Topics created by gauravshukla914

@Alex-Gardner the issue is solve. The imu0 was not working, so by switching to imu1, it worked. Thanks for the help. But we don't know why imu0 is giving very off values compared to imu1 , its a new voxl board that we have.

@Prasad-Antervedi Try following these: https://docs.modalai.com/calibrate-cameras/

@gauravshukla914 no problem, glad it helped

Do you have a GPS/Mag plugged in? If not please try plugging in a GPS/Mag and set the PX4 parameter SYS_HAS_MAG to 1. There is a PX4 bug that prevents VIO-only operation if a magnetometer is missing, even if the magnetometer is not in use. We've been trying to get the bugfix approved and merged into PX4 master for over a year now but it seems to be a lost cause. For now our own branch of PX4 has the bugfix along with some custom tools for our ESCs. If your system starts working again with the magnetometer then we know somehow a standard PX4 image got onto your flight core instead of one of our own. Regards, James

@modaltb Yes you're right. Its not connecting to QGC via usb too.

The only lower bound I've seen is 20cm here: https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-vision-px4/-/blob/master/src/voa_manager.c#L165 So I'm still puzzled. If you debug stereo, what kind of data are you seeing? https://docs.modalai.com/voxl-vision-px4-collision-prevention/#debug-tools

@gauravshukla914 , I for the first time got the "avionics power low" message! I turned off the ADCs on FlightCore for a test and got this error. PX4 monitors the 5VDC rail (and 3.3VDC), and this makes sense now, as the output of that power module was lower than expected. Anyhow, I remembered this post so figured I'd put some details here while I saw it

@gauravshukla914 Great, thanks for the response. Glad we could help. Just FYI, that 2A 5V BEC will not properly power a Voxl, nor would any 5V supply though any of the JST or Hirose connectors, although you may see Voxl try to power up. In those conditions, be sure to use our Power Module as the main 5V so it has a successful power up. This is the only connector that was designed to support the current demand Voxl needs during power up: https://docs.modalai.com/voxl-flight-datasheet-connectors/#j1013---5v-dc-power-input-i2c3-to-power-cable-apm https://docs.modalai.com/power-module-v3-datasheet/ Be sure to reach out with any additional questions. Thanks! Vinny

Looks like we used the 7" one here

The ipk is available here now : http://voxl-packages.modalai.com/stable/voxl-hal3-tof-cam-ros_0.0.5.ipk - you should be able to use the launch file to choose between two modes (5=short range and 9=long range) and fps, which are listed in the launch file.

We offer an add-on board that exposes USB2.0 but not 3.0 as the add-on connector is a 2.0 port. VOXL has the option to be used as a USB3.0 HOST port using a custom cable, but it's not a cable that is easily found... it's somewhat of a fringe setup --> this cable pinout using this port, here's some more info

I think you'll need to reflash the system image. From your previous posts it sounded like ADB goes away consistently after a few minutes. If you can't get to ADB after reboot, then it sounds like it's bricked. See here: https://docs.modalai.com/unbrick-voxl/

Thank you so much for this. This was of great help @Chad-Sweet

Hi @gauravshukla914 , Thanks for the help with this. We've released a new beta version of the voxl-hal3-tof-cam-ros that supports auto detection of ToF and defaults the persist.camera.modalai.tof setting properly. It will be in out next voxl-suite release, but is available from our dev channel here if you are interested in using this link The updated readme is here. Thanks!

1 - Can we use Stereo cameras which is integrated in the VOXL flight deck for performing the SLAM? Yes! definitely possible. To consume the stereo frames, you'll need to disable VOA in voxl-vision-px4 if that is currently enabled. This repo should create a depth map and publish to ROS: https://github.com/ATLFlight/dfs-ros-example 2-IsTOF sensor a better choice for performing SLAM. And if yes, do we need to replace the stereo cameras with the TOF? that depends. TOF works better indoors, and stereo works better outdoors. An upcoming software release, potentially 3.1, will support stereo and TOF concurrently. One of the other image sensors will need to be removed though for support, like the 4k high-res. 3- What is the difference between SLAM performed by Stereo camera and SLAM performed by TOF sensor? Stereo works better outdoors, TOF works better indoors.

You can find where to download most of our software at this page: https://docs.modalai.com/voxl-supporting-software/ MV SDK is Qualcomm software which can be found here: https://developer.qualcomm.com/software/machine-vision-sdk machine-vision-sdk