quickly.

      We removed all the com.qti.sensormodule.ov7251_*.bin and the com.qti.sensormodule.irs2975c_*.bin files.
      Then we ran, as you suggested, the command: voxl-camera-server -l. The output was:

      existing instance of voxl-camera-server found, attempting to stop it
      DEBUG:   Attempting to open the hal module
      DEBUG:   SUCCESS: Camera module opened on attempt 0
      DEBUG:   ----------- Number of cameras: 2
      DEBUG:   Cam idx: 0, Cam slot: 0, Slave Address: 0x00E2, Sensor Id: 0x7750
      DEBUG:   Cam idx: 1, Cam slot: 2, Slave Address: 0x007A, Sensor Id: 0x2975
      DEBUG:   Note: This list comes from the HAL module and may not be indicative
      DEBUG:          of configurations that have full pipelines
      DEBUG:   Number of cameras: 2
      ====================================
      Stats for camera: 0
      ANDROID_SCALER_AVAILABLE_RAW_SIZES:
      These are likely supported by the sensor
       640 x  480
       640 x  480
       640 x  480
      ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
      These are NOT necessarily supported by the sensor
       640 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
       640 x  480 HAL_PIXEL_FORMAT_BLOB
       640 x  400 HAL_PIXEL_FORMAT_YCbCr_420_888
       640 x  400 HAL_PIXEL_FORMAT_BLOB
       640 x  360 HAL_PIXEL_FORMAT_YCbCr_420_888
       640 x  360 HAL_PIXEL_FORMAT_BLOB
       352 x  288 HAL_PIXEL_FORMAT_YCbCr_420_888
       352 x  288 HAL_PIXEL_FORMAT_BLOB
       320 x  240 HAL_PIXEL_FORMAT_YCbCr_420_888
       320 x  240 HAL_PIXEL_FORMAT_BLOB
       240 x  320 HAL_PIXEL_FORMAT_YCbCr_420_888
       240 x  320 HAL_PIXEL_FORMAT_BLOB
       176 x  144 HAL_PIXEL_FORMAT_YCbCr_420_888
       176 x  144 HAL_PIXEL_FORMAT_BLOB
       640 x  480 HAL_PIXEL_FORMAT_RAW10
       640 x  480 HAL_PIXEL_FORMAT_RAW12
       640 x  480 HAL_PIXEL_FORMAT_RAW16
       640 x  480 HAL_PIXEL_FORMAT_RAW_OPAQUE
      ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
              min = 54
              max = 3451
      ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
              3451
      ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
              min = 0ns
              max = 1266732525ns
      ====================================
      Stats for camera: 1
      ANDROID_SCALER_AVAILABLE_RAW_SIZES:
      These are likely supported by the sensor
       240 x 1629
      ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
      These are NOT necessarily supported by the sensor
       240 x  320 HAL_PIXEL_FORMAT_YCbCr_420_888
       240 x  320 HAL_PIXEL_FORMAT_BLOB
       176 x  144 HAL_PIXEL_FORMAT_YCbCr_420_888
       176 x  144 HAL_PIXEL_FORMAT_BLOB
       240 x 1629 HAL_PIXEL_FORMAT_RAW10
       240 x 1629 HAL_PIXEL_FORMAT_RAW12
       240 x 1629 HAL_PIXEL_FORMAT_RAW16
       240 x 1629 HAL_PIXEL_FORMAT_RAW_OPAQUE
      ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
              min = 54
              max = 0
      ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
              0
      ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
              min = 0ns
              max = 0ns
      ====================================
      Number of cameras detected: 2
      ====================================
      

      Given the output, we copied the files com.qti.sensormodule.ov7251_0.bin and com.qti.sensormodule.irs2975c_2.bin into /usr/lib/camera folder.
      Then we ran: camera-server-config-helper tracking:ov7251:0 tof:pmd-tof:2 and got the following output:

      successfully wrote this camera config to disk:
      =================================================================
      configuration for 2 cameras:
      cam #0
          name:                tracking
          sensor type:         ov7251
          isEnabled:           1
          camId:               0
          camId2:              -1
          fps:                 30
          en_rotate:           0
          en_rotate2:          0
          en_preview:          1
          pre_width:           640
          pre_height:          480
          en_raw_preview:      1
          en_small_video:      0
          small_video_width:   -1
          small_video_height:  -1
          en_large_video:      0
          large_video_width:   -1
          large_video_height:  -1
          en_misp:             0
          misp_width:          -1
          misp_height:         -1
          en_snapshot:         0
          snap_width:          -1
          snap_height:         -1
          exif_focal_length:   0.000000
          exif_focal_len_35mm_format:0
          exif_fnumber:        0.000000
          ae_mode:             lme_msv
          msv_exposure_min_us: 20
          msv_exposure_max_us: 33000
          gain_min           : 54
          gain_max           : 8000
          standby_enabled:     0
          decimator:           1
          independent_exposure:0
      cam #1
          name:                tof
          sensor type:         pmd-tof
          isEnabled:           1
          camId:               2
          camId2:              -1
          fps:                 5
          en_rotate:           1
          en_rotate2:          0
          en_preview:          1
          pre_width:           224
          pre_height:          1557
          en_raw_preview:      1
          en_small_video:      0
          small_video_width:   -1
          small_video_height:  -1
          en_large_video:      0
          large_video_width:   -1
          large_video_height:  -1
          en_misp:             0
          misp_width:          -1
          misp_height:         -1
          en_snapshot:         0
          snap_width:          -1
          snap_height:         -1
          exif_focal_length:   0.000000
          exif_focal_len_35mm_format:0
          exif_fnumber:        0.000000
          ae_mode:             off
          msv_exposure_min_us: 20
          msv_exposure_max_us: 33000
          gain_min           : 54
          gain_max           : 8000
          standby_enabled:     0
          decimator:           5
          independent_exposure:0
      fsync_en:            0
      fsync_gpio:          109
      =================================================================
      camera_server_config_helper is done
      

      Finally, we ran: voxl-camera-server, and we got:

      existing instance of voxl-camera-server found, attempting to stop it
      =================================================================
      configuration for 2 cameras:
      cam #0
          name:                tracking
          sensor type:         ov7251
          isEnabled:           1
          camId:               0
          camId2:              -1
          fps:                 30
          en_rotate:           0
          en_rotate2:          0
          en_preview:          1
          pre_width:           640
          pre_height:          480
          en_raw_preview:      1
          en_small_video:      0
          small_video_width:   -1
          small_video_height:  -1
          en_large_video:      0
          large_video_width:   -1
          large_video_height:  -1
          en_misp:             0
          misp_width:          -1
          misp_height:         -1
          en_snapshot:         0
          snap_width:          -1
          snap_height:         -1
          exif_focal_length:   0.000000
          exif_focal_len_35mm_format:0
          exif_fnumber:        0.000000
          ae_mode:             lme_msv
          msv_exposure_min_us: 20
          msv_exposure_max_us: 33000
          gain_min           : 54
          gain_max           : 8000
          standby_enabled:     0
          decimator:           1
          independent_exposure:0
      cam #1
          name:                tof
          sensor type:         pmd-tof
          isEnabled:           1
          camId:               2
          camId2:              -1
          fps:                 5
          en_rotate:           1
          en_rotate2:          0
          en_preview:          1
          pre_width:           224
          pre_height:          1557
          en_raw_preview:      1
          en_small_video:      0
          small_video_width:   -1
          small_video_height:  -1
          en_large_video:      0
          large_video_width:   -1
          large_video_height:  -1
          en_misp:             0
          misp_width:          -1
          misp_height:         -1
          en_snapshot:         0
          snap_width:          -1
          snap_height:         -1
          exif_focal_length:   0.000000
          exif_focal_len_35mm_format:0
          exif_fnumber:        0.000000
          ae_mode:             off
          msv_exposure_min_us: 20
          msv_exposure_max_us: 33000
          gain_min           : 54
          gain_max           : 8000
          standby_enabled:     0
          decimator:           5
          independent_exposure:0
      fsync_en:            0
      fsync_gpio:          109
      =================================================================
      thread is locked to cores: 4 5 6 7
      connected to mavlink pipe
      Connected to cpu-monitor
      Starting Camera: tracking (id #0)
      gbm_create_device(156): Info: backend name is: msm_drm
      setting ov7251 BLC register for cam id 0
      Starting Camera: tof (id #2)
      WARNING: cam tof (id 2) does not seem to be alive
      ------ voxl-camera-server: Started 1 of 2 cameras
      ------ voxl-camera-server: Camera server is now running
      

      Just to make sure that only one camera was working, we ran: voxl-inspect-cam -a and got:

      | Pipe Name |  bytes  | wide |  hgt |exp(ms)| gain | frame id |latency(ms)|  fps |  mbt
      |  tracking |  307200 |  640 |  480 |  5.04 |  111 |      179 |     11.6  | 30.0 |   73.7 | RAW8
      

      What do you think?

      posted in VOXL Accessories
      Morten NissovM
      Morten Nissov
    • RE: Compatible ToF sensor setup with VOXL2 Mini

      Additional debugging:

      Moreover, we test some other configurations:

      • J7 <-> M0135 (JL) <-> M0014
      • J6 <-> M0172 (J1L) <-> M0170 <-> tof

      We copied the files: com.qti.sensormodule.ov7251_*.bin and com.qti.sensormodule.irs2975c_*.bin into the folder: /usr/lib/camera
      We used the command: camera-server-config-helper tracking:ov7251:0 tof:pmd-tof:2 giving the following output:

      successfully wrote this camera config to disk:
      =================================================================
      configuration for 2 cameras:
      
      cam #0
          name:                tracking
          sensor type:         ov7251
          isEnabled:           1
          camId:               0
          camId2:              -1
          fps:                 30
          en_rotate:           0
          en_rotate2:          0
      
          en_preview:          1
          pre_width:           640
          pre_height:          480
          en_raw_preview:      1
      
          en_small_video:      0
          small_video_width:   -1
          small_video_height:  -1
      
          en_large_video:      0
          large_video_width:   -1
          large_video_height:  -1
      
          en_misp:             0
          misp_width:          -1
          misp_height:         -1
      
          en_snapshot:         0
          snap_width:          -1
          snap_height:         -1
          exif_focal_length:   0.000000
          exif_focal_len_35mm_format:0
          exif_fnumber:        0.000000
      
          ae_mode:             lme_msv
          msv_exposure_min_us: 20
          msv_exposure_max_us: 33000
          gain_min           : 54
          gain_max           : 8000
          standby_enabled:     0
          decimator:           1
          independent_exposure:0
      
      cam #1
          name:                tof
          sensor type:         pmd-tof
          isEnabled:           1
          camId:               2
          camId2:              -1
          fps:                 5
          en_rotate:           1
          en_rotate2:          0
      
          en_preview:          1
          pre_width:           224
          pre_height:          1557
          en_raw_preview:      1
      
          en_small_video:      0
          small_video_width:   -1
          small_video_height:  -1
      
          en_large_video:      0
          large_video_width:   -1
          large_video_height:  -1
      
          en_misp:             0
          misp_width:          -1
          misp_height:         -1
      
          en_snapshot:         0
          snap_width:          -1
          snap_height:         -1
          exif_focal_length:   0.000000
          exif_focal_len_35mm_format:0
          exif_fnumber:        0.000000
      
          ae_mode:             off
          msv_exposure_min_us: 20
          msv_exposure_max_us: 33000
          gain_min           : 54
          gain_max           : 8000
          standby_enabled:     0
          decimator:           5
          independent_exposure:0
      
      fsync_en:            0
      fsync_gpio:          109
      =================================================================
      camera_server_config_helper is done
      

      Then we run voxl-camera-server giving the following output:

      existing instance of voxl-camera-server found, attempting to stop it
      =================================================================
      configuration for 2 cameras:
      
      cam #0
          name:                tracking
          sensor type:         ov7251
          isEnabled:           1
          camId:               0
          camId2:              -1
          fps:                 30
          en_rotate:           0
          en_rotate2:          0
      
          en_preview:          1
          pre_width:           640
          pre_height:          480
          en_raw_preview:      1
      
          en_small_video:      0
          small_video_width:   -1
          small_video_height:  -1
      
          en_large_video:      0
          large_video_width:   -1
          large_video_height:  -1
      
          en_misp:             0
          misp_width:          -1
          misp_height:         -1
      
          en_snapshot:         0
          snap_width:          -1
          snap_height:         -1
          exif_focal_length:   0.000000
          exif_focal_len_35mm_format:0
          exif_fnumber:        0.000000
      
          ae_mode:             lme_msv
          msv_exposure_min_us: 20
          msv_exposure_max_us: 33000
          gain_min           : 54
          gain_max           : 8000
          standby_enabled:     0
          decimator:           1
          independent_exposure:0
      
      cam #1
          name:                tof
          sensor type:         pmd-tof
          isEnabled:           1
          camId:               2
          camId2:              -1
          fps:                 5
          en_rotate:           1
          en_rotate2:          0
      
          en_preview:          1
          pre_width:           224
          pre_height:          1557
          en_raw_preview:      1
      
          en_small_video:      0
          small_video_width:   -1
          small_video_height:  -1
      
          en_large_video:      0
          large_video_width:   -1
          large_video_height:  -1
      
          en_misp:             0
          misp_width:          -1
          misp_height:         -1
      
          en_snapshot:         0
          snap_width:          -1
          snap_height:         -1
          exif_focal_length:   0.000000
          exif_focal_len_35mm_format:0
          exif_fnumber:        0.000000
      
          ae_mode:             off
          msv_exposure_min_us: 20
          msv_exposure_max_us: 33000
          gain_min           : 54
          gain_max           : 8000
          standby_enabled:     0
          decimator:           5
          independent_exposure:0
      
      fsync_en:            0
      fsync_gpio:          109
      =================================================================
      thread is locked to cores: 4 5 6 7
      connected to mavlink pipe
      Connected to cpu-monitor
      Starting Camera: tracking (id #0)
      gbm_create_device(156): Info: backend name is: msm_drm
      setting ov7251 BLC register for cam id 0
      Starting Camera: tof (id #2)
      WARNING: cam tof (id 2) does not seem to be alive
      
      ------ voxl-camera-server: Started 1 of 2 cameras
      
      ------ voxl-camera-server: Camera server is now running
      

      And running voxl-inspect-cam -a still gives the following output:

      | Pipe Name |  bytes  | wide |  hgt |exp(ms)| gain | frame id |latency(ms)|  fps |  mbps  | format
      |  tracking |  307200 |  640 |  480 |  2.28 |   51 |      294 |     11.5  | 30.0 |   73.7 | RAW8
      

      To be sure that all the parts were working, we tested two M0172 and 2 ToF sensors, which were actually working on VOXL 2. We also swapped the tracking camera and the ToF sensor (J6 <-> J7), copying the .bin files according to and adjusting the ID numbers.

      posted in VOXL Accessories
      Morten NissovM
      Morten Nissov
    • RE: Compatible ToF sensor setup with VOXL2 Mini

      @Vinny @Alex-Kushleyev

      Hi,

      We are trying to configure Voxl 2 Mini with the ToF sensor and a tracking camera with the , and we're having trouble with getting the ToF sensor to work. This is with the new ToF sensor and the new interposer you suggested for us to use.

      The cameras are attached in the following way:
      J7 <-> M0135 (JL) <-> M0014
      J6 <-> M0172 (J1L) <-> M0170 <-> tof
      The voxl suite we have on the board is: voxl-suite: 1.5.0

      To configure the cameras we run:
      voxl-configure-sku
      choosing options 23 (voxl-configure-sku) and 5 (pmd-tof ov7251 tracking).
      The output was the following:

      Your answers would construct the following SKU:
      
      family code:   MCCA-M0104 (voxl2-mini-board-only (MCCA-M0104))
      compute board: 6 (voxl2-mini)
      hw version:    1
      cam config:    05
      modem config:   ()
      tx config:      ()
      extras config:  ()
      SKU:           MCCA-M0104-C05-T0-M0-X0
      
      This sku will be saved to persistent memory so VOXL
      will remember what it is installed in, even between
      system image flashes.
      

      So we run: voxl-configure-mpa and reboot

      To inspect the cameras, we run voxl-inspect-cam -a , but we were able to see only the tracking camera:

      | Pipe Name |  bytes  | wide |  hgt |exp(ms)| gain | frame id |latency(ms)|  fps |  mbps  | format
      |  tracking |  307200 |  640 |  480 |  2.51 |   51 |      204 |     11.5  | 30.0 |   73.7 | RAW8
      

      So we restarted the service voxl-camera-server , but we got the following error + warnings:

      existing instance of voxl-camera-server found, attempting to stop it
      =================================================================
      configuration for 2 cameras:
      
      cam #0
          name:                tof
          sensor type:         pmd-tof
          isEnabled:           1
          camId:               0
          camId2:              -1
          fps:                 5
          en_rotate:           1
          en_rotate2:          0
      
          en_preview:          1
          pre_width:           224
          pre_height:          1557
          en_raw_preview:      1
      
          en_small_video:      0
          small_video_width:   -1
          small_video_height:  -1
      
          en_large_video:      0
          large_video_width:   -1
          large_video_height:  -1
      
          en_misp:             0
          misp_width:          -1
          misp_height:         -1
      
          en_snapshot:         0
          snap_width:          -1
          snap_height:         -1
          exif_focal_length:   0.000000
          exif_focal_len_35mm_format:0
          exif_fnumber:        0.000000
      
          ae_mode:             off
          msv_exposure_min_us: 20
          msv_exposure_max_us: 33000
          gain_min           : 54
          gain_max           : 8000
          standby_enabled:     0
          decimator:           5
          independent_exposure:0
      
      cam #1
          name:                tracking
          sensor type:         ov7251
          isEnabled:           1
          camId:               1
          camId2:              -1
          fps:                 30
          en_rotate:           0
          en_rotate2:          0
      
          en_preview:          1
          pre_width:           640
          pre_height:          480
          en_raw_preview:      1
      
          en_small_video:      0
          small_video_width:   -1
          small_video_height:  -1
      
          en_large_video:      0
          large_video_width:   -1
          large_video_height:  -1
      
          en_misp:             0
          misp_width:          -1
          misp_height:         -1
      
          en_snapshot:         0
          snap_width:          -1
          snap_height:         -1
          exif_focal_length:   0.000000
          exif_focal_len_35mm_format:0
          exif_fnumber:        0.000000
      
          ae_mode:             lme_msv
          msv_exposure_min_us: 20
          msv_exposure_max_us: 33000
          gain_min           : 54
          gain_max           : 8000
          standby_enabled:     0
          decimator:           1
          independent_exposure:0
      
      fsync_en:            0
      fsync_gpio:          109
      =================================================================
      thread is locked to cores: 4 5 6 7
      connected to mavlink pipe
      Connected to cpu-monitor
      Starting Camera: tof (id #0)
      ERROR:   Camera 0 failed to find supported preview config: 224x1557
      WARNING: Failed to start cam tof due to invalid resolution
      WARNING: assuming cam is missing and trying to compensate
      Starting Camera: tracking (originally id #1) with id offset: 1
      gbm_create_device(156): Info: backend name is: msm_drm
      setting ov7251 BLC register for cam id 0
      
      ------ voxl-camera-server: Started 1 of 2 cameras
      
      ------ voxl-camera-server: Camera server is now running
      

      Note, we also tried to modify the preview resolution, as well as disabling the preview entirely. But making these changes to the /etc/modalai/voxl-camera-server.conf file didn't seem to change the actual configuration used, as reported when running voxl-camera-server in terminal.

      Do you have any suggestions for how we can get this working?

      posted in VOXL Accessories
      Morten NissovM
      Morten Nissov
    • RE: Compatible ToF sensor setup with VOXL2 Mini

      @Vinny Sorry thought I had responded, thanks!

      posted in VOXL Accessories
      Morten NissovM
      Morten Nissov
    • RE: Compatible ToF sensor setup with VOXL2 Mini

      @Alex-Kushleyev Hi again Alex, sorry for disturb just wanted to hear if you had seen the previous message? And if you could make the M0172 available?

      posted in VOXL Accessories
      Morten NissovM
      Morten Nissov
    • RE: Compatible ToF sensor setup with VOXL2 Mini

      @Alex-Kushleyev Thanks for getting back so quickly! We just have a couple of follow-up questions:

      If we use this M0172 are we still able to have a tracking camera running? Such that the total setup looks something like: VOXL2 mini w/ M0178 ToF and M0014 tracking camera. If yes, then it would be great if the M0172 could be made available in the shop

      posted in VOXL Accessories
      Morten NissovM
      Morten Nissov
    • Compatible ToF sensor setup with VOXL2 Mini

      Hi

      We're wanting to interface our voxl2 mini board with a time of flight sensor. We had a time of flight sensor we bought from when we first got the VOXL2 mini, but it seems the exact same unit is no longer available.

      Looking now, it seems our options are this tof sensor and [this adapter board](https://www.modalai.com/products/mdk-m0076-1modalai forus). Will these work together with the VOXL2 mini?

      Morten

      posted in VOXL Accessories
      Morten NissovM
      Morten Nissov
    • RE: M0062 VOXL 2 Ethernet Expansion and USB Hub Missing User Guide

      @tom Sorry about that, I thought I had answered this.

      Would you be able to tell me what the default state is? I really can't recall if they've been moved since we got it.

      posted in VOXL Accessories
      Morten NissovM
      Morten Nissov
    • M0062 VOXL 2 Ethernet Expansion and USB Hub Missing User Guide

      Hi,

      We wanted to start using the ethernet expansion board for the SD card slot and additional USB ports. But I notice there is nothing written in the user guide (link). Namely we're curious how we should be setting the switches in the SW1 component, among other uncertainties which can arise when we begin to use the product.

      posted in VOXL Accessories
      Morten NissovM
      Morten Nissov
    • RE: 4-in-1 mini ESC max ratings

      @Alex-Kushleyev Sorry for the delay, didn't notice the alert. But great, thanks!

      posted in ESCs
      Morten NissovM
      Morten Nissov