Hello,
I am trying to set up a wireguard tunnel on the VOXL 2 running SDK 1.2. The kernel version is 4.19.125. I cannot use wireguard because the wireguard module is not present in the kernel. I tried to do an out-of-tree build but did not succeed because I could not find the kernel headers using apt. Do you know what the best way to proceed here is?
Thank you!
Best,
Aditya
Hello,
My team is trying to use the Starling to navigate a flag obstacle course, here's a video of what we're trying to do. Unfortunately we've had trouble instructing the Starling to fly straight using the mapper:
When we instruct it to fly in a straight direction using the axes it always goes 80 degrees to the right instead. We've ensured that all the relevant services are up and also tried modifying the extrinsics to no avail. Specifically, we tried changing the first value of the ToF intrinsics to 90. We also saw in the camera view that the ToF camera seems to be rotated 90 degrees, in the following image the drone was pointed forward parallel to the ground but the monitor and keyboard appear rotated left by 90 degrees:
We also were wondering if it is necessary to map out the area manually before we fly the Starling autonomously through it (point-to-point navigation). To get the flags (see linked video) to appear in the mapper we've tried to fly it close to them so that the ToF camera can help map it out.
We've also noticed that sometimes in position hold mode the Starling veers off and starts ascending and heading elsewhere, incorrectly assuming that it needs to be somewhere else. In these cases we've had to manually counter these actuations and get the Starling to land, disarm, and then fly again.
I appreciate your help! Thanks for your time.
Hello,
I am working with the Starling (QRB5165 VOXL 2 running sdk-1.2.0). I am trying to follow the voxl-docker-mavsdk-cpp tutorial to get the takeoff and land script to work.
I was able to get the docker server running and pulled the MAVSDK image. However, I get the following error when trying to execute the takeoff and land script:
root@m0054:/home/MAVSDK/examples/takeoff_land# ./takeoff_and_land udp://:14551
[03:15:33|Info ] MAVSDK version: 0.28.0 (mavsdk_impl.cpp:26)
[03:15:33|Debug] New: System ID: 0 Comp ID: 0 (mavsdk_impl.cpp:377)
Waiting to discover system...
No system found, exiting.
This is the output I got from voxl-inspect-services:
voxl2:~$ voxl-inspect-services
Scanning services...
Service Name | Enabled | Running | CPU Usage
-------------------------------------------------------------------
docker-autorun | Disabled | Not Running |
modallink-relink | Disabled | Not Running |
voxl-camera-server | Enabled | Running | 90.9%
voxl-cpu-monitor | Enabled | Running | 0.4%
voxl-dfs-server | Disabled | Not Running |
voxl-feature-tracker | Disabled | Not Running |
voxl-flow-server | Disabled | Not Running |
voxl-imu-server | Enabled | Running | 3.8%
voxl-lepton-server | Disabled | Not Running |
voxl-mapper | Disabled | Not Running |
voxl-mavcam-manager | Enabled | Running | 0.0%
voxl-mavlink-server | Enabled | Running | 2.6%
voxl-modem | Disabled | Not Running |
voxl-neopixel-manager | Disabled | Not Running |
voxl-open-vins-server | Disabled | Not Running |
voxl-portal | Enabled | Running | 0.7%
voxl-px4-imu-server | Enabled | Not Running |
voxl-px4 | Enabled | Running | 24.6%
voxl-qvio-server | Enabled | Running | 34.3%
voxl-rangefinder-server | Disabled | Not Running |
voxl-remote-id | Disabled | Not Running |
voxl-softap | Enabled | Completed |
voxl-static-ip | Disabled | Not Running |
voxl-streamer | Enabled | Running | 0.0%
voxl-tag-detector | Disabled | Not Running |
voxl-tflite-server | Enabled | Running | 3.1%
voxl-time-sync | Disabled | Not Running |
voxl-uvc-server | Disabled | Not Running |
voxl-vision-hub | Enabled | Running | 2.6%
voxl-wait-for-fs | Enabled | Completed |
Do you have any idea what might be the issue here? Should voxl-px4-imu-server be running? Could that be the issue?
Thanks for your help!
Thanks @Eric-Katzfey and @tom, appreciate your assistance! I will try the Docker approach, I will reach out if I have any issues interacting with MPA from the Docker container.
Hello,
I am working with the Starling (QRB5165 VOXL 2 running sdk-1.2.0). I am working on a functionality to actuate the drone based on detections from the voxl-tflite-server.
Following the libmodal-pipe examples I wrote a custom program to read from the voxl-tflite-server and deployed it to the VOXL 2 using the instructions in the README. This works great, and was easy to set up.
However, I have run into a few issues with the actuation part. I followed the instructions in the voxl-docker-mavsdk-cpp Dockerfile to clone MAVSDK and attempted to compile it in voxl-cross:
git clone https://github.com/mavlink/MAVSDK.git
cd MAVSDK
git checkout main
git submodule update --init --recursive
cmake -DCMAKE_BUILD_TYPE=Debug -DBUILD_SHARED_LIBS=ON -Bbuild/default -H.
cmake --build build/default --target install
However I run in to the following error:
voxl-cross(2.7):~/MAVSDK(main)$ cmake --build build/default --target install
Consolidate compiler generated dependencies of target mavsdk
[ 0%] Building CXX object src/mavsdk/CMakeFiles/mavsdk.dir/core/system.cpp.o
In file included from /usr/include/c++/7/bits/move.h:54:0,
from /usr/include/c++/7/bits/stl_pair.h:59,
from /usr/include/c++/7/bits/stl_algobase.h:64,
from /usr/include/c++/7/memory:62,
from /home/root/MAVSDK/src/mavsdk/core/include/mavsdk/system.h:3,
from /home/root/MAVSDK/src/mavsdk/core/system.cpp:1:
/usr/include/c++/7/type_traits: In substitution of 'template<class _Tp, class> static std::true_type std::__do_is_default_constructible_impl::__test(int) [with _Tp = mavsdk::MavlinkFtpClient::DownloadItem; <template-parameter-1-2> = <missing>]':
/usr/include/c++/7/type_traits:889:35: required from 'struct std::__is_default_constructible_impl<mavsdk::MavlinkFtpClient::DownloadItem>'
/usr/include/c++/7/type_traits:143:12: required from 'struct std::__and_<std::__not_<std::is_void<mavsdk::MavlinkFtpClient::DownloadItem> >, std::__is_default_constructible_impl<mavsdk::MavlinkFtpClient::DownloadItem> >'
/usr/include/c++/7/type_traits:893:12: required from 'struct std::__is_default_constructible_atom<mavsdk::MavlinkFtpClient::DownloadItem>'
/usr/include/c++/7/type_traits:914:12: required from 'struct std::__is_default_constructible_safe<mavsdk::MavlinkFtpClient::DownloadItem, false>'
/usr/include/c++/7/type_traits:920:12: required from 'struct std::is_default_constructible<mavsdk::MavlinkFtpClient::DownloadItem>'
/usr/include/c++/7/type_traits:2979:25: required from 'constexpr const bool std::is_default_constructible_v<mavsdk::MavlinkFtpClient::DownloadItem>'
/usr/include/c++/7/variant:889:2: required from 'class std::variant<mavsdk::MavlinkFtpClient::DownloadItem, mavsdk::MavlinkFtpClient::DownloadBurstItem, mavsdk::MavlinkFtpClient::UploadItem, mavsdk::MavlinkFtpClient::RemoveItem, mavsdk::MavlinkFtpClient::RenameItem, mavsdk::MavlinkFtpClient::CreateDirItem, mavsdk::MavlinkFtpClient::RemoveDirItem, mavsdk::MavlinkFtpClient::CompareFilesItem, mavsdk::MavlinkFtpClient::ListDirItem>'
/home/root/MAVSDK/src/mavsdk/core/mavlink_ftp_client.h:222:14: required from here
/usr/include/c++/7/type_traits:878:48: error: constructor required before non-static data member for 'mavsdk::MavlinkFtpClient::DownloadItem::remote_path' has been parsed
template<typename _Tp, typename = decltype(_Tp())>
^~~~~
/usr/include/c++/7/type_traits:878:48: error: constructor required before non-static data member for 'mavsdk::MavlinkFtpClient::DownloadItem::local_folder' has been parsed
/usr/include/c++/7/type_traits:878:48: error: constructor required before non-static data member for 'mavsdk::MavlinkFtpClient::DownloadItem::callback' has been parsed
/usr/include/c++/7/type_traits:878:48: error: constructor required before non-static data member for 'mavsdk::MavlinkFtpClient::DownloadItem::ofstream' has been parsed
/usr/include/c++/7/type_traits:878:48: error: constructor required before non-static data member for 'mavsdk::MavlinkFtpClient::DownloadItem::file_size' has been parsed
/usr/include/c++/7/type_traits:878:48: error: constructor required before non-static data member for 'mavsdk::MavlinkFtpClient::DownloadItem::bytes_transferred' has been parsed
/usr/include/c++/7/type_traits:878:48: error: constructor required before non-static data member for 'mavsdk::MavlinkFtpClient::DownloadItem::last_progress_percentage' has been parsed
cc1plus: warning: unrecognized command line option '-Wno-address-of-packed-member'
cc1plus: warning: unrecognized command line option '-Wno-address-of-packed-member'
src/mavsdk/CMakeFiles/mavsdk.dir/build.make:145: recipe for target 'src/mavsdk/CMakeFiles/mavsdk.dir/core/system.cpp.o' failed
make[2]: *** [src/mavsdk/CMakeFiles/mavsdk.dir/core/system.cpp.o] Error 1
CMakeFiles/Makefile2:899: recipe for target 'src/mavsdk/CMakeFiles/mavsdk.dir/all' failed
make[1]: *** [src/mavsdk/CMakeFiles/mavsdk.dir/all] Error 2
Makefile:135: recipe for target 'all' failed
make: *** [all] Error 2
I also read the voxl-docker-mavsdk-cpp README. The instructions suggest building a container on the VOXL 2 chip and running it there. Is there a way that does not involve using a container on the VOXL and allows for cross-compiling an executable, like the voxl-cross way? Why is the container approach preferred for MAVSDK? I am also not sure if I can talk to the voxl-tflite-server from the container.
Thanks for your help, I would appreciate some guidance on the best way to make this functionality work on the VOXL 2.