Topics created by Daniel Ryu

The J19 connector is specfically connected to the sDSP, so that particular connector yes, but we have other apps_proc interfaces for UART/I2C/SPI/GPIO.

This is where it's likely easiest to locate where the interfaces are:
https://docs.modalai.com/voxl2-linux-user-guide/

VOXL2 has been optimized for size, and thus some/most of these interfaces require some kind of connector that is likely harder than just making a JST cable real quick to test something out, or a daughter card that exposes it on a JST.

Hi @Daniel-Ryu

Good news, we have a beta version that is ready for testing. Here are the details:

use latest available VOXL2 system image python3 version of voxl-esc tools : https://gitlab.com/voxl-public/flight-core-px4/voxl-esc/-/tree/dev-python3 this version works on PC and VOXL2 (we are moving away from python2.7) if pip3 is not installed, https://pip.pypa.io/en/stable/installation/#get-pip-py if numpy, pyserial are not installed : pip3 install --upgrade numpy pyserial installation on voxl2: https://gitlab.com/voxl-public/flight-core-px4/voxl-esc/-/tree/dev-python3/tools#installation-instructions-for-voxl2 In summary, you will need to follow the steps below on voxl2. we will put it into a script soon. Please let me know if you run into any issues going through these steps #clone the voxl-esc repo cd /home/root git clone https://gitlab.com/voxl-public/flight-core-px4/voxl-esc.git -b dev-python3` #install voxl-esc-tools-bin version 1.1 into voxl-esc/tools directory #see instructions https://gitlab.com/voxl-public/flight-core-px4/voxl-esc/-/tree/dev-python3/tools#accessing-the-esc-tools-software #download and install slpi uart bridge package to VOXL2 cd /home/root wget http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-slpi-uart-bridge_1.0.0-202303021121_arm64.deb dpkg -i voxl-slpi-uart-bridge_1.0.0-202303021121_arm64.deb #stop and disable PX4 while using voxl-esc tools systemctl stop voxl-px4 && systemctl disable voxl-px4 #temporarily move libpx4.so and create symlink for slpi bridge to libpx4.so #this is required because currently the slpi application loader looks for libpx4.so (hardcoded) cd /usr/lib/rfsa/adsp mv libpx4.so libpx4.so.bak ln -s ./libslpi_uart_bridge_slpi.so ./libpx4.so #reboot VOXL2 reboot #test voxl-esc tools cd /home/root/voxl-esc/tools ./voxl-esc-scan.py #perform ESC testing / calibration #... #when done, restore original libpx4.so cd /usr/lib/rfsa/adsp rm libpx4.so cp libpx4.so.bak libpx4.so

@Mastermind USB0 is the interface the VOXL2 + newer Microhard add-on boards use for communication, so eth0 may not show up if you're used to using that from VOXL1

@Alex-Gardner Perfect, thanks!

@Chad-Sweet got it, thanks

this is a standard linux networking system. Have you googled how to manage the network interfaces?

Maybe make sure your routing tables are properly configured for what you are trying to do? https://opensource.com/business/16/8/introduction-linux-network-routing

@Daniel-Ryu The stereo sensors' lens can be adjusted which will change their focus. Looking at the videos you provided it seems to me that you should be able to achieve a lower reprojection error if you adjust the focus on the units. It looks like the VOXL1 is getting a better reprojection error number because the cameras are fairly close to in focus and there isn't much blurr/fuzz in the video stream. On your VOXL2 setup it looks to me that either the camera is out of focus or the lens is dirty.

To adjust the focus on our stereo cameras twist the lens housing clockwise or counterclockwise similarly to how you would on a DSLR lens. Look closely at the stereo cams and you will see 4 flat edges. I recommend using a 6mm wrench to engage 2 of the flat edges; from there you'll be able to rotate and adjust the lens as needed. It is possible to use something like tweezers or small pliers to accomplish this however I recommend against that method because it is too easy for the tool to slip off and end up scratching the lens.

To clean the lens I recommend using a clean microfiber cloth, a lens tissue, or a fresh q-tip

@tom Thank you. It works well

@José-Quintanilla You can see all the various options with voxl-configure-mpa -h but you'll probably want to use voxl-configure-mpa -p --family m500 --compute flight

Have you followed the tutorial at https://docs.modalai.com/mavros ?

@Daniel-Ryu same here. Please let me know if you figured it out.

@Alex-Gardner Worked, thanks!

Found the repository that stores the code here https://gitlab.com/voxl-public/old-projects/voxl-hal3-tof-cam-ros. If this link could be placed in the documentation for future viewers, that would be great

@Chad-Sweet The fix in the dev branch successfully populates the 0th degree bin for obstacle detection. We are now able to run VOA mostly successfully, with one observable bug with the voxl-camera-server/voxl-dfs-server. Please see this post for details: https://forum.modalai.com/topic/450/intermittent-crashing-of-voxl-camera-server-during-voa-testing?_=1631837674205

@Daniel-Ryu

I figured. We just wanted to double check that this was the case. Thank you!

@Alex-Gardner That was it, the ip address was not inputted correctly. Thanks!

@Daniel-Ryu Yes, the serial number will start with an M and is 11 digits long