ModalAI Forum

@Moderator The checker board was glued to cardboard as a backing. I printed the 9x6 as a PDF. The size of the squares are ~23mm is the the correct size?

Hi everyone,

Im using the Starling V2 board on a VOXL2 which is integrated on a custom drone. Currently I'm trying to set up VIO on the drone. I configured the camera extrinsics, calibrated the IMU. I went through the process of calibrating the gyro, accel, mag, baro, and level horizon on px4 through QGC. When I check for the files they are not saved:
voxl2 (M0054):~$ voxl-check-calibration
Calibration File Status:
Present /data/modalai/voxl-imu-server.cal
Present /data/px4/param/parameters_gyro.cal
Missing /data/px4/param/parameters_acc.cal
Missing /data/px4/param/parameters_level.cal
Missing /data/px4/param/parameters_baro_tc.cal
Missing /data/px4/param/parameters_mag.cal

Detected Missing Calibration Files
please run the required cals
https://docs.modalai.com/calibration/

when I try to run qVIO server it failes because it is missing the opencv_tracking_front_intrinsics.yml. I've bee going throught the process of calibrating the tracking cameras with the 9x6 checker boards but its constantly failing. it says it most likely due to motion blur. the tracking cam im using is the AR0144 forward and down.

I've been running this line "sudo voxl-calibrate-camera tracking_front -s 9x6 0.023". I tried it also with fisheye but that didn't work as well.

Can someone provide a possible reasoning for this or share some tips to complete these steps?
@QSL

I am not able to stream video on QGC from VOXL2 to Herelink via ethernet port . Is there any set up required on the herelink side in regards to the IP address? The Herelink controller is connected to my local wifi and is paired with the air unit. Im using an INSIGNIA USB-to-ETH adaptor to connect the VOXL2 to the Air Unit.
ethernet adaptor

What have you guys done to stream the video to QGC? do you use a wifi dongle?

@Alex-Kushleyev Thank you for the information.

I tried to flash the VOXL2 to variant #0 but i doesn't seem to flash it following your instructions.

idanfiksel@macbookpro system-image % adb reboot bootloader
idanfiksel@macbookpro system-image % fastboot flash boot_a m0054-1-var00.0-kernel.img
Sending 'boot_a' (17560 KB) OKAY [ 0.439s]
Writing 'boot_a' OKAY [ 0.118s]
Finished. Total time: 0.621s
idanfiksel@macbookpro system-image % fastboot flash boot_b m0054-1-var00.0-kernel.img
Sending 'boot_b' (17560 KB) OKAY [ 0.438s]
Writing 'boot_b' OKAY [ 0.093s]
Finished. Total time: 0.557s
idanfiksel@macbookpro system-image % fastboot reboot
Rebooting OKAY [ 0.000s]
Finished. Total time: 0.000s
idanfiksel@macbookpro system-image % adb shell

system-image: 1.8.04-M0054-14.1a-perf
kernel: #1 SMP PREEMPT Mon Mar 24 21:47:11 UTC 2025 4.19.125
────────────────────────────────────────────────────────────────────────────────
hw platform: M0054
mach.var: 1.0.0
SKU: TF-M0054-4-V1-C11
────────────────────────────────────────────────────────────────────────────────
voxl-suite: 1.5.0

Is there a step I'm missing?

Thank you @Alex-Kushleyev, for the response. The current kernel variant is #1. I will flash variant #0 onto the voxl2. Does this kernel allow me to place a PMD sensor on J8 and J6, and have both be used simultaneously?

Also can I connect two M0172 adaptors with a micro-coax as a way to connect the PMD to the VOXL2?

I am trying to connect an IMX412 and an AR0144 to the VOXL2 with a M0084 cable on J7. Below is the custom configuration file I created. The issue I'm encountering is that neither sensor is being identified on J7U when I run 'voxl-camera-server -l'. Is there a hardware constraint regarding these cameras that I am not aware of?

J6_LOWER_SENSOR="pmd-tof-liow2"
J6_LOWER_NAME="tof-rear"
J6_LOWER_ROTATE="false"

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

J7_LOWER_SENSOR="imx412"
J7_LOWER_NAME="imx412_sensor_front"
J7_LOWER_ROTATE="false"

J7_UPPER_SENSOR="ar0144"
J7_UPPER_NAME="ar0144_sensor_down"
J7_UPPER_ROTATE="false"

J8_LOWER_SENSOR="pmd-tof-liow2"
J8_LOWER_NAME="tof_front"
J8_LOWER_ROTATE="false"

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