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    1. Home
    2. jacob yaacubov
    3. Topics
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    • Topics 11
    • Posts 25
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    Topics created by jacob yaacubov

    • J

      VOXL2 usb camera support

      VOXL 2
      • • 8 Apr 2025, 11:19 • jacob yaacubov 21 Apr 2025, 15:02
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      E 21 Apr 2025, 15:02

      @jacob-yaacubov We have some add-on boards that would allow connection of 2 USB cameras. For example: https://www.modalai.com/collections/voxl-2-add-ons/products/voxl-microhard-modem-usb-hub and https://www.modalai.com/collections/voxl-2-add-ons/products/voxl-lte?variant=32449203601459

    • J

      px4 params flow to autopilot

      Modal Pipe Architecture (MPA)
      • • 17 Nov 2024, 15:36 • jacob yaacubov 18 Nov 2024, 14:11
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      Z 18 Nov 2024, 14:11

      @jacob-yaacubov said in px4 params flow to autopilot:

      sometimes at bootup the QGC says all parameters lost

      Hi Jacob - Unsure if I am fully following but this is the explanation for how parameters work on the voxl2:

      Every boot of the voxl2 kick off the px4 instance if you have that service enabled - it will then grab the parameters from /data/px4/param (if a parameter file already exists) - if you save a file from QGC of edit a parameter, from their, it will update in this file as well. As for why the parameters are lost - I am assuming what you mean is the parameter file isnt fully loaded (AKA the green bar at the top of qgc never finishes because of a timeout) - if that is the case I would recommend trying another qgc instance on a different device like a phone or different os (mac vs linux vs windows) - and see if the problem persists.

      Zach

    • J

      Mavlink server configuration of ports wont work

      Modal Pipe Architecture (MPA)
      • • 13 Nov 2024, 10:02 • jacob yaacubov 18 Nov 2024, 14:14
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      Z 18 Nov 2024, 14:14

      @jacob-yaacubov said in Mavlink server configuration of ports wont work:

      branches

      @jacob-yaacubov said in Mavlink server configuration of ports wont work:

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

      Reply

      @jacob-yaacubov yes you need to change the mav sys id for both otherwise they will overlap and create the problem you stated before when connecting to qgc and having overlapping px4 instances. As for ROS you need to change the ROS_DOMAIN_ID (an external terminal environment variable) otherwise all the ros topics will also overlap and create multiple publishers and subscribers on the same drone when you have multiple on.

      Zach

    • J

      Hires With AprilTags

      AprilTag Relocalization
      • • 28 Jul 2024, 09:58 • jacob yaacubov 6 Aug 2024, 08:04
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      J 6 Aug 2024, 08:04

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

    • J

      mpa_to_ros crashes When echoing HIRES

      VOXL SDK
      • • 14 Jul 2024, 08:00 • jacob yaacubov 14 Jul 2024, 20:08
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      A 14 Jul 2024, 20:08

      @jacob-yaacubov ,

      I am not sure why this is happening. However, you maybe able to debug this yourself using gdb and starting the ros node manually:

      gdb /opt/ros/melodic/lib/voxl_mpa_to_ros/voxl_mpa_to_ros_node r __name:=voxl_mpa_to_ros_node __log:=/opt/ros/foxy/log/my_new_ros_log/voxl_mpa_to_ros_node-1.log (wait for crash) bt (this will print stack backtrace, at least will tell you in which function the crash occurred)

      Please try..

    • J

      VOXL2 WIFI KIT mismatch

      Ask your questions right here!
      • • 26 Jun 2024, 12:39 • jacob yaacubov 11 Jul 2024, 14:35
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      V 11 Jul 2024, 14:35

      Great @jacob-yaacubov. Sorry for the issue overall, but glad we made it right.

    • J

      voxl-px4 service pipeline uORB failure

      VOXL 2
      • • 11 Apr 2024, 15:22 • jacob yaacubov 30 Apr 2024, 22:53
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      E 30 Apr 2024, 22:53

      @Jeremy-Frederick I'm guessing that the black 4 wire cable between the VOXL 2 and the APM may have some issues making an occasional problem for the i2c bus. Do you have another one of those cables to swap with?

    • J

      qvio ros2 topics

      GPS-denied Navigation (VIO)
      • • 11 Mar 2024, 09:53 • jacob yaacubov 11 Mar 2024, 16:45
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      Z 11 Mar 2024, 16:45

      Yes you can look at it that way. Pose is just the generic positional data inclusive of the quaternion and imu wrt vio/camera - odometry is that as well as things like the twist or better known as velocity wrt to the vio instance/camera and the angular velocity wrt to the vio/camera.

      Let me know if this better helps you understand - all the code is open sourced btw so feel free to take a gander for a programatic understanding:

      https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2/-/blob/master/colcon_ws/src/voxl_mpa_to_ros2/src/interfaces/qvio_interface.cpp?ref_type=heads#L113

    • J

      VOXL2 Camera Configuration 2XHires + Tracking

      VOXL 2
      • • 7 Mar 2024, 14:28 • jacob yaacubov 27 Mar 2024, 22:26
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      A 27 Mar 2024, 22:26

      Regarding enabling additional cameras, it is is not trivial and it would require a special kernel (because it would break the existing stereo camera support). Additionally, it would require a special interposer / cable in order to use a stereo pair with another camera on a single connector (this hardware does not exist now). At this time, we do not have plans to enable this functionality. As an option, you could potentially hook up a USB camera (will require an usb expansion adapter) to supplement existing cameras (using UVC interface), but we don't provide as much support for that option since that is 3rd party hardware and software.

    • J

      voxl MPA-TO_ROS2

      ROS
      • • 6 Aug 2023, 08:42 • jacob yaacubov 20 Oct 2023, 19:49
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      ModeratorM 20 Oct 2023, 19:49

      @Jeffrey-Mao voxl-mpa-ros2 is on the dev branch and not yet on stable. We expect more comprehensive testing and promotion to stable in the next few weeks. In the meantime, you can experiment with the latest code in the dev repository at your own risk

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