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.

Yes, the dev and staging branches had this dependency break yesterday as we transition through the rename of voxl-vision-px4 to voxl-vision-hub for the next stable SDK release. If you run apt update and apt upgrade on either the dev or staging package repos, voxl-vision-px4 should get automatically replaced by voxl-vision-hub and the dependency should be resolved.

Note to others reading this post: the dev and staging branches are intended for ModalAI internal development only and we do not support them. We make no guarantee of stability or function on these branches. The SDK-X.Y platform releases are the tested stable releases for public use.

your image of the voa_pc_out point cloud shows that your voxl thinks the TOF is pointing out the top of the drone. This is confirmed by your extrinsics conf sensor rotation: [180 0 0] which translates to a sensor pointing straight up.

hmmm. I assume you have disabled voxl-camera-server and voxl-imu-server when replaying the data so there is no conflict?

Do you mind providing the log so I can try replaying the same data?

Regarding voxl-configure-docker-support, I tried and was unable to replicate it causing VOXL not to boot.

voxl-configure-docker-support isn't strictly necessary, it's just a handy tool to apt-install docker-ce from the internet and replace the official docker systemd service with one that we tweaked for VOXL.

I did find that the optional docker-autorun service was not starting on boot, that is now fixed in voxl-docker-support v1.2.5

If you are still seeing voxl-configure-docker-support preventing voxl from booting I can look into it more if you provide a full copy/paste of the output from running that command. Perhaps something is different between our configurations.

Have you used an oscilloscope to probe the line from the flight controller to VOXL2 to make sure the flight controller is sending data at the correct baudrate? Also note that the logic level of that UART connector on M0125 is 3.3V, I'm not sure if that matches the expected logic level of the port you are using on the CubeOrange.

Also note PX4 requires some serial port configuration. We normally use mavlink channel 1 with the Telem2 port on our flight core set to 921600 and 'onboard' mode. This translates to the following px4 param settings, note that yours will most likely be different due to using a different flight controller in a different configuration.

MAV_1_CONFIG 102
MAV_1_FORWARD 0
MAV_1_MODE 2
MAV_1_RATE 0
SER_TEL2_BAUD 921600

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