Topics created by dan64

@Alex-Kushleyev

Thanks for the advice! Sorry for the delay in following up. Dan and I are on the same team and I currently have the physical drone in my possession.

I've attached a video of what the motor spinning actually looks and sounds like. The motor you see is actually a replacement, and the behavior is the same. It appears we may actually have an ESC issue or an issue at the connection point between the motor wires and ESC.

The video shown is the result of running:

voxl2:/usr/share/modalai/voxl-esc-tools$ python3 voxl-esc-spin.py --id 1 --power 15

Modal AI Starling 2 Max - Motor Spin Test Video

When running the voxl-esc-verify-params.py script, the output shows that params are all matching:

voxl2:/usr/share/modalai/voxl-esc-tools$ python3 voxl-esc-verify-params.py Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) [GCC 8.4.0] Found voxl-esc tools bin version: 1.9 VOXL Platform: M0054 Detected RB5 Flight, VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000 Sending library name request: libslpi_qrb5165_io.so Sending initialization request INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000 INFO: Params from ID 0 match ../voxl-esc-params/D0012_Starling_MAX/esc_params_m0129_f2203_5_1500kv_7x3.7x3.xml INFO: Params from ID 1 match ../voxl-esc-params/D0012_Starling_MAX/esc_params_m0129_f2203_5_1500kv_7x3.7x3.xml INFO: Params from ID 2 match ../voxl-esc-params/D0012_Starling_MAX/esc_params_m0129_f2203_5_1500kv_7x3.7x3.xml INFO: Params from ID 3 match ../voxl-esc-params/D0012_Starling_MAX/esc_params_m0129_f2203_5_1500kv_7x3.7x3.xml INFO: Success! Params in all ESCs are valid and identical.

Any thoughts on next steps here?

@paul-ammer , sorry for the delay. Initial version of the document that addresses latency in wifi streaming has been published : https://docs.modalai.com/camera-video/low-latency-video-streaming/

There is a lot of information there, please take a look and let me know where you get stuck.

I suggest starting to experiment without updating the camera drivers (as discussed in the document), so you reduce number of variables at the beginning. You can also use the Qualcomm ISP pipeline (using hires_front_small_encoded stream) and we can discuss what MISP can be used for at another time.

In general, you will find that the majority of the delay is going to be on the receiver side, with some additional delay possible in the server side after the camera pipeline (buffering of the encoded frames before sending them out - I believe gstreamer rtsp server adds some delay. voxl-streamer is based on gstreamer).

Regarding the earlier question of unused streams: yes it is true that if streams like large_video, etc, are enabled but not used, they will not consume significant resources, however, if enabled, the stream specifications (dimensions) will play a role when the camera pipeline selects the camera operating mode, which should satisfy requirements of all streams. The most extreme case is when you enable the snapshot at highest possible resolution (but use the snapshot very rarely), and your video streaming resolution is relatively low - the camera pipeline will have to select the camera mode that provides the largest image size (which will be the slowest in terms of latency) and then will downscale to get the video stream of the desired (small) resolution.

Please let me know what other questions you may have. I will continue updating the document in order to clarify things and based on feedback. If other users have questions, feel free to follow up in this thread.

Alex

Hi @dan64
That is not the standalone Modem board variant and many other components are missing to make this work.
We do not currently sell the "standalone" version of the M0090 (5G) or M0130 (4G LTE), so sadly your efforts will hit a dead end.

@Eric-Katzfey thanks for the quick reply. Since 14550 is hard-coded into voxl-mavlink-server service, that answers my question re: customizing this port.

For additional context, I'm interested in replicating QGC's behavior of connecting to multiple UAVs simultaneously, each identified by their MAV_SYS_ID. As an example:

Set MAV_SYS_ID to "42" on one VOXL Leave MAV_SYS_ID as "1" on another VOXL Set secondary_static_gcs_ip to your GCS IP on both (/etc/modalai/voxl-mavlink-server.conf) QGC automatically connects to both and shows "Vehicle 42" and "Vehicle 1" in the dropdown in the top menu bar

I'm able to connect to my UAV using mavsdk at udp://:14550 but I can't tell which one connects since both are sending telemetry to my Mac's 14550.

Since posting this, I discovered https://github.com/mavlink-router/mavlink-router which may be what I'm looking for, but I'm still trying to get it working with my docker-compose setup. I was just wondering if there was a simpler configuration onboard the VOXL that I could easily change.