@Moderator Hello - sorry if this isn't needed, but I put some settings/configs from one of the drones a couple messages up. If you could recommend other settings to look at to help get telemetry flowing between FCv2 and VOXL, it would be much appreciated. I'm happy to provide other settings/configs, just let me know what is helpful.
Thanks,
Jay
@Moderator Some of the information from one of the problem units (not seeing obvious issues with UDP and routing between FCv2 and VOXL). Also not seeing obvious wiring problems:
Again, we can connect to QGC via USB but not over wifi. We are able to ssh into VOXL.
voxl-vision-px4.conf:
{
"config_file_version": 1,
"qgc_ip": "192.168.8.97",
"en_secondary_qgc": false,
"secondary_qgc_ip": "192.168.1.214",
"qgc_udp_port_number": 14550,
"udp_mtu": 512,
"en_localhost_mavlink_udp": true,
"localhost_udp_port_number": 14551,
"vio_pipe": "qvio",
"en_vio": true,
"en_send_vio_to_qgc": false,
"en_reset_vio_if_initialized_inverted": true,
"vio_warmup_s": 3,
"send_odom_while_failed": false,
"en_set_clock_from_gps": true,
"en_force_onboard_mav1_mode": true,
"en_reset_px4_on_error": true,
"horizon_cal_tolerance": 0.5,
"offboard_mode": "off",
"follow_tag_id": 0,
"figure_eight_move_home": true,
"robot_radius": 0.300000011920929,
"collision_sampling_dt": 0.1,
"max_lookahead_distance": 1,
"en_tag_fixed_frame": false,
"fixed_frame_filter_len": 5,
"en_transform_mavlink_pos_setpoints_from_fixed_frame": false,
"en_voa": true,
"en_send_voa_to_qgc": false,
"voa_upper_bound_m": -0.15000000596046448,
"voa_lower_bound_m": 0.15000000596046448,
"voa_memory_s": 1,
"voa_inputs": [{
"enabled": true,
"type": "point_cloud",
"input_pipe": "dfs_point_cloud",
"frame": "stereo_l"
}, {
"enabled": true,
"type": "point_cloud",
"input_pipe": "stereo_front_pc",
"frame": "stereo_front_l"
}, {
"enabled": true,
"type": "point_cloud",
"input_pipe": "stereo_rear_pc",
"frame": "stereo_rear_l"
}, {
"enabled": true,
"type": "tof",
"input_pipe": "tof",
"frame": "tof"
}, {
"enabled": true,
"type": "rangefinder",
"input_pipe": "rangefinders",
"frame": "body"
}]
}
voxl-suite: 0.9.4
FCv2 info from MAVLINK:
HW arch: MODALAI_FC_V2
HW type: V230
HW version: 0x00000003
HW revision: 0x00000000
FW git-hash: 890300a471ddac62c7c3f78b1fff863c419ff360
FW version: Release 1.13.2 (17629951)
OS: NuttX
OS version: Release 11.0.0 (184549631)
OS git-hash: 91bece51afbe7da9db12e3695cdbb4f4bba4bc83
Build datetime: Jan 9 2023 02:27:25
Build uri: localhost
Build variant: default
Toolchain: GNU GCC, 9.3.1 20200408 (release)
PX4GUID: 000600000000343630333436511000150008
MCU: STM32H7[4|5]xxx, rev. Y
@Eric-Katzfey I think it probably makes a lot of sense to leave it on there and just call it out more in unboxing. We purchased a number of platforms and it only came up with 2 of them.
@Eric-Katzfey Thanks for the tip!
The serial cable seemed to be OK, but updating the system to 0.9.5 via a fastboot recovery seemed to solve the problem. I think this issue relates to https://forum.modalai.com/topic/525/voxl-adb-or-wi-fi-no-longer-communicating but with the added symptom that I could ssh into the VOXL board over wifi as well as ADB in, but that the mavlink connection really seemed troublesome and QGC wasn't connecting over wifi. I just used VOXL Platform 0.9.5 for my update and that seemed to save things. (for those reading, make sure your extrinsics file is saved over on the /data/modalai partition! Mine was over there through good luck rather than foresight and confirmation on my part...)
@Paul-Carff there are not enough faces to palm in this world... Solved my issue as well!
@tom Sorry for the delay, was having login issues.
We have a dual board with Flight Core 2. I'll try upgrading the SDK, but I'm a bit wary given we have a fleet of these puppies!
Thanks!
Jay
@tom sorry for pinging you but I've seen you active in the discussions lately! Do you have any ideas here?
@Paul-Carff I have the same problem over on https://forum.modalai.com/topic/2058/tracking-camera-black-frames (although with m500).
@Paul-Carff I'd be curious if you look at the portal if you see anything through the camera?
We've had some issues on two m500 platforms where the tracking camera is giving fully black frames, which then results in, obviously, poor qvio performance, but only seems to be diagnosable by looking at the camera output.
Also, sorry, also saw issue 1586 and can confirm that external_fc parameter in voxl-mavlink-server.conf is false
Hi @Chad-Sweet / @modaltb,
I'm having an issue with a couple of our m500 platforms (some running px4 v1.11, some running px4 v1.13) where we can no longer connect to QGC through wifi, but can connect to it via USB plugged into Flight Core.
Some symptoms:
voxl-vision-px4.conf file is pointed to the correct qgc_ip. Other m500 platforms are able to connect to the QGC host laptop on the same wifi network at the same time, so I don't believe this is a network infrastructure issue.voxl-configure-mpa --factory-reset to bring the config files back in line (and then reconfigured the qgc_ip parameter).voxl-px4-shell, I get into the PX4's Nuttx interactive shell. However, from that prompt, commands/messages hang. dmesg was the only command that would give some output, but then that stopped responding. At first, I thought this meant that the PX4 board was having issues.param reset_all successfully (as judged by examining parameters in QGC and seeing them change). Resetting the parameters to factory defaults didn't fix the connection issue. Loading parameters from a working v1.13 platform doesn't fix the connection issue. If I look at MALINK outputs in QGC, these values are updating.voxl-vision-px4 status, I see my config file settings, then the log as things initialize, with the last line as WARNING: connected to voxl-mavlink-server but no messages from PX4Maybe random, maybe relevant:
Found device: Pixhawk Error: Get Board Info: Sync: Send Command: Get Command Response: Timeout waiting for bytes to be availableThis feels like the connection between VOXL and PX4 is somehow broken, but both components seem OK?
Any help here would be much appreciated and I'm happy to provide more information or follow any ideas.
For the platform at question:
voxl-inspect-services --version gives: 
voxl-vision-px4 status I get (sorry for the multiple screenshots here):
@Chad-Sweet Thanks. So it sounds like a full re-flash is probably the best check to re-install base software (I'm not aware of any modifications, but came onto the project after it started) and check that connection. If the issue persists with both units, kick off an RMA?
Appreciate all your help.
@Chad-Sweet or @modaltb any guidance on troubleshooting blank camera frames? Cables I can check without disturbing the cameras or anything? We haven't flown these platforms so I'd like to avoid an RMA if possible (but understand if that's the only path).
@Chad-Sweet Thanks - the software wasn't modified to my knowledge, and some identical platforms are flying fine. If there is some cabling checks I can do, happy to troubleshoot those, I'm just not sure the best way to approach it with an assembled platform and don't want to do damage.
@modaltb Any help here? Are there other checks I should do to try to sort this out or plan on a return?
For the unit that the tracking camera is sending visible frames, the tracking camera has exposure =4.1ms and gain=100 (from voxl-inspect-cam tracking) while the units that are having problems are showing exposure=32.99ms and gain=831. These have not been changed by hand, and I'm assuming the units that aren't working are maxing out the ranges trying to compensate for all black images.
Quick update, this problem exists on another unit, also with PX4 firmware, v1.13.2, VOXL system image 4.0.0, voxl-suite 0.9.4
Hello,
We have a few m500 units, and one of them is having a strange issue with the tracking camera (hence qvio and tag detection as well). We are receiving frames, but the frames are black. Here is a screengrab from the voxl portal.
We can see frames coming across with voxl-inspect-cam tracking
There is no obstruction in front of the tracking camera.
The problem is independent of if the qvio-server or tag-detection are enabled/disabled. Restarting the camera streamer or the entire unit does not fix the problem.
The calibration file hasn't been touched after receiving it as far as I know, but is the following:
`voxl:/data/modalai$ cat opencv_tracking_intrinsics.yml
%YAML:1.0
M: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 2.8075123128767450e+02, 0., 2.8251114752374190e+02, 0.,
2.8033595591079933e+02, 2.4409310810431779e+02, 0., 0., 1. ]
D : !!opencv-matrix
rows: 4
cols: 1
dt: d
data: [ -5.3597885486553962e-03, 1.1906006300545838e-03, 0., 0. ]
reprojection_error: 1.8062384410858126e-01
width: 640
height: 480
distortion_model: fisheye
calibration_time: "1970-01-01 00:07:55"`
I've quickly checked the board connection and it seems OK, but I haven't fully disassembled anything, since the standoffs that support the stereo camera cross over the connection.
Please let me know if further information would be helpful or if there is a quick fix.
Thanks!
This is essentially bumping Apriltag landing fixed frame ROS interface, How can I see the apriltag offset in ROS, and How can I get fixed pose via qgc or ros topics.
I can perform apriltag relocalization and see that it is working correctly via voxl-vision-px4 -p or other voxl means, but both /mavros/local_position/pose and /qvio/pose report position in local frame. I understand that I can issue commands in fixed frame to then be corrected by mavros en route the PX4, but this is only useful in ROS/QGC if my fixed and local frames are roughly equivalent (so using relocalization to correct for drift, but not to initialize position).
Thanks!
For reference, my platform is an m500 with VOXL1:
Firmware: 1.13.2, Custom Fw. Ver. 0.1.1
system-image: 4.0.0
kernel: #1 (closed) SMP PREEMPT Thu Oct 13 17:57:05 UTC 2022 3.18.71-perf
hw version: VOXL
voxl-suite: 0.9.4
and my parameter file is:
MAVLINK IO
qgc_udp_port_number: 14550
udp_mtu: 512
en_localhost_mavlink_udp 1
localhost_udp_port_number: 14551
VIO
en_vio: 1
vio_pipe: qvio
en_send_vio_to_qgc: 0
en_reset_vio_if_initialized_inverted: 1
vio_warmup_s: 3.000000
send_odom_while_failed: 0
APQ8096-ONLY FEATURES
en_set_clock_from_gps: 1
en_force_onboard_mav1_mode: 1
en_reset_px4_on_error: 1
MISC FEATURES
horizon_cal_tolerance: 0.500000
OFFBOARD MODE
offboard_mode: off
follow_tag_id: 0
figure_eight_move_home: 1
robot_radius: 0.300000
collision_sampling_dt: 0.100000
max_lookahead_distance: 1.000000
FIXED FRAME RELOCALIZATION
en_tag_fixed_frame: 1
fixed_frame_filter_len: 5
en_transform_mavlink_pos_setpoints_from_fixed_frame:1