Posts made by jacob yaacubov

on the voxl2 qrb5165 there is this folder
/data/px4/param

holding the PX4 parameters and calibration

sometimes at bootup the QGC says all parameters lost
seems that on each flight those params are being modified

I want to solve this issue of calibration & params loss by the px4
I will appreciate a short explanation of how the voxl-px4-params data is flowing on the device
my guess is params shall be set and saved via QGC later the VOXL will pull them from the autopilot on each flight to /data/px4/params is this the case ?

thank you !

@Eric-Katzfey

Thanks for the replay

I understand the IP isolation indeed this how I expect this to work

well to answer this I have these weird issues

When QGC is connected only to a single drone the attitude indicator jump between the values of the two drones - hence the home position jumps and the drone refuses to take off
switching one of them off and rebooting the second makes the second one work well when alone on the network

2. when looking at the ROS topic which is reading from the MPA - (qgc is off at this stage )

the local pose values jumped as well, at first I didn't understand why, but then I realized it was getting one value from drone A second From drone B

both drones run same voxl2 with same SDK 1.1.3

same packages and branches on both
tried to play with MAV_SYS_ID param maybe its mavlink issue

kind of confused
both ros master run on 127.0.01 so its local ros communication looks more like mavlink issue not sure though

Hi all,
you've ben very helpful i have an issue with mavlink-server / Voxl-px4-parameters

I have an issue with mavlink-server I tired to change the config files

	"onboard_port_from_autopilot":	14557,
	"gcs_port_to_autopilot":	14558,
	"gcs_port_from_autopilot":	14559,

I want to change it cause when using two drones or more , it seems like Mavlink comms are interfering between (both connected to same network when it occurs )
each other, and I want to isolate each in its own domain
I changed the config file but that makes the mavlink-server not to pass any data between the autopilot and the voxl px4

voxl-mavlinke-inspect
this passes no data from autopilot or to autopilot

I think or guess this happens since the ports are hardcoded in the firmware
I tried to cahnge parameters
MAV_0_UDP_PRT
MAV_1_UDP_PRT
but they don't even exist on the params list of modalais voxl2 qrb5165

any suggestions how to isolate each drone? or to add those parameters?
how to add the paramers without recompiling the px4-firmware ?

i will appreciate your help having trouble flying more than one drone at each moment hinders my work

Best Regard
Jacob

@Alex-Kushleyev yes seems like it, thank you!

@Alex-Kushleyev
basically the consumer is the vision hub
specifically [https://gitlab.com/voxl-public/voxl-sdk/services/voxl-vision-hub/-/blob/v1.7.3/src/geometry.c?ref_type=tags](link url)
as far as i understood
and i am trying to fix the right part

the issue lies in this transformation i marked red .. i think i need to change the cam_wrt_to_imu since it looks like
the code assumes my hires in looking forward of the drone while its actually mounted on the right side ( Local frames Y axis)
so tag works well and detection of my tag on fixed is Ok but when afterwards drown is moving with just qvio without tag the axis are flipped

voxl-vision-hub -g output
example

y can see that fixed_wrt_local x=-0.83 while it corresponds to the local_wrt_fixed y= 0.83 so the frames i get from both arrow in the pic above are not the same do you have suggestions where should i start with , should i modify the geometry.c?

@jacob-yaacubov the picture describes TOP VIEW the tag is attached to a wall

Hi guys i have a hires IMX412 mounted on my drone , my camera is looking to the right side of the drone (Positive y axis on the local frame)

I have configured the tag rotation matrix from tag to fixed correctly my tag is hanged on the wall.

but seems the drone rotating 90 degrees CCW, I guess its doing this since it assumes the camera which is catching the tag, is mounted at the front
hence, when right side camera sees the tag it rotates to the left (ccw) to "fix" this!

I tried to add extrinsics to extrinsics.conf both from IMU to hires and from body to hires with the correct camera name (which used in voxl-camera-server)
but it has no effect
any one had this issue ? any suggestions ? does the voxl code is really taking into account that tags are seen only in front of the drone (X axis)

Thanks

Hi, Hope its the correct thread for this question.

I use ROS on my drones system and have launched mpa_to_ros.

my drone has two HIRES cameras (imx 412) apart for tracking
when trying to rosbag record both of them or even echo to both topics the voxl-map-to-ros crashes
i tried to echo different hires topics and even dropped the quality to 1024x768, even 800x600

this doesn't happen with one topic but but only both doesn't matter if its small color or large raw format i am trying to echo
i will appreciate any help on the matter

Thanks

here is the crash output:

MPA to ROS app is now running

 

Found new interface: hires2_color

Found new interface: hires2_grey

Found new interface: hires2_small_color

Found new interface: hires2_small_encoded

Found new interface: hires2_small_grey

Found new interface: hires_color

Found new interface: hires_grey

Found new interface: hires_small_color

Found new interface: hires_small_encoded

Found new interface: hires_small_grey

Found new interface: qvio_overlay

Found new interface: tracking[voxl_mpa_to_ros_node-1] process has died [pid 12947, exit code -11, cmd /opt/ros/melodic/lib/voxl_mpa_to_ros/voxl_mpa_to_ros_node __name:=voxl_mpa_to_ros_node __log:=/opt/ros/foxy/log/d48631fa-3f7f-11ef-9105-97639b9c163b/voxl_mpa_to_ros_node-1.log].

log file: /opt/ros/foxy/log/d48631fa-3f7f-11ef-9105-97639b9c163b/voxl_mpa_to_ros_node-1*.log

all processes on machine have died, roslaunch will exit

/usr/bin/voxl-list-pipes: line 35: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 38: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 32: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 35: echo: write error: Broken pipe

shutting down processing monitor...

... shutting down processing monitor complete

done

/usr/bin/voxl-list-pipes: line 38: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 32: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 35: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 38: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 32: echo: write error: Broken pipe

GONI:/data/wds/bags$ /usr/bin/voxl-list-pipes: line 35: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 35: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 35: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 35: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 35: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 35: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 35: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 35: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 38: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 32: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 35: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 35: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 38: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 32: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 35: echo: write error: Broken pipe

/usr/bin/voxl-list-pipes: line 38: echo: write error: Broken pipe

Also sometimes it expects on size of data lets say 1444000 bytes but gets 12000000000

@Vinny i have received the new adapter few days ago thank you

@Vinny Yes just received it this week i have 3 of them
the order #4937

Hi Guys we ordered 3 units of MDK-M0151-1-02 and received a usb 2 cable which not fits to the USB 3 connector (pic below)
i received cable
USB 2 MXBL-00041-1 instead of MCBL-00022-2: 10-pin JST to USB3 Type A Female Cable (70 mm)
is there a way to establish a wlan connection like this ?

@Eric-Katzfey i tried this now
i reinstalled 1.1.3 and even tried again to reinstall 1.0.0

i used different px4 parameters file backed up by me
and still get error in the px4 service
i cant even see my drone in the ground control seems like something seriously wrong with px4 any other suggestions ? @Eric-Katzfey

● voxl-px4.service - px4
   Loaded: loaded (/etc/systemd/system/voxl-px4.service; enabled; vendor preset: enabled)
   Active: active (running) since Sun 2024-04-14 11:55:27 UTC; 3min 38s ago
  Process: 12036 ExecStartPre=/bin/sleep 2 (code=exited, status=0/SUCCESS)
 Main PID: 12042 (voxl-px4)
    Tasks: 15 (limit: 4915)
   CGroup: /system.slice/voxl-px4.service
           ├─12042 /bin/bash /usr/bin/voxl-px4
           ├─12045 px4 -d -s /usr/bin/voxl-px4-start
           ├─12062 /bin/sh /usr/bin/voxl-px4-start 0
           └─13882 px4-qshell --instance 0 ekf2 start

Apr 14 11:58:19 m0054 voxl-px4[12042]: ERROR [qshell] command timed out
Apr 14 11:58:19 m0054 voxl-px4[12042]: ERROR [qshell] Command failed

my voxl2 which is running on dev drone is failing to communicate with the PX4

i use the 1.0.0 SDK

systemctl status voxl-px4 gives this

PORT:/etc/modalai$ systemctl status voxl-px4.service 
● voxl-px4.service - px4
   Loaded: loaded (/etc/systemd/system/voxl-px4.service; enabled; vendor preset: enabled)
   Active: active (running) since Thu 2024-04-11 18:14:47 IDT; 9s ago
  Process: 18235 ExecStartPre=/bin/sleep 2 (code=exited, status=0/SUCCESS)
 Main PID: 18358 (voxl-px4)
    Tasks: 13 (limit: 4915)
   CGroup: /system.slice/voxl-px4.service
           ├─18358 /bin/bash /usr/bin/voxl-px4
           ├─18365 px4 -d -s /usr/bin/voxl-px4-start
           ├─18886 /bin/sh /usr/bin/voxl-px4-start 0
           └─18956 px4-param --instance 0 load

Apr 11 18:14:56 PORT voxl-px4[18358]: ERROR [uORB] orb_publish failed parameter_update
Apr 11 18:14:56 PORT voxl-px4[18358]: ERROR [uORB] Error Sending [parameter_client_set_value_request] topic data over comm_channel
Apr 11 18:14:56 PORT voxl-px4[18358]: ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_GYRO1_PRIO
Apr 11 18:14:56 PORT voxl-px4[18358]: ERROR [uORB] Error Sending [parameter_update] topic data over comm_channel
Apr 11 18:14:56 PORT voxl-px4[18358]: ERROR [uORB] orb_publish failed parameter_update
Apr 11 18:14:56 PORT voxl-px4[18358]: ERROR [uORB] Error Sending [parameter_client_set_value_request] topic data over comm_channel
Apr 11 18:14:56 PORT voxl-px4[18358]: ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_GYRO2_PRIO
Apr 11 18:14:56 PORT voxl-px4[18358]: ERROR [uORB] Error Sending [parameter_update] topic data over comm_channel
Apr 11 18:14:56 PORT voxl-px4[18358]: ERROR [uORB] orb_publish failed parameter_update
Apr 11 18:14:56 PORT voxl-px4[18358]: ERROR [uORB] Error Sending [parameter_client_set_value_request] topic data over comm_channel

looks like no parameters passed successfully to pxs4 dsp - the parameters were unchnged so it not related to their content

itried to restart various services but it doenst help
i compared the config files to other working drone

nothing helped shall i reinstall the sdk

@Alex-Kushleyev i have used the dev branch in the voxl-mpa_to_ros2

and this branch has a fix , built it from source

Hi guys sorry for getting this thread up again,
i am experiencing same issue with my cameras and qvio ros2 topics
time stamp rests after few seconds , time stamp of seconds stays at zero

sec 0  STUCK AT ZERO
nsec 3300161870  REACHING TO 3 BILLION (3 SECONDS) 
frame_id "tracking"
height 480
width 640
encoding "mono8"
is_bigendian 0
step 640

any fixes that match SDK 1.1.3 ?

@Alex-Kushleyev

Thank You, i understand makes things clearer now
since you mention software still does not support this...
how complicated and even if its possible on my side to open J6 or J8 for One More single camera , or one more stereo??
since i see there is two different ID_SLOTS on them which make me wonder

question 2:
regarding the previous setup you inspected 2 X HIRES (5hz) J7 and 2 X Stereo (30hz) J6, J8
on the hires, we process the raw8 (yuv) format at 5hz (plan maybe at 3hz)

based on what you checked whats your verdict will the mpa support this or is this a stretch?

@Alex-Kushleyev
Great i understand thank you very much, i understand
the most extreme case i need to check is the following :
two hi-res IMX214 sensor working at 5hz
2 sets of stereo ov7251 VGA - ( front & rear) - 30hz
1 - tracking - 30hz

this is just one more HI-RES that the max you suggested

i plan to use the Dual Image Sensor Expander to

group 0 - 1 x Stereo , 1 x Tracking
group 1 - 1 x HI-RES, 1 x Stereo
group 2 - 1 x HI-RES

if this is possible it will be great

Again Thanks for the quick response

@Alex-Kushleyev

Thank you for the detailed reply i am checking this right now,
regarding the slots assignment i might need to check other configurations so do have an idea
where can i find which connector mapped to which slot ? haven't found this in the Docs

in theory what is the maximum mun of image sensors (Not TOF) the Voxl2 will support?
(i include the stereo as two separate sensors for the purpose of this question )

Hi, i would appreciate some clarification from dev team or others using qvio with ros topics

i have installed voxl-mpa-to-ros2 and noticed that the /qvio topic publish 2 different messages - one is PoseStamped interface the other odometry - i guess each hold same data and one message is just more extended than the other?

@Alex-Kushleyev thanks , i use the imx214, don't have a specific preference