Is there a paper or documentation on the overall performance of the qvio machine vision algorithm shipped with the VOXL compared to other off-the-shelf algorithms/hardware?
Examples of what I would like to compare it to:
We use the snapshot feature of voxl-camera-server to capture images while the drone is flying.
As far as I understood the camera specs are encoded in this file: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/master/misc_files/usr/share/modalai/voxl-camera-server/camera_config.xml?ref_type=heads
We use IMX412, and it has 2.7mm focal length
But for example, we see the following when analze the exif data from an image (focal length is 2.2mm, fnumber is 2.4 but should be 3.2)
File Type : JPEG
File Type Extension : jpg
MIME Type : image/jpeg
JFIF Version : 1.01
Exif Byte Order : Big-endian (Motorola, MM)
Make : QTI-AA
Camera Model Name : QCAM-AA
Orientation : Horizontal (normal)
X Resolution : 72
Y Resolution : 72
Resolution Unit : inches
Modify Date : 2025:02:18 06:15:38
Y Cb Cr Positioning : Centered
Exposure Time : 1/133
F Number : 2.4
Exposure Program : Manual
ISO : 100
Exif Version : 0220
Date/Time Original : 2025:02:18 06:15:38
Create Date : 2025:02:18 06:15:38
Components Configuration : Y, Cb, Cr, -
Shutter Speed Value : 1/133
Aperture Value : 2.4
Brightness Value : 4.67
Exposure Compensation : 0
Max Aperture Value : 2.4
Metering Mode : Average
Light Source : D65
Flash : Off, Did not fire
Focal Length : 2.2 mm
User Comment :
Sub Sec Time : 407662
Sub Sec Time Original : 407662
Sub Sec Time Digitized : 407662
Flashpix Version : 0100
Color Space : sRGB
Exif Image Width : 4056
Exif Image Height : 3040
Sensing Method : Not defined
Exposure Mode : Manual
White Balance : Manual
Focal Length In 35mm Format : 2 mm
Scene Capture Type : Standard
Interoperability Index : R98 - DCF basic file (sRGB)
Compression : JPEG (old-style)
Thumbnail Offset : 2206
Thumbnail Length : 21199
Image Width : 4056
Image Height : 3040
Encoding Process : Baseline DCT, Huffman coding
Bits Per Sample : 8
Color Components : 3
Y Cb Cr Sub Sampling : YCbCr4:2:0 (2 2)
Aperture : 2.4
Image Size : 4056x3040
Megapixels : 12.3
Scale Factor To 35 mm Equivalent: 0.9
Shutter Speed : 1/133
Create Date : 2025:02:18 06:15:38.407662
Date/Time Original : 2025:02:18 06:15:38.407662
Modify Date : 2025:02:18 06:15:38.407662
Thumbnail Image : (Binary data 21199 bytes, use -b option to extract)
Circle Of Confusion : 0.033 mm
Field Of View : 167.3 deg
Focal Length : 2.2 mm (35 mm equivalent: 2.0 mm)
Hyperfocal Distance : 0.06 m
Light Value : 9.6
Came across this commit in the voxl2 bsp source tree: https://gitlab.com/voxl-public/system-image-build/meta-voxl2-bsp/-/commit/944b83b80a3633f684ae8abdcd2357cfbde16a26
What is this fix addressing? Is there some potential instability on the existing power supply config for voxl2 bsp versions pre-dating this ? In my own work, we've occasionally seen the front facing imx412 sensor either a) drop out or b) seemingly not start correctly on a couple of our starling platforms. Just wondering if this might be related?
Hi @tom just an update after the weekend. Sort of surprisingly, we cannot now recreate the SLPI error on the boards. Both with and without the voxl-px4 service enabled, both boards are booting up and staying alive.
We've done a couple boot cycles with voxl-px4 enabled and things seem stable. We are putting these boards into a larger enclosure and so I'll wait till the team tests that to declare victory 
Just out of curiosity, is it a Modal SDK process that was triggering that board reboot before, or something lower level?
@tom for the boards we tested, we tested one fresh out of the package with nothing else connected and this error. The other, we tried different combinations of cameras plugged in, along with nothing plugged in, and still saw this.
On the question of whether this goes away when disabling and stopping voxl-px4 service, we did try this once but still saw the issue. However, the time we tried it we did not give the “sync” command after stopping the service. But we did give the systemctl stop and saw the error happen right after. There’s only a window of about 30 seconds after boot to get in and give any command, it’s a bit tricky.
Could completely reflashing starting with the qdl tool be an option here?
@viralp for visibility
Sure, I will check and send the information. Strangely, we actually ordered 3 and a second of the three is also having this issue. The third is working fine.
I've got a fresh Voxl 2 board which I powered on for the first time. The board powers on and seems to start in a good state, but some 26seconds after boot the device is crashing and reporting some slpi error with px4.
@tom That qdl reset did the trick, thanks!
Yes, SW2 is in "off" state, so looks like voxl 2 is bricked. I'll try out the qdl instructions and come back with updates.
Output from lsusb when voxl2 has been placed in fastboot mode:
mb@mb-HP-EliteBook-840-G7-Notebook-PC:~/Downloads/voxl2_platform_0.9$ lsusb
Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 002 Device 017: ID 18d1:d00d Google Inc.
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 003: ID 06cb:00df Synaptics, Inc.
Bus 001 Device 002: ID 04f2:b6bf Chicony Electronics Co., Ltd
Bus 001 Device 004: ID 8087:0026 Intel Corp.
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Lsusb after the flashing and while the script waits for adb to come back up
mb@mb-HP-EliteBook-840-G7-Notebook-PC:~/Downloads/voxl2_platform_0.9$ lsusb
Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 002 Device 018: ID 05c6:901d Qualcomm, Inc.
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 003: ID 06cb:00df Synaptics, Inc.
Bus 001 Device 002: ID 04f2:b6bf Chicony Electronics Co., Ltd
Bus 001 Device 004: ID 8087:0026 Intel Corp.
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
dmesg output for fastboot mode:
[755391.801828] usb 2-1: new SuperSpeed Gen 1 USB device number 17 using xhci_hcd
[755391.823072] usb 2-1: New USB device found, idVendor=18d1, idProduct=d00d, bcdDevice= 1.00
[755391.823082] usb 2-1: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[755391.823087] usb 2-1: Product: Android
[755391.823092] usb 2-1: Manufacturer: Google
[755391.823096] usb 2-1: SerialNumber: 9ce13470
dmesg for after fastboot, while waiting for adb to become available:
[755509.829081] usb 2-1: new SuperSpeed Gen 1 USB device number 18 using xhci_hcd
[755509.856499] usb 2-1: New USB device found, idVendor=05c6, idProduct=901d, bcdDevice= 0.00
[755509.856508] usb 2-1: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[755509.856513] usb 2-1: Product: QUSB_BULK_SN:A07D5C7A
[755509.856517] usb 2-1: Manufacturer: Qualcomm CDMA Technologies MSM
[755509.856520] usb 2-1: SerialNumber: 9ce13470