@navin_kaviyarasu I got stuck at the same point earlier, you need to swap the EKF to use the VIO instead of waiting for GPS.

@tom said in Position Mode Unavailable:

You can load the indoor VIO parameters by doing the following:

Open PX4 param wizard

voxl-configure-px4-params -w

Select EKF2_helpers

Select indoor_vio.params

Load the parameters and power cycle your drone

@Jeremy-Schmidt any update on being able to get the custom version? Thanks.

@Dobry-Kolacz thanks for the detailed instructions

@tom thanks, that helped me get the drone and GCS connected over wifi!
Turns out I was slightly confused about exactly what was happening when I specified the mavlink connection ip.

Getting everything to talk correctly required editing /etc/modalai/voxl-mavlink-server.conf s.t. the primary_static_gcs_ip was my PC's address. Is there any way to automate this process so that I don't have to continually ssh into the drone to update the IP? Obviously the nuclear option is to assign everything fixed IP addresses.

Sorry for my lack of networking knowledge and thanks for the help,
Griffin

Hey all,

I am trying to find the primary GCS IP when the wifi is set to station mode. As per this diagram it is usually 192.168.8.10 when in softap mode and I am able to see the traffic via

sudo tcpdump -n -i any udp port 14550

However, when I setup the drone in station mode I do not see any traffic over 14550 and cannot find which IP address to send mavlink messages over. The instructions for connecting to QGC over 4G/5G do not clarify how the GCS IP address is specified in the case where both GCS and drone are connected to the same network.

Obviously I can find the drones ip via ifconfig

thanks for the help,
Griffin

P.S. running grep -r "192.168.8.10" . consistently crashes the drone

@Jeremy-Schmidt thanks for the response. Unfortunately, I didn't see the starling 2 max motors on the modalai website and ordered directly from a supplier. Is the cable adjustment difficult or tooling intensive? How would I order motors directly from you?

thanks,
Griffin

@tom Any updates or assistance available here? According to Motor Damaged @Jeremy-Schmidt is the best person to ask?

Kind regards,
Griffin

@Eric-Katzfey @tom unfortunately I don't see them in QGC with the 2 RTSP streams set up (and verified by connecting directly via openCV) and the voxl-mavcam-manager.conf as above.

Additionally, if I request camera information via mavlink I get result 2 (denied) when I request from the drone and result 4 (failed) when I request from the camera component.

Even with my mavcam setup as above I only see 1 camera component heartbeat over mavlink, not the 2 that I thought would be started with 2 mavcams inside the .conf.

@tom thanks! That seems to have allowed me to startup a second (and third) RTSP stream automatically which was my primary goal.

The reason I keep asking about QGC is because I am trying to get it so I can have my GCS automatically find any available RTSP streams, ideally without having to manually pass all of the individual URI. My understanding was that this is what the mavcam manager service is doing: creating mavlink camera objects which can be queried to get the rtsp streams, and that this is how QGC works. Since I do not yet have the querying setup I was trying to use QGC as test case, i.e. if QGC can do it, I should be able to do it with mavlink commands.

At the moment when I startup QGC and look at the camera output I see the following:

with my voxl-mavcam-manager.conf as above and my streamers:

voxl2:/$ systemctl status voxl-streamer
● voxl-streamer.service - voxl-streamer
   Loaded: loaded (/usr/bin/voxl-streamer; enabled; vendor preset: enabled)
   Active: active (running) since Fri 2024-12-06 22:40:09 UTC; 44s ago
  Process: 1451 ExecStartPre=/bin/sleep 5 (code=exited, status=0/SUCCESS)
 Main PID: 1942 (voxl-streamer)
    Tasks: 2 (limit: 4915)
   CGroup: /system.slice/voxl-streamer.service
           └─1942 /usr/bin/voxl-streamer

voxl2:/$ systemctl status voxl-streamer2 
● voxl-streamer2.service - voxl-streamer
   Loaded: loaded (/usr/bin/voxl-streamer; enabled; vendor preset: enabled)
   Active: active (running) since Fri 2024-12-06 22:40:09 UTC; 53s ago
  Process: 1450 ExecStartPre=/bin/sleep 5 (code=exited, status=0/SUCCESS)
 Main PID: 1943 (voxl-streamer)
    Tasks: 2 (limit: 4915)
   CGroup: /system.slice/voxl-streamer2.service
           └─1943 /usr/bin/voxl-streamer -s -p 8901 -i hires_down_small_encoded

@tom they do not appear in qgc when I manually start up the second streamer.
Your original response seemed promising to me, how can I automate starting up a second rtsp stream if not through the voxl-streamer?

Additionally, I am not sure about the exact behavior of the different parameters for each mavcam in the voxl-mavcam-manager.conf, why exactly do I need to specify the pipes for video and and snapshots? Are they just for if mavlink commands are sent to start recording or capture a screenshot? But why do we need to send a video record command if the GCS is already receiving the video stream?

Are the mavcams in the .conf file also what create the camera components that are visible as mavlink heartbeats when connected to the drone? Do you know what command I can use to request the RTSP URI via mavlink (as I assume QGC does)?

Sorry for the barrage of questions, just trying to understand how to wrangle a mutlicam RTSP setup nicely.

@tom regarding your previous response about /etc/systemd/system/voxl-streamer.service, I don't see a call to the voxl-streamer.conf file in there, only to the .pid and binary files. Do you know how I can modify the configuration loaded into a secondary voxl-streamer process?