Voxl uses systemd for startup. You create a "service" file to implement your desired startup action and place it in the /etc/systemd/system directory. There are lots of guides and documentation on the Internet about how to create systemd service files. You can also look at the service files already on Voxl for some examples.
There are a few steps you can take to bring up a new USB camera. First of all, the camera must be UVC compliant. The best thing to do is to test it out on a Linux PC first and verify that it works there. Some tips: 1. Use the 'lsusb' command before and after you plug the camera in to see if it is showing up. 2. If you see the device with 'lsusb', look in /dev to see if it shows up as a /dev/videox device. So, do 'ls /dev/video*' before plugging in the camera and after plugging in the camera to see if it appears. 3. If everything looks good you should be able to stream from it using voxl-streamer.
@PawelJ Bear with us. Our subject matter experts are out on summer vacation this week.
No, you shouldn't need anything special to see it with 'lsusb'. If you run 'dmesg -wH' and then plug in the camera do you see any messages printed? Another thing you can try is to free up the adb port by using ssh over wifi instead of adb. Then plug the camera into the adb port and see if you see it with 'lsusb'. It's possible you are seeing a power issue and the adb USB port can deal with more power.
@Chuck-Bokath Yes, we have done the same things before. Basically log a position and signal strength indication. What platform are you using? Typically, in a PX4 system, that information will be encapsulated in Mavlink messages. On our Voxl board we have an endpoint for all of those messages that come over a serial port that we then forward on over UDP to a ground control station. However, as @Alex-Gardner points out, that voxl-vision-px4 module will dump all of that raw information to a Linux pipe as it is passing through. And, as @Alex-Gardner also pointed out, there is some example code that shows how to listen to that pipe and parse the message.
You mean attach an external GPS receiver and talk to it over a UART?
System image 3.3.0 increases the number of inodes on /data to 3M. However, that may require that /data is completely wiped when you install it.
Ah, okay, I see. We do have some internal example code that takes RTCM data from the Internet and sends it into PX4. Let me see if I can make that public.
Can you show the output of # df -i /data?
What interface is available on the custom IOT board? This will determine how to connect it to Voxl. For example: UART, Ethernet, etc. Once you have the board connected you will need software to convert the RTCM messages from the external board into Mavlink messages for PX4.
@relevinsky Docker has some pretty good documentation. Have you looked at: https://docs.docker.com/engine/reference/run/#network-settings?
@Daniel-Ryu We do not officially support Boson cameras at the moment but we have played with them a bit in the past. The one we used needed to be plugged in to the adb USB port with a standard USB 2.0 cable since that port supplies more power. If we plugged it into one of the USB ports on the add on board we needed external power and the little power management trick Travis mentioned above. Also, we needed some custom UVC driver code that is not currently publicly available. And... voxl-streamer was developed against QGC v3.5.6. It does not work reliably on newer versions. We plan to add Boson support and support for new versions of QGC in the future but have no firm date yet.
The documentation for voxl streamer is here https://docs.modalai.com/voxl-streamer/. If you use the test pattern does that work? If not, can you go back to v3.5.6 of QGroundControl and see if the test pattern works with that? Are you sure that your network connectivity is setup properly? (e.g. can you ping from each side to the other?).