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    2. giladWDS
    3. Posts
    G
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    Posts made by giladWDS

    • RE: cam does not seem to be alive issue

      @Alex-Kushleyev
      I will test it with the flight deck and let you know as soon as I can

      posted in Image Sensors
      G
      giladWDS
    • RE: cam does not seem to be alive issue

      @Alex-Kushleyev
      the flight-deck is a voxl2 unit (qrb chip)
      with voxl-camera-server 1.8.9 on 1.1.2 SDK
      other than that one imx412 is enough for the server to crash but let me know if you want the full config and/or driver list

      posted in Image Sensors
      G
      giladWDS
    • RE: cam does not seem to be alive issue

      @Alex-Kushleyev hi
      I just stumbled upon the same bug with our voxl-flight-deck module that also refuses to downscale the fps.

      posted in Image Sensors
      G
      giladWDS
    • RE: cam does not seem to be alive issue

      @Alex-Kushleyev
      It would take some time to do this since I found a workaround compiling the camera server from source with a small fix:
      I changed the hal3_camera_mgr.cpp
      from:
      int32_t frame_rate_rate[] = {fps,fps};
      into:
      int32_t frame_rate_rate[] = {1,30};
      I know this is hacky and will probably bite me if I try to put higher fps for low fps cameras like a tof or something but it works for now.
      I will get back to it and update.

      posted in Image Sensors
      G
      giladWDS
    • RE: cam does not seem to be alive issue

      @Alex-Kushleyev
      I have tested different layouts with different cameras disabled and it didn't work either.
      for some reason, the voxl won't accept any other frame rate in the config file other than 30.

      posted in Image Sensors
      G
      giladWDS
    • RE: cam does not seem to be alive issue

      @Alex-Kushleyev
      Hi, after I had to work on other projects I have finally come back to this and I managed to make the voxl read all cameras when I moved the tracking camera to j8-lower.
      now the issue I'm facing is with a frame rate reduction.
      it seems that whenever I try to change the frame rate of one of the high-res cameras the server crashes.
      this is the server log:

      Oct 27 12:35:13 root systemd[1]: Started voxl-camera-server.
Oct 27 12:35:13 root voxl-camera-server[14170]: detected system image 1.7.6
Oct 27 12:35:13 root voxl-camera-server[14170]: using new imx412 defaults
Oct 27 12:35:13 root voxl-camera-server[14170]: detected system image 1.7.6
Oct 27 12:35:14 root voxl-camera-server[14170]: using new imx412 defaults
Oct 27 12:35:14 root voxl-camera-server[14170]: =================================================================
Oct 27 12:35:14 root voxl-camera-server[14170]: configuration for 3 cameras:
Oct 27 12:35:14 root voxl-camera-server[14170]: cam #0
Oct 27 12:35:14 root voxl-camera-server[14170]:     name:                hires2
Oct 27 12:35:14 root voxl-camera-server[14170]:     sensor type:         imx412
Oct 27 12:35:14 root voxl-camera-server[14170]:     isEnabled:           1
Oct 27 12:35:14 root voxl-camera-server[14170]:     camId:               0
Oct 27 12:35:14 root voxl-camera-server[14170]:     camId2:              -1
Oct 27 12:35:14 root voxl-camera-server[14170]:     fps:                 10
Oct 27 12:35:14 root voxl-camera-server[14170]:     en_rotate:           0
Oct 27 12:35:14 root voxl-camera-server[14170]:     en_rotate2:          0
Oct 27 12:35:14 root voxl-camera-server[14170]:     en_preview:          1
Oct 27 12:35:14 root voxl-camera-server[14170]:     pre_width:           4056
Oct 27 12:35:14 root voxl-camera-server[14170]:     pre_height:          3040
Oct 27 12:35:14 root voxl-camera-server[14170]:     en_raw_preview:      0
Oct 27 12:35:14 root voxl-camera-server[14170]:     en_small_video:      0
Oct 27 12:35:14 root voxl-camera-server[14170]:     small_video_width:   1024
Oct 27 12:35:14 root voxl-camera-server[14170]:     small_video_height:  768
Oct 27 12:35:14 root voxl-camera-server[14170]:     en_large_video:      0
Oct 27 12:35:14 root voxl-camera-server[14170]:     large_video_width:   4056
Oct 27 12:35:14 root voxl-camera-server[14170]:     large_video_height:  3040
Oct 27 12:35:14 root voxl-camera-server[14170]:     en_snapshot:         0
Oct 27 12:35:14 root voxl-camera-server[14170]:     snap_width:          4056
Oct 27 12:35:14 root voxl-camera-server[14170]:     snap_height:         3040
Oct 27 12:35:14 root voxl-camera-server[14170]:     ae_mode:             isp
Oct 27 12:35:14 root voxl-camera-server[14170]:     standby_enabled:     0
Oct 27 12:35:14 root voxl-camera-server[14170]:     decimator:           1
Oct 27 12:35:14 root voxl-camera-server[14170]:     independent_exposure:0
Oct 27 12:35:14 root voxl-camera-server[14170]: cam #1
Oct 27 12:35:14 root voxl-camera-server[14170]:     name:                hires
Oct 27 12:35:14 root voxl-camera-server[14170]:     sensor type:         imx412
Oct 27 12:35:14 root voxl-camera-server[14170]:     isEnabled:           1
Oct 27 12:35:14 root voxl-camera-server[14170]:     camId:               1
Oct 27 12:35:14 root voxl-camera-server[14170]:     camId2:              -1
Oct 27 12:35:14 root voxl-camera-server[14170]:     fps:                 10
Oct 27 12:35:14 root voxl-camera-server[14170]:     en_rotate:           0
Oct 27 12:35:14 root voxl-camera-server[14170]:     en_rotate2:          0
Oct 27 12:35:14 root voxl-camera-server[14170]:     en_preview:          1
Oct 27 12:35:14 root voxl-camera-server[14170]:     pre_width:           4056
Oct 27 12:35:14 root voxl-camera-server[14170]:     pre_height:          3040
Oct 27 12:35:14 root voxl-camera-server[14170]:     en_raw_preview:      0
Oct 27 12:35:14 root voxl-camera-server[14170]:     en_small_video:      0
Oct 27 12:35:14 root voxl-camera-server[14170]:     small_video_width:   1024
Oct 27 12:35:14 root voxl-camera-server[14170]:     small_video_height:  768
Oct 27 12:35:14 root voxl-camera-server[14170]:     en_large_video:      0
Oct 27 12:35:14 root voxl-camera-server[14170]:     large_video_width:   4056
Oct 27 12:35:14 root voxl-camera-server[14170]:     large_video_height:  3040
Oct 27 12:35:14 root voxl-camera-server[14170]:     en_snapshot:         0
Oct 27 12:35:14 root voxl-camera-server[14170]:     snap_width:          4056
Oct 27 12:35:14 root voxl-camera-server[14170]:     snap_height:         3040
Oct 27 12:35:14 root voxl-camera-server[14170]:     ae_mode:             isp
Oct 27 12:35:14 root voxl-camera-server[14170]:     standby_enabled:     0
Oct 27 12:35:14 root voxl-camera-server[14170]:     decimator:           1
Oct 27 12:35:14 root voxl-camera-server[14170]:     independent_exposure:0
Oct 27 12:35:14 root voxl-camera-server[14170]: cam #2
Oct 27 12:35:14 root voxl-camera-server[14170]:     name:                tracking
Oct 27 12:35:14 root voxl-camera-server[14170]:     sensor type:         ar0144
Oct 27 12:35:14 root voxl-camera-server[14170]:     isEnabled:           1
Oct 27 12:35:14 root voxl-camera-server[14170]:     camId:               2
Oct 27 12:35:14 root voxl-camera-server[14170]:     camId2:              -1
Oct 27 12:35:14 root voxl-camera-server[14170]:     fps:                 30
Oct 27 12:35:14 root voxl-camera-server[14170]:     en_rotate:           0
Oct 27 12:35:14 root voxl-camera-server[14170]:     en_rotate2:          0
Oct 27 12:35:14 root voxl-camera-server[14170]:     en_preview:          1
Oct 27 12:35:14 root voxl-camera-server[14170]:     pre_width:           1280
Oct 27 12:35:14 root voxl-camera-server[14170]:     pre_height:          800
Oct 27 12:35:14 root voxl-camera-server[14170]:     en_raw_preview:      1
Oct 27 12:35:14 root voxl-camera-server[14170]:     en_small_video:      0
Oct 27 12:35:14 root voxl-camera-server[14170]:     small_video_width:   -1
Oct 27 12:35:14 root voxl-camera-server[14170]:     small_video_height:  -1
Oct 27 12:35:14 root voxl-camera-server[14170]:     en_large_video:      0
Oct 27 12:35:14 root voxl-camera-server[14170]:     large_video_width:   -1
Oct 27 12:35:14 root voxl-camera-server[14170]:     large_video_height:  -1
Oct 27 12:35:14 root voxl-camera-server[14170]:     en_snapshot:         0
Oct 27 12:35:14 root voxl-camera-server[14170]:     snap_width:          -1
Oct 27 12:35:14 root voxl-camera-server[14170]:     snap_height:         -1
Oct 27 12:35:14 root voxl-camera-server[14170]:     ae_mode:             lme_msv
Oct 27 12:35:14 root voxl-camera-server[14170]:     standby_enabled:     0
Oct 27 12:35:14 root voxl-camera-server[14170]:     decimator:           1
Oct 27 12:35:14 root voxl-camera-server[14170]:     independent_exposure:0
Oct 27 12:35:14 root voxl-camera-server[14170]: fsync_en:            0
Oct 27 12:35:14 root voxl-camera-server[14170]: fsync_gpio:          111
Oct 27 12:35:14 root voxl-camera-server[14170]: =================================================================
Oct 27 12:35:14 root voxl-camera-server[14170]: connected to GPS mavlink pipe
Oct 27 12:35:14 root voxl-camera-server[14170]: Starting Camera: hires2 (id #0)
Oct 27 12:35:14 root voxl-camera-server[14170]: Connected to cpu-monitor
Oct 27 12:35:14 root voxl-camera-server[14170]: Using gain limits min: 100 max: 1600
Oct 27 12:35:14 root voxl-camera-server[14170]: gbm_create_device(156): Info: backend name is: msm_drm
Oct 27 12:35:14 root voxl-camera-server[14170]: Starting Camera: hires (id #1)
Oct 27 12:35:14 root voxl-camera-server[14170]: Using gain limits min: 100 max: 1600
Oct 27 12:35:14 root voxl-camera-server[14170]: ERROR:   Received "Result" error from camera: hires2
Oct 27 12:35:14 root systemd[1]: voxl-camera-server.service: Main process exited, code=killed, status=6/ABRT
Oct 27 12:35:14 root systemd[1]: voxl-camera-server.service: Failed with result 'signal'.
Oct 27 12:35:16 root systemd[1]: voxl-camera-server.service: Service hold-off time over, scheduling restart.
Oct 27 12:35:16 root systemd[1]: voxl-camera-server.service: Scheduled restart job, restart counter is at 1.

      and this is the config file:

      cat /etc/modalai/voxl-camera-server.conf 
/**
 * voxl-camera-server Configuration File
 *
 * Each camera has configurations for up to 4 HAL3 streams:
 *    - `preview` stream for raw unprocessed images from CV cameras
 *    - `small_video` 720p (ish) h264/h265 compressed for fpv video streaming
 *    - `large_video` 4k (ish) h264/h265 for onboard video recording to disk
 *    - `snapshot` ISP-processed JPG snapshots that get saved to disk
 *
 * on QRB5165 platforms (VOXL2 and VOXL2 mini) you can only have 3 of the 4 enabled
 *
 * This file is generated from default values by voxl-configure-cameras.
 * Do not expect arbitrary resolutions to work, the ISP and video compression
 * pipelines only support very specific resolutions.
 *
 * The default video compression mode is cqp or Constant Quantization Parameter
 *
 *
 *
 */
{
	"version":	0.1,
	"fsync_en":	false,
	"fsync_gpio":	111,
	"cameras":	[{
			"type":	"imx412",
			"name":	"hires2",
			"enabled":	true,
			"camera_id":	0,
			"fps":	10,
			"en_preview":	true,
			"preview_width":	4056,
			"preview_height":	3040,
			"en_raw_preview":	false,
			"en_small_video":	false,
			"small_video_width":	1024,
			"small_video_height":	768,
			"small_venc_mode":	"h265",
			"small_venc_br_ctrl":	"cqp",
			"small_venc_Qfixed":	30,
			"small_venc_Qmin":	15,
			"small_venc_Qmax":	40,
			"small_venc_nPframes":	9,
			"small_venc_mbps":	2,
			"en_large_video":	false,
			"large_video_width":	4056,
			"large_video_height":	3040,
			"large_venc_mode":	"h265",
			"large_venc_br_ctrl":	"cqp",
			"large_venc_Qfixed":	38,
			"large_venc_Qmin":	15,
			"large_venc_Qmax":	50,
			"large_venc_nPframes":	29,
			"large_venc_mbps":	30,
			"en_snapshot":	false,
			"en_snapshot_width":	4056,
			"en_snapshot_height":	3040,
			"ae_mode":	"isp"
		}, {
			"type":	"imx412",
			"name":	"hires",
			"enabled":	true,
			"camera_id":	1,
			"fps":	10,
			"en_preview":	true,
			"preview_width":	4056,
			"preview_height":	3040,
			"en_raw_preview":	false,
			"en_small_video":	false,
			"small_video_width":	1024,
			"small_video_height":	768,
			"small_venc_mode":	"h265",
			"small_venc_br_ctrl":	"cqp",
			"small_venc_Qfixed":	30,
			"small_venc_Qmin":	15,
			"small_venc_Qmax":	40,
			"small_venc_nPframes":	9,
			"small_venc_mbps":	2,
			"en_large_video":	false,
			"large_video_width":	4056,
			"large_video_height":	3040,
			"large_venc_mode":	"h265",
			"large_venc_br_ctrl":	"cqp",
			"large_venc_Qfixed":	38,
			"large_venc_Qmin":	15,
			"large_venc_Qmax":	50,
			"large_venc_nPframes":	29,
			"large_venc_mbps":	30,
			"en_snapshot":	false,
			"en_snapshot_width":	4056,
			"en_snapshot_height":	3040,
			"ae_mode":	"isp"
		}, {
			"type":	"ar0144",
			"name":	"tracking",
			"enabled":	true,
			"camera_id":	2,
			"fps":	30,
			"en_rotate":	false,
			"en_preview":	true,
			"preview_width":	1280,
			"preview_height":	800,
			"en_raw_preview":	true,
			"ae_mode":	"lme_msv",
			"ae_desired_msv":	60,
			"exposure_min_us":	20,
			"exposure_max_us":	33000,
			"gain_min":	54,
			"gain_max":	8000,
			"exposure_soft_min_us":	5000,
			"ae_filter_alpha":	0.600000023841858,
			"ae_ignore_fraction":	0.20000000298023224,
			"ae_slope":	0.05000000074505806,
			"ae_exposure_period":	1,
			"ae_gain_period":	1
		}]
}

      And when I change it back to 30 fps it works. the problem is the CPU toll 30 takes.

      posted in Image Sensors
      G
      giladWDS
    • RE: CP with custom sensors

      @James-Strawson
      Thank you for the response.
      we want to use an array of 4 vl53l5cx sensors to capture data around the drone. I know that there is existing support for vl53l1cx sensors. since it is crucial to know of possible obstacles from multiple angles we need the 4x4 version.
      in this case, I have a point cloud of 64 points around the drone. so should I send those on the pointcloud pipe?

      for the few services:
      this is the service inspect output:

       Service Name             |  Enabled  |   Running   |  CPU Usage
-------------------------------------------------------------------
 docker-autorun           |  Enabled  | Not Running |  
 modallink-relink         | Disabled  | Not Running |  
 voxl-camera-server       |  Enabled  |   Running   |     2.2%
 voxl-cpu-monitor         |  Enabled  |   Running   |     0.6%
 voxl-dfs-server          | Disabled  | Not Running |  
 voxl-feature-tracker     | Disabled  | Not Running |  
 voxl-flow-server         | Disabled  | Not Running |  
 voxl-imu-server          |  Enabled  |   Running   |     0.1%
 voxl-lepton-server       | Disabled  | Not Running |  
 voxl-mavcam-manager      | Disabled  | Not Running |  
 voxl-mavlink-server      |  Enabled  |   Running   |     2.9%
 voxl-modem               | Disabled  | Not Running |  
 voxl-neopixel-manager    | Disabled  | Not Running |  
 voxl-open-vins-server    | Disabled  | Not Running |  
 voxl-portal              |  Enabled  |   Running   |     0.1%
 voxl-px4-imu-server      | Disabled  | Not Running |  
 voxl-px4                 |  Enabled  |   Running   |    30.5%
 voxl-qvio-server         | Disabled  | Not Running |  
 voxl-rangefinder-server  | Disabled  | Not Running |  
 voxl-remote-id           | Disabled  | Not Running |  
 voxl-softap              | Disabled  | Not Running |  
 voxl-static-ip           | Disabled  | Not Running |  
 voxl-streamer            | Disabled  | Not Running |  
 voxl-tag-detector        | Disabled  | Not Running |  
 voxl-tflite-server       | Disabled  | Not Running |  
 voxl-time-sync           | Disabled  | Not Running |  
 voxl-uvc-server          | Disabled  | Not Running |  
 voxl-vision-hub          |  Enabled  |   Running   |     1.7%
 voxl-wait-for-fs         |  Enabled  |  Completed  |
      posted in Modal Pipe Architecture (MPA)
      G
      giladWDS
    • CP with custom sensors

      Hi,
      I want to integrate collision prevention into my system.
      currently, I have a microcontroller that manages all the sensor data and is connected to the voxl2 through serial.
      now I debate two ways to implement this and I don't know that is the best approach.

      1. using mavlink directly to px4. I saw that the px4 exposes a UDP port to send mavlink msgs directly to px4. this feels sub-optimal as this bypasses the integrated VOA system and the voxel-vision-hub.
      2. make a pipe client and transform the data from the serial port to some kind of TOF sensor and publish it.
        Is the second option the way to go or is the first option viable as well?
        Furthermore, I don't see all the voxl-vision-hub pipes:
      voxl2:~$ voxl-list-pipes -t
camera_image_metadata_t
	hires_large_color
	hires_large_encoded
	hires_large_grey
	hires_small_color
	hires_small_encoded
	hires_small_grey
	hires_snapshot

cpu_stats_t
	cpu_monitor

imu_data_t
	imu_apps

imu_fft_data_t
	imu_apps_fft

mavlink_message_t
	mavlink_ap_heartbeat
	mavlink_attitude
	mavlink_from_gcs
	mavlink_gps_raw_int
	mavlink_local_position_ned
	mavlink_onboard
	mavlink_sys_status
	mavlink_to_gcs

point_cloud_metadata_t
	voa_pc_out

pose_vel_6dof_t
	vvhub_body_wrt_fixed
	vvhub_body_wrt_local

string
	gcs_ip_list

text
	horizon_cal_io

      Is this presenting all server pipes that have clients?

      posted in Modal Pipe Architecture (MPA)
      G
      giladWDS
    • RE: custom uart usage

      @Eric-Katzfey
      Thank you for the reply
      The only board I have no for testing is:
      MCCA-M0151-1
      I use the USB portion for the wifi and see that it exposes a uart port- HS1 for the external USB board.
      I can't seem to communicate with this HS0 port as a standalone port.
      Is it only for external Flight controllers?

      I looked into this:
      https://docs.modalai.com/usb2-type-a-breakout-add-on/
      but it seems to expose the same uart I can not talk to.
      Can you please recommend me a board that won't affect the wifi capability but would add uart ports that I desperately need?

      • EDIT:
        also if push comes to shove I would appreciate sources on how to write and compile a px4 driver that reads from the uart on j19.

      Thank you and best regards,
      Gilad

      posted in VOXL SDK
      G
      giladWDS
    • RE: custom uart usage

      @giladWDS To specify. my sensor is connected to a microcontroller. so also I prefer UART I can do i2c(I have tried and it didn't work as well) and I can do SPI if it works better.

      posted in VOXL SDK
      G
      giladWDS
    • custom uart usage

      Hi,
      I wanted to add a custom sensor to my voxel-2 through j19 UART.
      now I see that this UART is reserved to RC-inputs. but even when I disabled those in /etc/modalai/voxl-px4.conf, I still can't access the port.
      I looked a bit and found this:
      https://gitlab.com/voxl-public/voxl-sdk/core-libs/libqrb5165-io/-/tree/master/python?ref_type=heads
      and tried using it with port 7.
      when I tried to write it gave me the following:
      ERROR: voxl_uart_write: Bus '17' is not initialized
      and on init, it gave:
      Sending library name request: libslpi_qrb5165_io.so
      Sending initialization request
      Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
      Couldn't configure flight_controller sensor
      ERROR: fc_sensor_initialize failed
      ERROR: Failed to initialize slpi
      ERROR: Encountered error while initializing bus 17

      so it looks like it is still looking for some RC sensor.
      I guess my real question is how can I access SLPI UART as a user since I don't see them in /dev/tty*
      Thank you

      posted in VOXL SDK
      G
      giladWDS
    • RE: cam does not seem to be alive issue

      @Alex-Kushleyev
      Thank you for the help, I have tried a different cable and it didn't work either, plus this flex is working when I am using it on a different voxl2

      posted in Image Sensors
      G
      giladWDS
    • RE: cam does not seem to be alive issue

      EDIT:
      If it helps this is my voxl-version

      --------------------------------------------------------------------------------
system-image: 1.7.6-M0054-14.1a-perf
kernel:       #1 SMP PREEMPT Wed Mar 20 19:48:52 UTC 2024 4.19.125
--------------------------------------------------------------------------------
hw platform:  M0054
mach.var:     1.0
--------------------------------------------------------------------------------
voxl-suite:   1.2.0
--------------------------------------------------------------------------------
Packages:
Repo:  http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.2/binary-arm64/
Last Updated: 2023-03-02 13:19:12
List:
kernel-module-voxl-fsync-mod-4.19.125     1.0-r0
kernel-module-voxl-gpio-mod-4.19.125      1.0-r0
kernel-module-voxl-platform-mod-4.19.125  1.0-r0
libfc-sensor                              1.0.5
libmodal-cv                               0.4.0
libmodal-exposure                         0.1.0
libmodal-journal                          0.2.2
libmodal-json                             0.4.3
libmodal-pipe                             2.10.0
libqrb5165-io                             0.4.5
libvoxl-cci-direct                        0.2.1
libvoxl-cutils                            0.1.1
modalai-slpi                              1.1.12
mv-voxl                                   0.1-r0
qrb5165-bind                              0.1-r0
qrb5165-dfs-server                        0.2.0
qrb5165-imu-server                        1.0.1
qrb5165-rangefinder-server                0.1.1
qrb5165-slpi-test-sig                     01-r0
qrb5165-system-tweaks                     0.2.6
qrb5165-tflite                            2.8.0-2
voxl-bind-spektrum                        0.1.1
voxl-camera-calibration                   0.5.4
voxl-camera-server                        1.9.1
voxl-ceres-solver                         2:1.14.0-10
voxl-configurator                         0.5.6
voxl-cpu-monitor                          0.4.8
voxl-docker-support                       1.3.1
voxl-elrs                                 0.1.3
voxl-esc                                  1.4.0
voxl-feature-tracker                      0.3.2
voxl-flow-server                          0.3.3
voxl-fsync-mod                            1.0-r0
voxl-gphoto2-server                       0.0.10
voxl-gpio-mod                             1.0-r0
voxl-jpeg-turbo                           2.1.3-5
voxl-lepton-server                        1.2.0
voxl-libgphoto2                           0.0.4
voxl-libuvc                               1.0.7
voxl-logger                               0.4.0
voxl-mavcam-manager                       0.5.3
voxl-mavlink                              0.1.1
voxl-mavlink-server                       1.4.0
voxl-microdds-agent                       2.4.1-0
voxl-modem                                1.0.9
voxl-mongoose                             7.7.0-1
voxl-mpa-to-ros                           0.3.7
voxl-mpa-to-ros2                          0.0.3
voxl-mpa-tools                            1.1.5
voxl-neopixel-manager                     0.0.3
voxl-open-vins                            0.4.4
voxl-open-vins-server                     0.2.18
voxl-opencv                               4.5.5-2
voxl-platform-mod                         1.0-r0
voxl-portal                               0.6.5
voxl-px4                                  1.14.0-2.0.68
voxl-px4-imu-server                       0.1.2
voxl-px4-params                           0.3.8
voxl-qvio-server                          1.0.2
voxl-remote-id                            0.0.9
voxl-ros2-foxy                            0.0.1
voxl-streamer                             0.7.4
voxl-suite                                1.2.0
voxl-tag-detector                         0.0.4
voxl-tflite-server                        0.3.2
voxl-utils                                1.3.9
voxl-uvc-server                           0.1.6
voxl-vision-hub                           1.7.4
voxl2-system-image                        1.7.6-r0
voxl2-wlan                                1.0-r0
--------------------------------------------------------------------------------
      posted in Image Sensors
      G
      giladWDS
    • RE: cam does not seem to be alive issue

      @Alex-Kushleyev
      I can confirm that the ar0144 module works.
      it works if i switch to J7L and then the imx connected to J7L wont work when it is connected to J7U.
      I know the setup works because i am currently running it with the same hardware on another voxl2

      @Vinny
      thank you for the comment, I will bring an ESD mat.

      posted in Image Sensors
      G
      giladWDS
    • RE: cam does not seem to be alive issue

      @Alex-Kushleyev Screenshot from 2024-08-28 11-22-56.png

      it seems to be there.
      I also check with the latest drivers found in here:
      https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/tree/master/misc_files/usr/share/modalai/voxl-camera-server/drivers/ar0144
      and it did not changed the behavior.

      posted in Image Sensors
      G
      giladWDS
    • RE: cam does not seem to be alive issue

      @Vinny said in cam does not seem to be alive issue:

      Hi, thank you for your comment,
      I haven't cascaded the two cables.
      I am using MSU-M0084 to connect ar0144 and imx412 to J7, this is why it is probably looking longer then usual

      posted in Image Sensors
      G
      giladWDS
    • cam does not seem to be alive issue

      Hi,
      I have the following setup:
      20240826_173430-min.jpg

      I have configured it with the following file in: /data/modalai/custom_camera_config.txt

      #!/bin/bash

################################################################################
#
# This file allows setting of custom camera configurations by defining what
# sensors are plugged into which port.
#
# There is no guarantee that any arbitrary configuration will work. Only the
# predefined camera configs at https://docs.modalai.com/voxl2-camera-configs/
# are supported.
#
# each slot can be one of the following sensors:
#
# pmd-tof
# pmd-tof-liow2
# ov7251
# ov7251-combo
# ov9782
# ov9782-combo
# ar0144
# ar0144-fsin (for use with m0173 and Starling 2 only)
# ar0144-fsin-combo (for use with m0173 and Starling 2 only)
# imx214
# imx412
# imx412-fpv (low latency mode)
# imx678
#
#
# When using a combo mode pair, you must also add a JX_COMBO_MODE field which
# specifies is the pair is to be set up as either a stereo pair ordered
# left-right, right-left, or treated as two independent cameras. If you are
# using a combo-mode flex but only physically connect one of the two cameras
# then select "single" it does not matter which one you connect.
#
# For example:
# J6_LOWER_COMBO_MODE="left-right"
# J6_LOWER_COMBO_MODE="right-left"
# J6_LOWER_COMBO_MODE="independent"
# J6_LOWER_COMBO_MODE="single"
#
# when running "independent" combo mode, also add a NAME2 field for the second cam
# e.g J6_LOWER_NAME2="tracking_rear"
#
# for all sensors except TOF, you can specify a "rotate" flag to
# rotate the image 180 degrees e.g. J6_LOWER_ROTATE="true" or "false"
# for stereo pairs (e.g. ov7251 combo or ar0144-slave-strereo) you can specify
# "rotate-first-only" or "rotate-second-only" to only rotate one, other wise
# when setting the rotate option to "true" both will be rotated.
#
#
# Once configured, this file should live in /data/modalai/custom_camera-config.txt
# then run voxl-configure-cameras custom to load it in
#
#
# cp /usr/share/modalai/voxl-camera-server/custom_camera_config.txt /data/modalai/
#
# We also suggest changing your /data/modalai/sku.txt file to have a camera
# config term "CC" such as MRB-D0005-4-V2-CC
################################################################################


J6_LOWER_SENSOR="imx412"
J6_LOWER_NAME="hires"
J6_LOWER_ROTATE="false"


J6_UPPER_SENSOR=""
J6_UPPER_NAME=""
J6_UPPER_ROTATE="false"

J7_LOWER_SENSOR="imx412"
J7_LOWER_NAME="hires2"
J7_LOWER_ROTATE="false"

J7_UPPER_SENSOR="ar0144"
J7_UPPER_NAME="tracking"
J7_UPPER_ROTATE="false"

J8_LOWER_SENSOR=""
J8_LOWER_NAME=""
J8_LOWER_ROTATE="false"


J8_UPPER_SENSOR=""
J8_UPPER_NAME=""
J8_UPPER_ROTATE="false"

      And chose the C option int the voxl-configure-cameras script.
      Then after reset I don’t see J7_UPPER sensor (tracking)
      even when I am trying to switch between j7 lower and upper, J7_UPPER is missing.
      when I reset voxl-camera-server system service and check it's status i get:

      voxl-camera-server.service - voxl-camera-server
   Loaded: loaded (/usr/bin/voxl-camera-server; enabled; vendor preset: enabled)
   Active: active (running) since Mon 2024-08-26 14:42:34 UTC; 6s ago
 Main PID: 17591 (voxl-camera-ser)
    Tasks: 112 (limit: 4915)
   CGroup: /system.slice/voxl-camera-server.service
           └─17591 /usr/bin/voxl-camera-server

Aug 26 14:42:34 m0054 voxl-camera-server[17591]: =================================================================
Aug 26 14:42:34 m0054 voxl-camera-server[17591]: connected to mavlink pipe
Aug 26 14:42:34 m0054 voxl-camera-server[17591]: Starting Camera: hires (id #0)
Aug 26 14:42:34 m0054 voxl-camera-server[17591]: Connected to cpu-monitor
Aug 26 14:42:34 m0054 voxl-camera-server[17591]: gbm_create_device(156): Info: backend name is: msm_drm
Aug 26 14:42:34 m0054 voxl-camera-server[17591]: Starting Camera: hires2 (id #1)
Aug 26 14:42:34 m0054 voxl-camera-server[17591]: Starting Camera: tracking (id #2)
Aug 26 14:42:34 m0054 voxl-camera-server[17591]: WARNING: cam tracking (id 2) does not seem to be alive
Aug 26 14:42:34 m0054 voxl-camera-server[17591]: ------ voxl-camera-server: Started 2 of 3 cameras
Aug 26 14:42:34 m0054 voxl-camera-server[17591]: ------ voxl-camera-server: Camera server is now running

      Furthermore, voxel-camera-server -l command prints:

      existing instance of voxl-camera-server found, attempting to stop it
DEBUG:   Attempting to open the hal module
DEBUG:   SUCCESS: Camera module opened on attempt 0
DEBUG:   ----------- Number of cameras: 2

DEBUG:   Cam idx: 0, Cam slot: 0, Slave Address: 0x0034, Sensor Id: 0x0577
DEBUG:   Cam idx: 1, Cam slot: 2, Slave Address: 0x0034, Sensor Id: 0x0577
DEBUG:   Note: This list comes from the HAL module and may not be indicative
DEBUG:   	of configurations that have full pipelines

DEBUG:   Number of cameras: 2


====================================
Stats for camera: 0

ANDROID_SCALER_AVAILABLE_RAW_SIZES:
These are likely supported by the sensor
4056 x 3040
4056 x 2288
3040 x 3040
3040 x 3040
3040 x 3040
3040 x 3040
4056 x 3040
4056 x 3040
4056 x 2288
4056 x 2288
4056 x 2288
4056 x 2288
2028 x 1112
1920 x 1080

ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
These are NOT necessarily supported by the sensor
4056 x 3040 HAL_PIXEL_FORMAT_YCbCr_420_888
4056 x 3040 HAL_PIXEL_FORMAT_BLOB
4000 x 3000 HAL_PIXEL_FORMAT_YCbCr_420_888
4000 x 3000 HAL_PIXEL_FORMAT_BLOB
3840 x 2160 HAL_PIXEL_FORMAT_YCbCr_420_888
3840 x 2160 HAL_PIXEL_FORMAT_BLOB
3264 x 2448 HAL_PIXEL_FORMAT_YCbCr_420_888
3264 x 2448 HAL_PIXEL_FORMAT_BLOB
3200 x 2400 HAL_PIXEL_FORMAT_YCbCr_420_888
3200 x 2400 HAL_PIXEL_FORMAT_BLOB
2976 x 2976 HAL_PIXEL_FORMAT_YCbCr_420_888
2976 x 2976 HAL_PIXEL_FORMAT_BLOB
2688 x 1512 HAL_PIXEL_FORMAT_YCbCr_420_888
2688 x 1512 HAL_PIXEL_FORMAT_BLOB
2592 x 1944 HAL_PIXEL_FORMAT_YCbCr_420_888
2592 x 1944 HAL_PIXEL_FORMAT_BLOB
2048 x 1536 HAL_PIXEL_FORMAT_YCbCr_420_888
2048 x 1536 HAL_PIXEL_FORMAT_BLOB
1920 x 1440 HAL_PIXEL_FORMAT_YCbCr_420_888
1920 x 1440 HAL_PIXEL_FORMAT_BLOB
1928 x 1208 HAL_PIXEL_FORMAT_YCbCr_420_888
1928 x 1208 HAL_PIXEL_FORMAT_BLOB
1920 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
1920 x 1080 HAL_PIXEL_FORMAT_BLOB
1600 x 1200 HAL_PIXEL_FORMAT_YCbCr_420_888
1600 x 1200 HAL_PIXEL_FORMAT_BLOB
1440 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
1440 x 1080 HAL_PIXEL_FORMAT_BLOB
1280 x  960 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x  960 HAL_PIXEL_FORMAT_BLOB
1280 x  800 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x  800 HAL_PIXEL_FORMAT_BLOB
1280 x  768 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x  768 HAL_PIXEL_FORMAT_BLOB
1280 x  720 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x  720 HAL_PIXEL_FORMAT_BLOB
1080 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
1080 x 1080 HAL_PIXEL_FORMAT_BLOB
1024 x  738 HAL_PIXEL_FORMAT_YCbCr_420_888
1024 x  738 HAL_PIXEL_FORMAT_BLOB
1024 x  768 HAL_PIXEL_FORMAT_YCbCr_420_888
1024 x  768 HAL_PIXEL_FORMAT_BLOB
 864 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
 864 x  480 HAL_PIXEL_FORMAT_BLOB
 800 x  600 HAL_PIXEL_FORMAT_YCbCr_420_888
 800 x  600 HAL_PIXEL_FORMAT_BLOB
 800 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
 800 x  480 HAL_PIXEL_FORMAT_BLOB
 720 x 1280 HAL_PIXEL_FORMAT_YCbCr_420_888
 720 x 1280 HAL_PIXEL_FORMAT_BLOB
 720 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
 720 x  480 HAL_PIXEL_FORMAT_BLOB
 640 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
 640 x  480 HAL_PIXEL_FORMAT_BLOB
 640 x  400 HAL_PIXEL_FORMAT_YCbCr_420_888
 640 x  400 HAL_PIXEL_FORMAT_BLOB
 640 x  360 HAL_PIXEL_FORMAT_YCbCr_420_888
 640 x  360 HAL_PIXEL_FORMAT_BLOB
 352 x  288 HAL_PIXEL_FORMAT_YCbCr_420_888
 352 x  288 HAL_PIXEL_FORMAT_BLOB
 320 x  240 HAL_PIXEL_FORMAT_YCbCr_420_888
 320 x  240 HAL_PIXEL_FORMAT_BLOB
 240 x  320 HAL_PIXEL_FORMAT_YCbCr_420_888
 240 x  320 HAL_PIXEL_FORMAT_BLOB
 176 x  144 HAL_PIXEL_FORMAT_YCbCr_420_888
 176 x  144 HAL_PIXEL_FORMAT_BLOB
4056 x 3040 HAL_PIXEL_FORMAT_RAW10
4056 x 3040 HAL_PIXEL_FORMAT_RAW12
4056 x 3040 HAL_PIXEL_FORMAT_RAW16
4056 x 3040 HAL_PIXEL_FORMAT_RAW_OPAQUE

ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
	min = 100
	max = 1600

ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
	1600

ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
	min = 0ns
	max = 232155075ns


====================================
Stats for camera: 1

ANDROID_SCALER_AVAILABLE_RAW_SIZES:
These are likely supported by the sensor
4056 x 3040
4056 x 2288
3040 x 3040
3040 x 3040
3040 x 3040
3040 x 3040
4056 x 3040
4056 x 3040
4056 x 2288
4056 x 2288
4056 x 2288
4056 x 2288
2028 x 1112
1920 x 1080

ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
These are NOT necessarily supported by the sensor
4056 x 3040 HAL_PIXEL_FORMAT_YCbCr_420_888
4056 x 3040 HAL_PIXEL_FORMAT_BLOB
4000 x 3000 HAL_PIXEL_FORMAT_YCbCr_420_888
4000 x 3000 HAL_PIXEL_FORMAT_BLOB
3840 x 2160 HAL_PIXEL_FORMAT_YCbCr_420_888
3840 x 2160 HAL_PIXEL_FORMAT_BLOB
3264 x 2448 HAL_PIXEL_FORMAT_YCbCr_420_888
3264 x 2448 HAL_PIXEL_FORMAT_BLOB
3200 x 2400 HAL_PIXEL_FORMAT_YCbCr_420_888
3200 x 2400 HAL_PIXEL_FORMAT_BLOB
2976 x 2976 HAL_PIXEL_FORMAT_YCbCr_420_888
2976 x 2976 HAL_PIXEL_FORMAT_BLOB
2688 x 1512 HAL_PIXEL_FORMAT_YCbCr_420_888
2688 x 1512 HAL_PIXEL_FORMAT_BLOB
2592 x 1944 HAL_PIXEL_FORMAT_YCbCr_420_888
2592 x 1944 HAL_PIXEL_FORMAT_BLOB
2048 x 1536 HAL_PIXEL_FORMAT_YCbCr_420_888
2048 x 1536 HAL_PIXEL_FORMAT_BLOB
1920 x 1440 HAL_PIXEL_FORMAT_YCbCr_420_888
1920 x 1440 HAL_PIXEL_FORMAT_BLOB
1928 x 1208 HAL_PIXEL_FORMAT_YCbCr_420_888
1928 x 1208 HAL_PIXEL_FORMAT_BLOB
1920 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
1920 x 1080 HAL_PIXEL_FORMAT_BLOB
1600 x 1200 HAL_PIXEL_FORMAT_YCbCr_420_888
1600 x 1200 HAL_PIXEL_FORMAT_BLOB
1440 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
1440 x 1080 HAL_PIXEL_FORMAT_BLOB
1280 x  960 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x  960 HAL_PIXEL_FORMAT_BLOB
1280 x  800 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x  800 HAL_PIXEL_FORMAT_BLOB
1280 x  768 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x  768 HAL_PIXEL_FORMAT_BLOB
1280 x  720 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x  720 HAL_PIXEL_FORMAT_BLOB
1080 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
1080 x 1080 HAL_PIXEL_FORMAT_BLOB
1024 x  738 HAL_PIXEL_FORMAT_YCbCr_420_888
1024 x  738 HAL_PIXEL_FORMAT_BLOB
1024 x  768 HAL_PIXEL_FORMAT_YCbCr_420_888
1024 x  768 HAL_PIXEL_FORMAT_BLOB
 864 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
 864 x  480 HAL_PIXEL_FORMAT_BLOB
 800 x  600 HAL_PIXEL_FORMAT_YCbCr_420_888
 800 x  600 HAL_PIXEL_FORMAT_BLOB
 800 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
 800 x  480 HAL_PIXEL_FORMAT_BLOB
 720 x 1280 HAL_PIXEL_FORMAT_YCbCr_420_888
 720 x 1280 HAL_PIXEL_FORMAT_BLOB
 720 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
 720 x  480 HAL_PIXEL_FORMAT_BLOB
 640 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
 640 x  480 HAL_PIXEL_FORMAT_BLOB
 640 x  400 HAL_PIXEL_FORMAT_YCbCr_420_888
 640 x  400 HAL_PIXEL_FORMAT_BLOB
 640 x  360 HAL_PIXEL_FORMAT_YCbCr_420_888
 640 x  360 HAL_PIXEL_FORMAT_BLOB
 352 x  288 HAL_PIXEL_FORMAT_YCbCr_420_888
 352 x  288 HAL_PIXEL_FORMAT_BLOB
 320 x  240 HAL_PIXEL_FORMAT_YCbCr_420_888
 320 x  240 HAL_PIXEL_FORMAT_BLOB
 240 x  320 HAL_PIXEL_FORMAT_YCbCr_420_888
 240 x  320 HAL_PIXEL_FORMAT_BLOB
 176 x  144 HAL_PIXEL_FORMAT_YCbCr_420_888
 176 x  144 HAL_PIXEL_FORMAT_BLOB
4056 x 3040 HAL_PIXEL_FORMAT_RAW10
4056 x 3040 HAL_PIXEL_FORMAT_RAW12
4056 x 3040 HAL_PIXEL_FORMAT_RAW16
4056 x 3040 HAL_PIXEL_FORMAT_RAW_OPAQUE

ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
	min = 100
	max = 1600

ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
	1600

ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
	min = 0ns
	max = 232155075ns

====================================
Number of cameras detected: 2
====================================

      And, vocel-inspect-cam doesn’t give me the option to inspect tracking so when I try `voxl-inspect-cam -a’ I get:

      123123-min (1).jpg

      I would love any help with this.

      posted in Image Sensors
      G
      giladWDS