Hello,
I'm planning to create a custom server, which calls for reading essential data(i.e features detected, no. of points detected) from voxl-qvio-server. I'm planning on referring to the libmodal-pipe documentation link for building the server. I have few queries ie.
Hello!
Thanks for the wonderful product of VOXL ESC. I have few doubts regarding the product,
Even though details have been provided in the docs, few pin-outs details seem to be missing. Could you share across the integration and pinouts for all the connectors and testpoints of MDK-M0138-1-01?
LED Integration and coding: As stated here, link the documentation mentions for external Neopixel LEDs as well. I'm planning to use a Neopixel LED strips. Over here, I have a doubt if we can address more than 1 LEDs? If yes, how can it be done?
Also how do we power the LED array and what pin is used to power?
Payload Connector: Can we connect a external BEC and get the desired power output we need? Since we are planning to power Doodle Labs COMs module from here if requirements are met.
Also, I want to know what type of data is being sent from FC to ESC via UART communication port(J1)?
Hi @Tom, thanks for reverting!
I have a few more questions regarding telemetry data streams, specifically w.r.t DoodleLabs module on the VOXL2.
In my current air-frame setup,
I'm using a ELRS 2.4 GHZ telemetry setup connecting to FlightCore V2 for RC Telemetry inputs and another wifi-telemetry for low-latency transmission of video data stream to ground control station. With this scenario I'm planning to replace Doodle Labs as a single unit telemetry module and want to understand,
Does the video feed use a separate data stream from the command and control (C2) link in telemetry communication? Or are both transmitted over the same link?
Also how is the data stream for MPA Camera interface being streamed as RTSP being sent to Ground Control Station?
For example, when using the Herelink Radio, the video feed is sent over a separate Ethernet data link, while the command and control signals use an SBUS or UART connection.
I have been recently working on integrating different communication modules with VOXL2 for custom applications. I'm planning to integrate Doodle Labs Nano along with VOXL2 due to smaller form compared to Mini. I have few questions regarding the same,
@Vinny Thanks for sharing across a detailed response. I'll test the setup and get back in case of any doubts.
Thanks for reverting @tom. I'm able to download the logs. But here can I see the CPU temperature readings and utils data? I ran the VOXL2 for a shorter instance and observed that only logging of critical data available.
-- Logs begin at Tue 2024-10-29 10:07:40 UTC, end at Tue 2024-10-29 10:19:04 UTC. --
Oct 29 10:07:40 m0054 systemd[1]: Started voxl-cpu-monitor.
Oct 29 10:07:42 m0054 voxl-cpu-monitor[1447]: loading our config file
Oct 29 10:07:42 m0054 voxl-cpu-monitor[1447]: =================================================================
Oct 29 10:07:42 m0054 voxl-cpu-monitor[1447]: en_auto_standby: 0
Oct 29 10:07:42 m0054 voxl-cpu-monitor[1447]: normal_cpu_mode: auto
Oct 29 10:07:42 m0054 voxl-cpu-monitor[1447]: standby_cpu_mode: powersave
Oct 29 10:07:42 m0054 voxl-cpu-monitor[1447]: fan_mode: auto
Oct 29 10:07:42 m0054 voxl-cpu-monitor[1447]: =================================================================
Oct 29 10:07:42 m0054 voxl-cpu-monitor[1447]: Init complete, entering main loop
Oct 29 10:07:42 m0054 voxl-cpu-monitor[1447]: client "voxl-camera-server21297388" connected to channel 0 with client id 0
Oct 29 10:07:43 m0054 voxl-cpu-monitor[1447]: client "qvio-server53044883" connected to channel 0 with client id 1
-- Reboot --
Oct 29 10:18:37 m0054 voxl-cpu-monitor[1492]: client "voxl-camera-server20186581" with id 1 has disconnected from channel 0
Oct 29 10:18:38 m0054 voxl-cpu-monitor[1492]: client "voxl-camera-server09386053" connected to channel 0 with client id 1
I'm planning to integrate Microhard with VOXL2. I'm planning to use V2 LTE Modem and USB Add-On Board.
In this setup can I integrate Microhard module as well?
If yes, would there be sufficient power input from VOXL2 to power Microhard?
I'm planning to procure https://docs.modalai.com/M0173/ board on C26 configuration.
In that Hires - IMX412 camera is also a part of the configuration. I want to know, if the Hires Camera part of the configuration having IR-cut filter/no IR-cut filter. Can you share some details on this, since I'm not able to find these details in Products page?
@Zachary-Lowell-0 Thank you for your reply. I will test it out and let you of any developments.
Hey @Vinny,
Is the M0170 Rev B under production now and available for sale?
Hey,
I designing a chasis for my custom airframe including the ideal components from a Starling 2 Drone. I'm designing a heatsink on the design. For that I would like to do a graphical performance analysis of CPU's temperatures, utils.
In the web-portal, I am able to see the live feed and plots of the various crtical parameters including CPU temperatures, utils etc. Is there a way, I can get to access these data and retireve them from VOXL2 for further analysis?
@Zachary-Lowell-0 as mentioned I have set offboard-mode in voxl-vision-hub.conf to "off".
I did a flight test shifting to offboard-mode,
These are the flight logs,
https://review.px4.io/plot_app?log=e32a28df-cbba-4765-8499-6fe46e2ff890
I'm using a setup consisting of,
Flight Controller: Flight Core V2
Comapanion: VOXL2
PX4 version: PX4 1.14.3 dev version (modalai fork)
I'm able to connect and communicate between FC and Flight controller through the UART ports. Also initialise the mavlink stream from one of the ports on FC to initiate streaming of mavlink messages.
mavlink stream -r 30 -s ODOMETRY -d /dev/ttyS6
In voxl-vision-hub, I have defined the offboard mode to trajectory. When shifting to offboard, the drone stays at position since I'm streaming the mavlink message as stated above. The drone hovers stable in the same position(there are no visible drift or random motion which could be observed)
I have built MAVSDK on VOXL2 and try to execute a python script consisting of a path.
Below is the script,
#!/usr/bin/env python3
"""
Caveat when attempting to run the examples in non-gps environments:
`drone.offboard.stop()` will return a `COMMAND_DENIED` result because it
requires a mode switch to HOLD, something that is currently not supported in a
non-gps environment.
"""
import asyncio
from mavsdk import System
from mavsdk.offboard import (OffboardError, PositionNedYaw)
async def run():
""" Does Offboard control using position NED coordinates. """
drone = System()
await drone.connect(system_address="serial:///dev/ttyHS1:2000000")
print("Waiting for drone to connect...")
async for state in drone.core.connection_state():
if state.is_connected:
print(f"-- Connected to drone!")
break
print("-- Arming")
await drone.action.arm()
print("-- Setting initial setpoint")
await drone.offboard.set_position_ned(PositionNedYaw(0.0, 0.0, 0.0, 0.0))
print("-- Starting offboard")
try:
await drone.offboard.start()
except OffboardError as error:
print(f"Starting offboard mode failed \
with error code: {error._result.result}")
print("-- Disarming")
await drone.action.disarm()
return
print("-- Go 0m North, 0m East, -1m Down \
within local coordinate system")
await drone.offboard.set_position_ned(
PositionNedYaw(0.0, 0.0, -1.0, 0.0))
await asyncio.sleep(3)
print("-- Go 1m North, 0m East, -1m Down \
within local coordinate system, turn to face East")
await drone.offboard.set_position_ned(
PositionNedYaw(4.4, 0.0, -1.0, 0.0))
await asyncio.sleep(7)
print("-- Go 1m North, 0m East, -1m Down \
within local coordinate system, turn to face East")
await drone.offboard.set_position_ned(
PositionNedYaw(4.4, 0.0, -1.0, 90.0))
await asyncio.sleep(4)
print("-- Go 1m North, 1m East, -1m Down \
within local coordinate system")
await drone.offboard.set_position_ned(
PositionNedYaw(4.45, 2.9, -1.0, 90.0))
await asyncio.sleep(5)
print("-- Go 0m North, 1m East, -1m Down \
within local coordinate system, turn to face South")
await drone.offboard.set_position_ned(
PositionNedYaw(5.9, 5.0, -1.0, 30.0))
await asyncio.sleep(8)
print("-- Go 0m North, 0m East, -1m Down \
within local coordinate system, turn to face South")
await drone.offboard.set_position_ned(
PositionNedYaw(10.1, 4.8, -1.0, 0))
await asyncio.sleep(6)
print("-- Go 0m North, 0m East, 0m Down \
within local coordinate system, turn to face South")
await drone.offboard.set_position_ned(
PositionNedYaw(11.9, 6.6, -1.0, 45))
await asyncio.sleep(4)
print("-- Go 0m North, 0m East, 0m Down \
within local coordinate system, turn to face South")
await drone.offboard.set_position_ned(
PositionNedYaw(11.9, 6.6, -1.0, 90))
await asyncio.sleep(2)
print("-- Go 0m North, 0m East, 0m Down \
within local coordinate system, turn to face South")
await drone.offboard.set_position_ned(
PositionNedYaw(12.3, 10.0, -1.0, 90.0))
await asyncio.sleep(5)
print("-- Go 0m North, 0m East, 0m Down \
within local coordinate system, turn to face South")
await drone.offboard.set_position_ned(
PositionNedYaw(12.7, 13.0, -1.0, 90.0))
await asyncio.sleep(5)
print("-- Go 0m North, 0m East, 0m Down \
within local coordinate system, turn to face South")
await drone.offboard.set_position_ned(
PositionNedYaw(12.7, 13.0, 0.3, 90.0))
await asyncio.sleep(1)
print("-- Stopping offboard")
try:
await drone.offboard.stop()
except OffboardError as error:
print(f"Stopping offboard mode failed \
with error code: {error._result.result}")
if __name__ == "__main__":
# Run the asyncio loop
asyncio.run(run())
Once the above script is initialised once the drone is the air and shifted to offboard mode, the script is supposed to make the drone pass through a set of defined waypoints in NED frame.
When executing the above script I observe,
there is a random jittery motion in movement of the drone passing trying to reach further waypoints.
Visually I see that there is a resistance in the drone trying to move to next waypoints. Not sure if the drone is trying to come back to Home position.
How can I make the drone move through the defined waypoints?
Hey @Eric-Katzfey I was able to solve it. I was able to shift the drone to offboard-mode, the drone doesn't drift away. In voxl-vision-hub, I have the set the parameter to figure_eight.
I'm getting the stream to VOXL2 from Flight Core v2. I had to run it on 2 different ports.
mavlink stream -r 30 -s ODOMETRY -d /dev/ttyS4
mavlink stream -r 30 -s ODOMETRY -d /dev/ttyS6
But I'm getting the #331 odometry message when using only ttyS6 port.
Now the drone is able to figure_eight loop without loosing height estimates.
Could you please share some updates on this?
@LR you might to change voxl-streamer config to change the feed to what is needed.
@Eric-Katzfey Thanks for reverting back.
I had tried earlier disabling the Rangefinder and relying only on VIO.
VIO works fine in feature rich environment, when it crosses low-feature environment, there is a random motion of system which could observed serving the main reason for using external Rangefinder.
Also, height estimation goes off even if the drone does figure-eight within offboard, height estimation goes off.
Is there any way I can view the #331 ODOMETRY message being pushed from FC to Compute?
@Eric-Katzfey Yes, it seems I was doing the mapping correctly. The issue was that I wasn’t checking the RC input in the command prompt correctly, I hadn’t enabled the switch on the transmitter while testing. After figuring that out, I researched the correct sequence to enable Turtle Mode. However, while testing, I encountered an "attitude failure" message. To resolve this, I set FD_FAIL_R and FD_FAIL_P to 0, which now allows me to arm the drone even when it’s toppled. Could you confirm if this is the correct approach or if I missed anything? Thanks again for your guidance!
@Eric-Katzfey I'm currently integrating VOXL2 with Flight Core V2.
PX4 version: v1.14.3 (from modalAI fork)
I am trying to use offboard mode and do figure-eight, but the problem I'm facing is, whenever I switch to offboard, the drone sometimes moves randomly.
Once I reboot the FC once and start flying from same position, and then switching to offboard, I observe that the drone does figure 8, but loses height sequentially and drifts over the ground and crashes after a few cycles.
For height estimation, I rely on using a Rangefinder.
Also, when I run,
voxl-inspect-mavlink mavlink_onboard
I'm not able to observe, the #331 ODOMETRY message.
@Eric-Katzfey I mapped the desired RC Transmitter channels to AUX1 OR AUX2 using parameters RC_MAP_AUX1 or RC_MAP_AUX2 in QGC.
Then to varify the AUX inputs i ran px4-listener manual_control_input in the command line. I am not getting any non zero value in any of the AUXS.
Tell me if i am missing something here?