ModalAI Forum

Hi @tom,

The problem still there, without odometry.

Could you answer those questions, please.
I would like to understand if in any current version of Sentinel (SDK 1.1.3) the odometry message in QGroundControl should continue to appear.

Thanks!
Adriano Lino

Hi guys, how are you doing?

Check this out, please:

• Problem: VIO odometry data does not showing up into PX4 QGroundControl.
• Drone: Sentinel, SDK: 1.1.3 was 0.95, Sensors removed: Rear Stereo, GPS and 5G. Sensor installed: TOF. Reconfigured and recalibrated.
• Services: voxl-inspect-qvio is showing perfect, also vox-portal, many features in the tracking camera;

EKF2_AID_MASK configured as (https://docs.modalai.com/sentinel-user-guide-using-vio/#flying-with-vio)

Questions:

1. Should the odometry message continue to appear into PX4 QGroundControl in SDK version 1.1.3 like here ?
   https://docs.modalai.com/sentinel-user-guide-using-vio/#sentinel-vio

2. Confirm that EKF2_AID_MASK must be configured in SDK 1.1.3 version. I would like this confirmation because this parameter is in version 1.12 of px4, but it does not appear in 1.14 PX4 modalAI gitlab.
   Source: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/tree/master/params?ref_type=heads

@Chad-Sweet

Thank you Chad.

For Sentinel version MRB-D0006-4-V1-C11-M7, what are the ports and communication configs (I2C, SPI, UART, ???) supported for external camera?

Good afternoon,
Sensors and Cameras - Sentinel.

Consider the following Sentinel version MRB-D0006-4-V1-C11-M7 [1]:

1. Camera: What are the ports (which connector?) and communication configs (I2C, SPI, UART, etc) supported for additional external camera with gimbal?
   a. There is evidence of gimbal use in the manual, but in the m500 version [2].
   b. I need support to clarify how to setup gimbal in Sentinel. For example, m500 uses the VOXL-Flight with connector J1007 - (PIN 6, 7, and [2], what about Sentinel?;
   c. Also, about thermal cameras, please, confirm the setup ports and pins to the sentinel [6,7];
2. Rangefinder: In the manual #processing-specs section of Sentinel there is information about the Rangefinder [3]. How can I do the setup of the following sensors;
   a. Maxsonar ultrasonic sensor [4], ports and configs;
   b. And, Lidar [5];

This help topic on forum is to assist in the acquisition of the drone, and all the requirement components to enable its use with the sensors listed above. The Sentinel manual [1] describe that almost all the ports/configuration already have a pre-defined function used [6,9].

[1] https://docs.modalai.com/sentinel-functional-description/
[2] https://docs.modalai.com/voxl-m500-gimbal-user-guide/#gimbal-version-summary
[3] https://docs.modalai.com/sentinel-functional-description/#processing-specs
[4] https://www.maxbotix.com/product-category/i2cxl-maxsonar-ez-products
[5] https://www.terabee.com/shop/lidar-tof-range-finders/teraranger-evo-15m/
[6] https://docs.modalai.com/voxl-uvc-flir/
[7] https://docs.modalai.com/voxl-flir-server/
[8] https://docs.modalai.com/voxl2-d0006/
[9] https://docs.modalai.com/voxl2-camera-configs/