Posts made by Eric Katzfey

@Ted-Ferris What SDK are you on?

@griffin Is this on a Starling 2 drone?

@Kessie Excellent, glad to hear you got it working! And thanks for adding the details on what you had to do to the posting!

@wifa799 I think we're going to have to set this up and run some tests to see if we can recreate the issue. Probably won't happen until next week though.

@MikeD said in VOXL2 HITL:

MCBL-00091

I haven't had much luck with that cable for HITL. I use this: https://www.sparkfun.com/products/12977 and add this: https://www.sparkfun.com/products/17240

@MikeD Yes, Gazebo is transmitting over the serial link but it doesn't appear that PX4 receives anything based on dsp_hitl status.

@jonathankampia Unfortunately, the hard part is creating the build Docker.

@jonathankampia Yes, that should work except there is one command missing right before ./build-apps.sh. You need to run ./build-deps.sh before that.

@MikeD The HITL driver runs on the DSP and only uses the serial port. There is no way to make it use Ethernet. What you were seeing was the standard heartbeats being sent out by the Mavlink module in PX4, not related to HITL. That allows you to connect a ground control station while using HITL.

@jonathankampia You would need to add DRIVERS_DISTANCE_SENSOR_LL40LS to boards/modalai/voxl2-slpi/default.px4board and then rebuild.

@MikeD Ah, I see, Wireshark on PC sees heartbeats coming over serial line from VOXL 2. So that's a good sign. I am worried about those extra messages you get, I've never seen that so probably an indication that something isn't correct.

@MikeD It doesn't look like the serial link is working. That count of heartbeats is just the heartbeats sent out from HITL on the VOXL2, it doesn't mean that there is anything coming back from the PC running Gazebo. it's possible that your cable isn't correct. You also get some odd messages from Gazebo. Here's what I see when I launch it:

modalai@modalai-XPS-15-9570:~$ xhost +
access control disabled, clients can connect from any host
modalai@modalai-XPS-15-9570:~$ docker run --rm -it --net=host --privileged -e DISPLAY=$DISPLAY -v /dev/input:/dev/input:rw -v /tmp/.X11-unix:/tmp/.X11-unix:ro voxl-gazebo-docker ./run_gazebo.bash
GAZEBO_PLUGIN_PATH :/usr/workspace/voxl2_hitl_gazebo
GAZEBO_MODEL_PATH :/usr/workspace/voxl2_hitl_gazebo/models
LD_LIBRARY_PATH :/usr/workspace/voxl2_hitl_gazebo/build
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
Opened serial device /dev/ttyUSB0

@wifa799 Did you see the error message that was printed when voxl-uvc-server exited? It says to try voxl-uvc-server -l to see what formats your camera advertises since the one you tried isn't supported. Can you try that? And voxl-streamer configuration file specifies the small encoded hires stream which it appears to connect with and start streaming. You would need to modify the configuration file if you want it to use a different stream. But if you want it to use the voxl-uvc-stream then you need to get that working before you can try streaming it.

@장성원

1. It only works on VOXL and VOXL 2
2. You need to use the board to board connector
3. You can fly in manual mode with an RC controller. ModalAI does not offer an RC transmitter integrated with display.

@Jetson-Nano The updated voxl-io-server version is here: http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-io-server_0.0.5-202502191136_arm64.deb. The updated FC v2 image is here: http://voxl-packages.modalai.com/dists/fc-v2/dev/modalai_fc-v2_1.14.0-2.0.95.px4. I have only tested with PX4 running on VOXL 2 but it should also work with external FC v2.

@Thasindu-Wickrama No, we use TOF for depth in indoor environments. In outdoor environments we have used stereo cameras. And we have used single point lidar for distance (height) sensing. How did you want to integrate a LiDAR? Would it be a PX4 driver?

@Kessie I won't be able to run any of my own tests until the end of next week. One other thing you can try is to move to a slightly older VOXL SDK and see if something in the latest SDK is causing the issue (like SDK v1.3.5).

@Thasindu-Wickrama We have no experience with this sensor.

@ravi Can you try with force? For example: dpkg --force-all -i voxl-mainline-px4_1.15.2-202502041627_arm64.deb

@Kessie Have you tried in AP mode for WiFi to eliminate anything in your WiFi network? With AP mode it would only be the laptop and drone on the network. You can try AP mode in 2.4GHz and 5GHz configurations in case there is a lot of interference on one of those bands. (e.g. voxl-wifi softap ssid pass or voxl-wifi softap5 ssid pass).