@Alex-Kushleyev
We have not really tried any sort of camera calibration before so there are no preferred methods, but I suppose the easier the better.

We want to calibrate the IMX412 mounted underneath the drone. I believe 4k is not necessary for AprilTag detection, so 1080p is sufficient.

We want to use AprilTags to perform precise landings on our Starling 2, but from what we have read the cameras need to be calibrated to utilize this functionality. When running "voxl-calibrate-camera tracking_front" is says that we need to use the portal, but the portal is extremely unstable and crashes almost immediately. Therefore we are wondering if it is possible to calibrate the cameras without the portal?

@tom It's okay, I managed to figure it out. Just had to change the RC protocol in the px4-conf file.

@tom I am not entirely sure how I check that

@tom The controller uses LoRa/FLRC

Recently upgraded from 1.3.5 to 1.4.1 on our Starling 2 Max drones, but now it seems that they cannot connect with their controllers. Are there any updates or configurations that need to be done with the controllers as well?

@tom That did the trick, thanks for the help!

@Eric-Katzfey How do I do that?

@Eric-Katzfey

@tom
#!/bin/sh

PX4 commands need the 'px4-' prefix in bash.

(px4-alias.sh is expected to be in the PATH)

. px4-alias.sh

echo -e "\n*************************"
echo "AIRFRAME: $AIRFRAME"
echo "GPS: $GPS"
echo "RC: $RC"
echo "ESC: $ESC"
echo "POWER MANAGER: $POWER_MANAGER"
echo "AIRSPEED SENSOR: $AIRSPEED_SENSOR"
echo "DISTANCE SENSOR: $DISTANCE_SENSOR"
echo "OSD: $OSD"
echo "ARTIFACT_MODE: $ARTIFACT_MODE"
echo "EXTRA STEPS:"
for i in "${EXTRA_STEPS[@]}"
do
echo -e "\t$i"
done
echo -e "*************************\n"

In order to just exit after starting the uorb / muorb modules define

the environment variable MINIMAL_PX4. (e.g. export MINIMAL_PX4=1)

This is useful for testing / debug where you may want to start drivers

and modules manually from the px4 command shell

if [ ! -z $MINIMAL_PX4 ]; then
/bin/echo "Running minimal script"
exit 0
fi

Figure out what platform we are running on.

PLATFORM=/usr/bin/voxl-platform 2> /dev/null
RETURNCODE=$?
if [ $RETURNCODE -ne 0 ]; then
# If we couldn't get the platform from the voxl-platform utility then check
# /etc/version to see if there is an M0052 substring in the version string. If so,
# then we assume that we are on M0052.
VERSIONSTRING=$(</etc/version)
M0052SUBSTRING="M0052"
if [[ "$VERSIONSTRING" == "$M0052SUBSTRING" ]]; then
PLATFORM="M0052"
fi
fi

We can only run on M0052, M0054, or M0104 so exit with error if that is not the case

if [ $PLATFORM = "M0052" ]; then
/bin/echo "Running on M0052"
elif [ $PLATFORM = "M0054" ]; then
/bin/echo "Running on M0054"
elif [ $PLATFORM = "M0104" ]; then
/bin/echo "Running on M0104"
else
/bin/echo "Error, cannot determine platform!"
exit 0
fi

Sleep a little here. A lot happens when the uorb and muorb start

and we need to make sure that it all completes successfully to avoid

any possible race conditions.

/bin/sleep 1

param select /data/px4/param/parameters

Load in all of the parameters that have been saved in the file

param load

if [ "$ARTIFACT_MODE" == "ENABLE" ]; then
# Do not start the logger module if we are in artifact mode. Logging
# produces a log artifact. If there are currently any saved logs make
# sure to delete them now.
# Also remove the data manager file that may have saved GPS waypoint information
# in it.
# Use shred to remove all files so that they cannot be recovered.
# shred should be effective on the /data partition since it has this configuration:
# /dev/sda8 /data ext4 rw,nosuid,nodev,noatime,discard,noauto_da_alloc,data=ordered 0 0
/usr/bin/find /data/px4/log -name "*.ulg" -exec /usr/bin/shred -u -n 7 {} ;
/bin/rm -fR /data/px4/log
/usr/bin/shred -u -n 7 /data/px4/dataman
/bin/echo "Artifact mode has been enabled"
else
# Start logging and use timestamps for log files when possible.
# Add the "-e" option to start logging immediately. Default is
# to log only when armed. Caution must be used with the "-e" option
# because if power is removed without stopping the logger gracefully then
# the log file may be corrupted.
logger start -t
fi

IMU (accelerometer / gyroscope)

if [ "$PLATFORM" == "M0104" ]; then
/bin/echo "Starting IMU driver with rotation 12"
qshell icm42688p start -s -R 12
else
/bin/echo "Starting IMU driver with no rotation"
qshell icm42688p start -s
fi

Start Invensense ICP 101xx barometer built on to VOXL 2

qshell icp101xx start -I -b 5

Auto detect the magnetometer. If one or both of these devices

are not connected it will fail but not cause any harm.

/bin/echo "Looking for qmc5883l magnetometer"
qshell qmc5883l start -R 10 -X -b 1
/bin/echo "Looking for ist8310 magnetometer"
qshell ist8310 start -R 10 -X -b 1

GPS and magnetometer

if [ "$GPS" != "NONE" ]; then
# On M0052 the GPS driver runs on the apps processor
if [ $PLATFORM = "M0052" ]; then
gps start -d /dev/ttyHS2
# On M0054 and M0104 the GPS driver runs on SLPI DSP
else
qshell gps start
fi
fi

Auto detect an ncp5623c i2c RGB LED. If one isn't connected this will

fail but not cause any harm.

/bin/echo "Looking for ncp5623c RGB LED"
qshell rgbled_ncp5623c start -X -b 1 -f 400 -a 56

We do not change the following parameters but QGC will complain if they aren't

being reported as "used" by px4. "Touching" them accomplishes that.

param touch SYS_AUTOCONFIG
param touch SDLOG_MODE

ESC driver

if [ "$ESC" == "VOXL_ESC" ]; then
/bin/echo "Starting VOXL ESC driver"
qshell voxl_esc start
elif [ "$ESC" == "VOXL2_IO_PWM_ESC" ]; then
if [ "$RC" == "M0065_SBUS" ]; then
/bin/echo "Starting VOXL IO for PWM ESC with SBUS RC"
qshell voxl2_io start
else
/bin/echo "Starting VOXL IO for PWM ESC without SBUS RC"
qshell voxl2_io start -e
fi
else
/bin/echo "No ESC type specified, not starting an ESC driver"
fi

RC driver

if [ "$RC" == "FAKE_RC_INPUT" ]; then
/bin/echo "Starting fake RC driver"
qshell rc_controller start
elif [ "$RC" == "CRSF_RAW" ]; then
/bin/echo "Starting CRSF RC driver"
qshell crsf_rc start -d 7
elif [ "$RC" == "CRSF_MAV" ]; then
/bin/echo "Starting TBS crossfire RC - MAV Mode"
qshell mavlink_rc_in start -m -p 7 -b 115200
elif [ "$RC" == "SPEKTRUM" ]; then
/bin/echo "Starting Spektrum RC"
# On M0052 the RC driver runs on the apps processor
if [ $PLATFORM = "M0052" ]; then
rc_input start -d /dev/ttyHS1
# On M0054 and M0104 the RC driver runs on SLPI DSP
else
qshell spektrum_rc start
fi
elif [ "$RC" == "GHST" ]; then
/bin/echo "Starting GHST RC driver"
qshell ghst_rc start -d 7
elif [ "$RC" == "M0065_SBUS" ]; then
if [ $PLATFORM = "M0052" ]; then
apps_sbus start
elif [ "$ESC" != "VOXL2_IO_PWM_ESC" ]; then
/bin/echo "Attempting to start M0065 SBUS RC driver for original M0065 FW"
qshell dsp_sbus start
retVal=$?
if [ $retVal -ne 0 ]; then
/bin/echo "Starting M0065 SBUS RC driver for original M0065 FW failed"
/bin/echo "Attempting to start M0065 SBUS RC driver for new M0065 FW"
qshell voxl2_io start -d -p 7
fi
else
/bin/echo "M0065 SBUS RC driver already started with PWM ESC start"
fi
fi

if [ "$DISTANCE_SENSOR" == "LIGHTWARE_SF000" ]; then
# Make sure to set the parameter SENS_EN_SF0X to 8 for sf000/b sensor
qshell lightware_laser_serial start -d 7
fi

if [ "$POWER_MANAGER" == "VOXLPM" ]; then
# APM power monitor
qshell voxlpm start -X -b 2
fi

if [ "$AIRSPEED_SENSOR" == "MS4525DO" ]; then
qshell ms4525do start -X -b 4
fi

Optional distance sensor on spare i2c

qshell vl53l0x start -X -b 4

qshell vl53l1x start -X -b 4

Start all of the processing modules on DSP

qshell sensors start
qshell ekf2 start

if [ "$AIRFRAME" == "FIXED_WING" ]; then
qshell fw_pos_control start
qshell fw_att_control start
qshell fw_rate_control start
qshell airspeed_selector start
qshell fw_autotune_attitude_control start
qshell land_detector start fixedwing
elif [ $AIRFRAME = "MULTICOPTER" ]; then
qshell mc_pos_control start
qshell mc_att_control start
qshell mc_rate_control start
qshell mc_hover_thrust_estimator start
qshell mc_autotune_attitude_control start
qshell land_detector start multicopter
fi

qshell manual_control start
qshell control_allocator start
qshell load_mon start

Only start the rc_update module if an actual RC driver

is publishing input_rc topics. Otherwise for external RC

over Mavlink this isn't needed.

if [ "$RC" != "EXTERNAL" ]; then
qshell rc_update start
fi

qshell commander start

This is needed for altitude and position hold modes

qshell flight_mode_manager start

Start all of the processing modules on the applications processor

dataman start
navigator start
load_mon start

This bridge allows raw data packets to be sent over UART to the ESC

modal_io_bridge start

Start microdds_client for ros2 offboard messages from agent over localhost

microdds_client start -t udp -h 127.0.0.1 -p 8888

On M0052 there is only one IMU. So, PX4 needs to

publish IMU samples externally for VIO to use.

if [ $PLATFORM = "M0052" ]; then
imu_server start
fi

start the onboard fast link to connect to voxl-mavlink-server

mavlink start -x -u 14556 -o 14557 -r 100000 -n lo -m onboard

slow down some of the fastest streams

mavlink stream -u 14556 -s HIGHRES_IMU -r 10
mavlink stream -u 14556 -s ATTITUDE -r 10
mavlink stream -u 14556 -s ATTITUDE_QUATERNION -r 10
mavlink stream -u 14556 -s GLOBAL_POSITION_INT -r 30
mavlink stream -u 14556 -s SCALED_PRESSURE -r 10

start the slow normal mode for voxl-mavlink-server to forward to GCS

mavlink start -x -u 14558 -o 14559 -r 100000 -n lo

mavlink boot_complete

Optional MSP OSD driver for DJI or HDZero goggles

This is only supported on M0054 (with M0125 accessory board)

if [ "$OSD" == "ENABLE" ] || [ "$OSD" == "DJI" ]; then
/bin/echo "Starting DJI OSD driver"
msp_osd start -d /dev/ttyHS1
elif [ "$PLATFORM" == "M0054" ] && [ "$OSD" == "HDZERO" ] || [ "$OSD" == "DJI_MSP_DP" ]; then
/bin/echo "Starting $OSD OSD driver for $PLATFORM"
msp_dp_osd start -d /dev/ttyHS1
elif [ "$PLATFORM" == "M0104" ] && [ "$OSD" == "HDZERO" ] || [ "$OSD" == "DJI_MSP_DP" ] ; then
/bin/echo "Starting $OSD OSD driver for $PLATFORM"
msp_dp_osd start -d /dev/ttyHS0
fi

Start optional EXTRA_STEPS

for i in "${EXTRA_STEPS[@]}"
do
$i
done