Controversial posts made by Alex Kushleyev

@dstylesunf ,

M0188 does not have support for the Boson part of the Hadron (mainly difference in power requirements)

However, M0195 supports Boson, which means you can also plug in the Hadron by using M0202 (or older M0159) adapter instead of M0201 (which would be used for Boson). The RGB Camera inside Hadron (which is OV64B) would be treated as an independent hires camera.

Basically, M0202 (M0159) plugs into the back of Hadron docs and then on the other end you could connect both coax cables to M0181 straight into VOXL2 mini or using M0195 instead of M0181.

You can also use M0194 adapter for connecting Hadron to VOXL2 mini. In the diagram above, a Boson with a high-res camera is shown, but you can replace Boson+M0201+hires with Hadron + M0202, which would plug into M0194:

M0194 Boson + Hires Connection Example

M0195, however, would allow you to connect one extra camera (if you are using a dual tracking camera setup) compared to individual adapters plugged in to VOXL2 J6 and J7.

Please let us know if you have any other questions.

Alex

@Morten-Nissov ,

Can you please try to use voxl-logger to log the IMU data concurrently with mpa-to-ros pipeline?

voxl-logger will save imu data with human readable timestamps, so you could easily plot that and double check if the IMU samples produced by qrb5165-imu-server are indeed jumping around. It is possible that something related to ROS is introducing a timestamp issue.

Alex