ModalAI Forum

From what I understand from the documentation, using a M0065 VOXL 2 IO board for SBUS RC input should be supported with VOXL SDK 1.0.1 and 1.1.0 (and also with 1.1.1 after an update of the M0065). However, our RB5 Flight on 1.1.0 was still not reading any RC channels after updating from 0.9.5.

I noticed in the voxl-px4-start script that the M00052/RB5 Flight board has a special case for getting RC input with Spektrum receiver from the apps processor, while other boards use the DSP. Meanwhile, the dsp_sbus driver used for getting RC input from M0065 seems to be specifically for the DSP, and defaults to a port number 7, which seems to correspond to the VOXL2 RC interface, but not RB5 Flight. Adding an argument to change this to 13 didn't work for our RB5 Flight.

This still seems to be case for the same script in SDK 1.1.1, where the new voxl2_io driver, while not noted to be DSP-specific, also specifies a 7.

Is the combination of VOXL 2 IO (in any form) RC, VOXL SDK 1.1.0+, and RB5 Flight supposed to be supported? And if not, is support planned to be added in the future?

@Moderator Sorry if it wasn't clear, but we have been using voxl-logger and haven't seen any of these issues there. I believe the "monotonic stamp" data on the second plot is taken from collecting data through both voxl-logger and voxl-mpa-to-ros at the same time.

From what I understand, is it not the same server provides the pipes that both voxl-logger and voxl-mpa-to-ros use?

I reflashed using the linked image. voxl-mpa-to-ros appears to behave the same.

Here's all the same information as before. Like before, voxl-mpa-to-ros and rosbag record /imu_px4 were the only other things running that were not ran automatically.

--------------------------------------------------------------------------------
system-image: 1.4.1-M0052-14.1a-perf
kernel:       #1 SMP PREEMPT Thu Oct 13 18:59:44 UTC 2022 4.19.125
--------------------------------------------------------------------------------
hw version:   M0052
--------------------------------------------------------------------------------
voxl-suite:   0.9.5
--------------------------------------------------------------------------------
Packages:
Repo:  http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-0.9/binary-arm64/
Last Updated: 2023-08-25 17:16:14
List:
	libmodal-cv              0.2.3
	libmodal-exposure        0.0.7
	libmodal-journal         0.2.1
	libmodal-json            0.4.3
	libmodal-pipe            2.8.2
	libqrb5165-io            0.1.0
	libvoxl-cci-direct       0.1.5
	libvoxl-cutils           0.1.1
	mv-voxl                  0.1-r0
	qrb5165-bind             0.1-r0
	qrb5165-dfs-server       0.1.0
	qrb5165-imu-server       0.5.0
	qrb5165-slpi-test-sig    01-r0
	qrb5165-system-tweaks    0.1.5
	qrb5165-tflite           2.8.0-2
	voxl-bind                0.0.1
	voxl-camera-calibration  0.2.3
	voxl-camera-server       1.3.5
	voxl-cpu-monitor         0.3.0
	voxl-docker-support      1.2.4
	voxl-gphoto2-server      0.0.10
	voxl-jpeg-turbo          2.1.3-4
	voxl-libgphoto2          0.0.4
	voxl-libuvc              1.0.7
	voxl-logger              0.3.4
	voxl-mavlink             0.1.0
	voxl-mavlink-server      0.3.0
	voxl-modem               0.16.1
	voxl-mongoose            7.7.0-1
	voxl-mpa-to-ros          0.3.6
	voxl-mpa-tools           0.7.6
	voxl-opencv              4.5.5-1
	voxl-portal              0.5.0
	voxl-px4                 1.12.31
	voxl-px4-imu-server      0.1.2
	voxl-qvio-server         0.8.2
	voxl-remote-id           0.0.5
	voxl-streamer            0.4.1
	voxl-suite               0.9.5
	voxl-tag-detector        0.0.4
	voxl-tflite-server       0.3.1
	voxl-utils               1.2.2
	voxl-uvc-server          0.1.3
	voxl-vision-px4          1.4.0
--------------------------------------------------------------------------------

Hi, I'm on the same team as @eric.

Here's the output of voxl-version:

--------------------------------------------------------------------------------
system-image: 1.4.1-M0052-14.1a-perf
kernel:       #1 SMP PREEMPT Thu Oct 13 18:59:44 UTC 2022 4.19.125
--------------------------------------------------------------------------------
hw version:   M0052
--------------------------------------------------------------------------------
voxl-suite:   
--------------------------------------------------------------------------------
Packages:
Repo:  http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-0.9/binary-arm64/
Last Updated: 2023-08-18 19:06:41
List:
	libmodal-exposure      0.0.7
	libmodal-journal       0.2.1
	libmodal-json          0.4.3
	libmodal-pipe          2.8.2
	libqrb5165-io          0.1.0
	libvoxl-cci-direct     0.1.5
	libvoxl-cutils         0.1.1
	mv-voxl                0.1-r0
	qrb5165-bind           0.1-r0
	qrb5165-imu-server     0.5.0
	qrb5165-slpi-test-sig  01-r0
	qrb5165-system-tweaks  0.1.5
	qrb5165-tflite         2.8.0-2
	voxl-bind              0.0.1
	voxl-camera-server     1.3.5
	voxl-cpu-monitor       0.3.0
	voxl-docker-support    1.2.4
	voxl-gphoto2-server    0.0.10
	voxl-jpeg-turbo        2.1.3-4
	voxl-libgphoto2        0.0.4
	voxl-libuvc            1.0.7
	voxl-logger            0.3.4
	voxl-mavlink           0.1.0
	voxl-mavlink-server    0.3.0
	voxl-modem             0.16.1
	voxl-mongoose          7.7.0-1
	voxl-mpa-to-ros        0.3.6-202308232023
	voxl-mpa-tools         0.7.6
	voxl-portal            0.5.0
	voxl-px4               1.12.31
	voxl-px4-imu-server    0.1.2
	voxl-qvio-server       0.8.2
	voxl-remote-id         0.0.5
	voxl-streamer          0.4.1
	voxl-utils             1.2.2
	voxl-uvc-server        0.1.3
	voxl-vision-px4        1.4.1
--------------------------------------------------------------------------------

Here are screenshots from voxl-inspect-cpu and top. They are made while running voxl-mpa-to-ros and rosbag record /imu_px4.

Here's the output of voxl-inspect-services:

@Aks I was told by Microhard Support that this usually indicates a hardware problem that requires repair or replacement, but they also suggested to try reapplying the system firmware.

Reapplying the firmware for the modem seems to have worked for my case.

I used the AT command interface to the microhard over telnet to get it to be configured correctly. Holding the button for 10 seconds did not put it into a master transmitting state (confirmed via telnet).

What I found was that the Microhards were in a Radio Off state by default. The slave unit on the USB standalone module was easy to access the web interface to configure, but since I couldn't get to the web interface on the master I used the telnet interface to configure the radio to on.

I experienced the exact same with the 2.4GHz model. The other things didn't come up, I assume because they are related to system image and voxl-modem service versions and I was already on the latest.

However one modem in particular I have not been able to get into a Radio On state. AT commands relating to radio settings produce errors:

The Wireless section of the web interface does not seem functional either:

Clicking the Generate Wireless Config button refreshes the page but has no apparent effect.

As this doesn't happen with others we have, I've tried moving it between different add-on/standalone boards and resetting to default settings, but still get the same behavior.

Am I missing something else or is this one just a bad modem? All the modems I've referred to are the pMDDL2450 bought from ModalAI, and the others didn't need any wireless setting changes beyond the radio state and operation mode.

I am trying to access frames from the cameras that are otherwise in use by rb5-camera-server. Ideally it would be nice to keep the option to use the VIO and VOA that depend on the camera server.

Is it possible for other applications to read camera data the way rb5-camera-client, VIO, and VOA do? I can't find any information on RB5 camera server page (https://docs.modalai.com/Qualcomm-Flight-RB5-sdk-camera-server/) on how to read the pipes created by the camera server. Is there any overlap with the information found in the VOXL Camera server page (https://docs.modalai.com/voxl-camera-server/)?