Posts made by Eric Katzfey

@Hector-Gutierrez We have actually used HITL for exactly this purpose which is nice because then you can see the flight behavior in the Gazebo visualization. Unfortunately, it's not a trivial matter to get everything setup to make it work with offboard mode since you need to have the VIO data that Gazebo generates go to voxl-vision-hub.

@garret I have no idea what is necessary for VTOL but I would guess that there are probably some missing modules that you would need for that. You would need to do a custom build to bring in whatever is missing.

@garret We have not tried anything but quadcopter and I'm not aware of anyone else trying anything other than quadcopter.

@Riccardo Make sure that the 2 devices sharing bus 4 have the same i2c frequency.

@cguzikowski No, there is no Ardupilot configuration file needed in /etc/modalai

@garret Very likely. But you also have some errors on gazebo launch that I have never seen before so that could be part of the problem as well.

@garret I use the Sparkfun CAB-12977 and CAB-17240 for HITL and it works really well.

@Hector-Gutierrez Point a small fan at the VOXL 2 while you have it on your desktop. You need to have air flow. When it is on a drone and flying you get a lot of airflow from the propellers but on the desktop you should have a small fan.

@Jetson-Nano VOXL 2 does not have PWM out. You would need our IO expander board M0065 to bridge between UART and PWM. https://www.modalai.com/products/voxl2-io?variant=40610514206771

@cguzikowski Yes, we have tested Ardupilot with GPS and have customers using Ardupilot with GPS. However, I don't know that anyone has ever tried with an M9N unit so perhaps there is some issue with that. Can you try with one of these: https://store.3dr.com/mini-gps-ublox-max-m10s/?

@Hector-Gutierrez What branch are you trying to build? If you install dependencies from the dev repo then you should also be building the dev branch of voxl-vision-hub

@Avishkar-Seth It's kind of scattered around in the docs. But here is the high level architecture: https://docs.modalai.com/how-to-connect-voxl-to-flight-core/

PX4 cannot run on VOXL, only on VOXL 2. On an m500 it will be running on the separate flight core board.

@ashwin Are you looking to control the servo via PX4 or with some custom software? What will the servo be doing?

@george-kollamkulam Is that so that you can power your distance sensor?

@george-kollamkulam Regarding question #2 you will need to rebuild PX4. It currently only has the serial drivers built in for the Lightware distance sensors. So, in file boards/modalai/voxl2-slpi/default.px4board you would need to add the driver with DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y. Once it has been built into the image then you can start it in the startup script /usr/bin/voxl-px4-start with the command qshell lightware_laser_i2c start -d 4

@KnightHawk What are you trying to do? Why would you want to communicate with your FC via i2c?

@will-huang-oksi That post also refers to using mavlink router. Have you tried that?

@shawn_ricardo Historically, PX4 hasn't dealt well with GPS combined with VIO. That's supposedly not the case anymore but we haven't yet proven to ourselves that we can run them concurrently. So, we provide parameter sets that allow you to choose between different configurations. See them here: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/tree/master/params/v1.14/EKF2_helpers?ref_type=heads. But you are more than welcome to test with GPS and VIO concurrently to see how it works for you.

@Tyler-Scott The voxl-streamer application streams video via RTSP https://docs.modalai.com/voxl-streamer/