Hi @Tejas-Shah . Yes you can. We are using AT10 right now for ouru work.
Best posts made by gauravshukla914
RE: VOXL Flight will not flash image
The problem is because fastboot command needs root to run properly or else it wont detect device in bootloader.
refer this for more info about running it without root.
or simply run install.sh script as root.
Latest posts made by gauravshukla914
RE: "Avionics power low: 4.78 V" battery.
Hi @modaltb Thanks for your reply.
Yes, we are using the VOXL power module.
Yes, after measuring the pin1 of J1, we are getting output as 4.78V DC instead of 5V.
The voltage that we reported as 4.78V, was the voltage coming out of the power module.
We even tested with different batteries like 3S mentioned above and 4S, but its still the same.
In QGC, we did change our parameters from 4S to 3S to suit our requirements.
Just to let you know, we have been working with this exact same setup for over a month now, and successfully did our flying tests, but this is the first time that this issue has come up.
"Avionics power low: 4.78 V" battery.
Hi, We are observing a strange behavior wrt to our Lipo battery, while flying our voxl flight deck enabled drone. We are using a Lipo 3s 2200 MaH battery. Our battery is fully charged. However, while testing, we hear this from Qgroundcontrol station "
- Avionics power low: 4.78 V".
And as a result the drone goes into uncontrollable state and hits the ceiling.
While our debugging, we observed that the voltage on pin1 of J1 connector, we are getting voltage of 4.8V DV instead of 5V which is required.
Please let us know what could be a problem here and how can we proceed from here. Looking forward to your reply.
- Avionics power low: 4.78 V".
Hi. We are observing a strange thing wrt to power on VOXL. When we connect our ESC's on the J1007 connector on the VOXL, the VOXL boards powers on, even though there is no power connection being made on the "J1013 - 5V DC Power Input". Is this a problem?
Cannot change TOF framerate
I am working with TOF and problem is I am not able to change the framerate. Even after passing the value for the argument frame_rate it does not seems to have any affect on the performance.
yocto:/# roslaunch voxl_hal3_tof_cam_ros tof.launch frame_rate:=5 ... logging to /home/root/.ros/log/1e64ae08-1dd2-11b2-b299-ec5c68cd1745/roslaunch-apq8096-8701.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://10.42.0.157:32875/ SUMMARY ======== PARAMETERS * /rosdistro: indigo * /rosversion: 1.11.21 * /tof/voxl_hal3_tof_cam_ros_node/auto_exposure: 0 * /tof/voxl_hal3_tof_cam_ros_node/camera_id: 1 * /tof/voxl_hal3_tof_cam_ros_node/exposure_time: 800 * /tof/voxl_hal3_tof_cam_ros_node/flip_image: True * /tof/voxl_hal3_tof_cam_ros_node/frame_rate: 5 * /tof/voxl_hal3_tof_cam_ros_node/ir_image_mode: False * /tof/voxl_hal3_tof_cam_ros_node/laser_scan_line: 86 * /tof/voxl_hal3_tof_cam_ros_node/publish_depth_image: True * /tof/voxl_hal3_tof_cam_ros_node/publish_ir_image: True * /tof/voxl_hal3_tof_cam_ros_node/publish_laser_scan: True * /tof/voxl_hal3_tof_cam_ros_node/publish_point_cloud: True * /tof/voxl_hal3_tof_cam_ros_node/scan_width_degrees: 96 NODES /tof/ voxl_hal3_tof_cam_ros_node (voxl_hal3_tof_cam_ros/voxl_hal3_tof_cam_ros_node) / base_link_laser_scan (tf2_ros/static_transform_publisher) base_link_tof_cam (tf2_ros/static_transform_publisher) ROS_MASTER_URI=http://localhost:11311/ core service [/rosout] found process[base_link_tof_cam-1]: started with pid  process[base_link_laser_scan-2]: started with pid  process[tof/voxl_hal3_tof_cam_ros_node-3]: started with pid  DEPTH_IMAGE IR: 1 ..... Cloud: 1 ..... Laser: 1 Camera id: 1 Image width: 224 Image height: 1557 Number of frames to dump: 0 Camera mode: preview SUCCESS: Camera module opened Camera Id: 0 .. Available raw sizes: raw size: 4208x3120 Camera Id: 1 .. Available raw sizes: raw size: 224x1557 (TOF?) Camera Id: 2 .. Available raw sizes: raw size: 640x480 SUCCESS: TOF interface created! =========== modalai Royale3.31, Spectre4.7 CameraDevice::activateUseCase() : return SUCCESS!! =========== modalai Royale3.31, Spectre4.7 CameraDevice::activateUseCase() : return SUCCESS!! Libcamera sending RAW16 TOF data. App calling the PMD libs to postprocess the RAW16 data [ INFO] [1613747443.833934348]: Loading lens parameters from /data/misc/camera/irs10x0c_lens.cal. [ INFO] [1613747443.836526236]: cx/cy 114.822 89.022 fx/fy 111.394 111.394 tan coeff -0.00222965 -0.00368372 rad coeff -0.261745 0.098178 -0.0166875 Camera HAL3 ToF camera app is now running Frame: 0 SensorTimestamp = 1007492959341 Frame: 30 SensorTimestamp = 1008492961341 Frame: 60 SensorTimestamp = 1009492982341 Frame: 90 SensorTimestamp = 1010492981341 Frame: 120 SensorTimestamp = 1011492984341 Frame: 150 SensorTimestamp = 1012493005341 Frame: 180 SensorTimestamp = 1013493045341 Frame: 210 SensorTimestamp = 1014493011341
It seems that the frame_rate is hardcoded in hello_hal3_camera.h
static const uint8_t FrameRate = 30;
was it supposed to be hard-coded? if yes than how can I try different configuration as mention in the TOF data sheet
Rate: 5 - 45FPS in configurable option modes for distance / accuracy / framerate Exposure Time: 4.8 ms typ. @ 45 fps / 30 ms typ. @ 5 fps Range :4 - 6m Depth Resolution: <= 1% of distance (0.5 – 4m @ 5fps) <= 2% of distance (0.1 – 1m @ 45fps)
Here are the results for different FPS. They all look the same. Seems to have no effect of framerate argument