Hi Steve,

You would likely want your own separate project that uses libmodal_pipe to create the client interface. That can be a systemd service if you want it on boot. MPA encourages lots of separate microservices and projects to all be compiled and run independently to avoid monolithic programs that grow too big and become hard to maintain. Examples such as all the voxl-inspect-*** tools in voxl-mpa-tools also serve as good starting points along with the modal-hello-client example you already found.

I hope this helps,
James

Hi Matthew,

When you try to run voxl-logger with the hires camera it should have given the following error message:

voxl:/$ voxl-logger --cam hires --samples 1
connected to ch 0 cam server: /run/mpa/hires/
ERROR only support RAW8, RAW16, and FLOAT32 images right now
got NV21 instead

The reason these are the only formats currently supported is because it uses opencv to save/load images. OpenCV is quick enough for black and white images, but simply too slow to be practical for large color images.

As an experiment I just made a new branch of voxl-mpa-tools with a slow but functional switch-case for the NV21 images produced by the hires camera. This will work for saving one or two images, but won't be able to keep up with a steady 30fps stream.

Here is the code if you want to try:
https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-mpa-tools/-/commit/633adfdaf8162548d5df4218243a32e06d2ea7b1

Migrating voxl-logger to use a faster image compression library and/or hardware acceleration is in the pipeline but I can't promise a release date for that I'm afraid.

I hope this helps,
James

Yes, It seems your installed voxl-vision-px4 and libmodal_pipe versions are from SDK 0.8 wheras your voxl-qvio-server is from SDK 0.7, that is the source of the mismatch.

You can upgrade qvio server with opkg install voxl-qvio-server to fix the mismatch quickly but I would recommend just flashing back to the SDK 0.7 platform release since SDK 0.8 does not support TOF on VOXL1. The platform releases are tested as a whole an include a set of packages all known to work together. When individual packages get upgraded instead of the whole SDK together then things tend to break.

This is a known bug that was fixed in voxl-vision-px4 v0.8.8 which is currently on the development repo, scheduled to be merged into the stable repo in a week or so.

The bug is not caused by PX4, it was due the the handling of the specific mavlink packet containing console data. It should behave normally when not using the PX4 console.

Are you using a Spektrum radio with satellite receiver to control the drone? Or something else?

Instructions here: https://docs.modalai.com/flash-system-image/

The latest platform release for voxl1 is voxl_platform_3.8.0-0.7.tar available for download here https://developer.modalai.com/asset/1

Yes, It seems your installed voxl-vision-px4 and libmodal_pipe versions are from SDK 0.8 wheras your voxl-qvio-server is from SDK 0.7, that is the source of the mismatch.

You can upgrade qvio server with opkg install voxl-qvio-server to fix the mismatch quickly but I would recommend just flashing back to the SDK 0.7 platform release since SDK 0.8 does not support TOF on VOXL1. The platform releases are tested as a whole an include a set of packages all known to work together. When individual packages get upgraded instead of the whole SDK together then things tend to break.

Hi Kris

It looks like the voxl-vision-px4 and voxl-qvio-server versions have gotten out of sync, likely voxl-vision-px4 has been updated but voxl-qvio-server was not.

Do you mind proving the output from the following 3 commands so I can check the state of the opkg package manager

cat /etc/opkg/opkg.conf 
opkg info voxl-vision-px4
opkg info voxl-qvio-server

Thanks,
James

I've updated the docs page with some clarifications and new diagrams that I think address all of your questions. Please let me know if this helps:

https://docs.modalai.com/configure-extrinsics/

Best,
James

Hi,

The bugfix for this is in VOXL SDK 0.8 and newer. If for some reason you need to change the imu that qvio uses from the default configured by voxl-configure-mpa then you can edit the config file /etc/modalai/voxl-qvio-server.conf manually or use one of the shortcut command line arguments listed in the voxl-configure-qvio --help text such as:

voxl-configure-qvio factory_enable_imu0
voxl-configure-qvio factory_enable_imu1

Hope this helps,
James

Are you trying to connect over Wifi? I generally see this when trying to get QGC to connect over a really slow data link instead of wifi. QGC is particularly sensitive to dropped packets during that initial param load phase.

Sounds like QGC is in the state where it failed to load all of the PX4 params and appears connected but not fully. When connecting to QGC does the green progress bar at the top of the QGC window completely go from left to right or does it get stuck halfway and throw a warning that it failed to load params?

Which version of PX4 are you running on the Pixhawk and do you have a magnetometer connected? EKF2 is generally unhappy about about starting without a magnetometer in PX4 1.11 so we patched the PX4 firmware for Flight Core to get around this. In PX4 1.12 and newer the following PX4 parameter can be set to allow EKF2 to allow position mode without a GPS/Mag

## disable mag
SYS_HAS_MAG	0	
EKF2_MAG_TYPE	5	

Thanks for investigating this. I was unable to recreate this over ADB but was able to over SSH. Are you logged in through ADB or SSH?