@Alex-Kushleyev Thank you for reverting back. I will go through the documentation. If I disable the shutter will it work with causing any issue with respect to FFC.
Also I would wish use any other thermal camera with usb camera support, can it be used for localisation through QVIO, I will be required to create a MIPI communication, right?
I will find some documentation regarding the feature tracker question.- looking forward for your response.
Hello @Alex-Kushleyev @Vinny @Eric-Katzfey @tom
I would know whether boson is completely supported by voxl2 or is it still under development for J8 pinout.
Can I use the boson for tracking ?
Could you share what is the purpose voxl-feature-tracker, voxl-flow-server and voxl-lepton-tracker.
@Alex-Kushleyev Could you please share the pinouts of the serial console port. I am not able to find it anywhere.
@Alex-Kushleyev sure , i will test it out , thank you for your support. I will get back to you with the result once I test it out.
@Alex-Kushleyev will the microhard add-on board support it?
@Alex-Kushleyev thank you for reverting back, I will check what you suggested. Try to run diagnostics by myself. I will have to check whether I have M0130, and M0017. I have M0151, will that work.
@Alex-Kushleyev Thank you for your reply. I have a old voxl2 as well as new revised voxl 2, the one not booting is the new one, When I compared it to the old design I didn't find the barometer, but I also had noticed that the new design do not have them, i asked just in case whether it would be the cause. Thank you for clearing the query.
Please discuss with your team and let me know how can I proceed, If you need anymore data from me I can provide it.
Could you verify that this issue is due to missing sensor at U18 port 
successfully\n[PROGRAM] flashed \"PrimaryGPT\" successfully\n[PROGRAM] flashed \"BackupGPT\" successfully\n[PROGRAM] flashed \"PrimaryGPT\" successfully\n[PROGRAM] flashed \"BackupGPT\" successfully\nqdl: firehose operation timed out\n\nFlash flat build passed\n"}
this is full log
this is the end line
@Alex-Kushleyev Thank you for reverting back.
While I attempt to unbrick the process is displaying as completed but after the reboot and waiting for almost 10 - 15 minutes the board is not booting.
I have turned on and off the Switch 2 for the process. I followed every step mentioned in the website.
@Eric-Katzfey @Alex-Kushleyev @tom @Vinny
Hey guys, do you think my board is damaged.
@Eric-Katzfey @Alex-Kushleyev @tom @Vinny
Hello guys,
I had a crash after which the voxl2 is not booting up. The board is powered sensors and fans are getting powered but the voxl 2 is not completing the boot. I tried unbricking but did not resolve the issue. there is no visible damage to the board, i had checked it.
could any help me out here.
Thank you for reverting back. I am trying to proceed with the same approach.
I am facing some errors while going with this approach , I am trying to debug them.
Another approach :-
I am also thinking to hardcode the joystick based turtle mode to the voxl_esc.cpp.
The manual control values will be monitored and once the value of the assigned button is clicked, the turtle mode will be enabled.
Do you think it is a good approach?
I am sorry for the confusion , I started the thread for another ESC, that is cleared.
Now I am asking with respect to modal ai FPV ESC.
The issue I am facing now is, the VOXL-FPV-DEV fork of px4 has turtle mode for joystick and button.
The Main fork of the PX4 do not carry this feature.
I would like to incorporate this feature in the Main fork.
The reason I switched from fpv-dev to main, was collision prevention error. The VOXL-FPV-DEV do not have collision prevention working properly.
I hope my questions are clear now.
@tom I am using the Modalai Main fork of PX4 which already have the turtle mode, I just want the turtle mode to be enabled through joystick.
@zauberflote1 @Cliff-Wong @Alex-Kushleyev @Eric-Katzfey
Hey guys, I am using voxl-open-vins-server.
I facing an issue of constant drift, the drone is drifting while takeoff itself. Once I take off itself the vins values varies from 1 m to 80 m. I take off in stabilised for safety. The drone once changed to position mode, constantly moves in one direction, until pilot gives different command, again it will continue in the direction of the pilot command.
I am mentioning my config file here, please guide me to achieve strong position hold.
/**
* This file contains configuration that's specific to voxl-open-vins-server.
*
* *NOTE*: all time variables are measured in seconds
*
* OpenVins param breakdown:
*
* do_fej: whether or not to do first estimate Jacobians
* imu_avg: whether or not use imu message averaging
* use_rk4_integration: if we should use Rk4 imu integration.
* cam_to_imu_refinement: whether or not to refine the imu-to-camera pose
* cam_intrins_refinement: whether or not to refine camera intrinsics
* cam_imu_ts_refinement: whether or not to calibrate cam to IMU time offset
* max_clone_size: max clone size of sliding window
* max_slam_features: max number of estimated SLAM features
* max_slam_in_update: max number of SLAM features in a single EKF update
* max_msckf_in_update: max number of MSCKF features used at an image timestep
*
* Feature Reps can be any of the following:
* 0 - GLOBAL_3D
* 1 - GLOBAL_FULL_INVERSE_DEPTH
* 2 - ANCHORED_3D
* 3 - ANCHORED_FULL_INVERSE_DEPTH
* 4 - ANCHORED_MSCKF_INVERSE_DEPTH
* 5 - ANCHORED_INVERSE_DEPTH_SINGLE
* feat_rep_msckf: (int) what representation our msckf features are in
* feat_rep_slam: (int) what representation our slam features are in
* cam_imu_time_offset: time offset between camera and IMU
* slam_delay: delay that we should wait from init before estimating SLAM features
* gravity_mag: gravity magnitude in the global frame
* init_window_time: amount of time to initialize over
* init_imu_thresh: variance threshold on our accel to be classified as moving
*
* imu_sigma_w: gyroscope white noise (rad/s/sqrt(hz))
* imu_sigma_wb: gyroscope random walk (rad/s^2/sqrt(hz))
* imu_sigma_a: accelerometer white noise (m/s^2/sqrt(hz))
* imu_sigma_ab: accelerometer random walk (m/s^3/sqrt(hz))
* imu_sigma_w_2: gyroscope white noise covariance
* imu_sigma_wb_2: gyroscope random walk covariance
* imu_sigma_a_2: accelerometer white noise covariance
* imu_sigma_ab_2: accelerometer random walk covariance
*
* ****_chi2_multiplier: what chi-squared multipler we should apply
* ****_sigma_px: noise sigma for our raw pixel measurements
* ****_sigma_px_sq: covariance for our raw pixel measurements
* use_stereo: if feed_measurement_camera is called with more than one
* image, this determines behavior. if true, they are treated as a stereo
* pair, otherwise treated as binocular system
* if you enable a camera with stereo in the name, this will be set to true
* automatically
*
* try_zupt: if we should try to use zero velocity update
* zupt_max_velocity: max velocity we will consider to try to do a zupt
* zupt_only_at_beginning: if we should only use the zupt at the very beginning
* zupt_noise_multiplier: multiplier of our zupt measurement IMU noise matrix
* zupt_max_disparity: max disparity we will consider to try to do a zupt
* *NOTE*: set zupt_max_disparity to 0 for only imu based zupt, and
* zupt_chi2_multipler to 0 for only display based zupt
*
* num_pts: number of points we should extract and track in each image frame
* fast_threshold: fast extraction threshold
* grid_x: number of column-wise grids to do feature extraction in
* grid_y: number of row-wise grids to do feature extraction in
* min_px_dist: after doing KLT track will remove any features closer than this
* knn_ratio: KNN ration between top two descriptor matchers for good match
* downsample_cams: will half image resolution
* use_nultithreading: if we should use multi-threading for stereo matching
* use_mask: if we should load a mask and use it to reject invalid features
*/
{
"en_auto_reset": true,
"auto_reset_max_velocity": 20,
"auto_reset_max_v_cov_instant": 0.10000000149011612,
"auto_reset_max_v_cov": 0.10000000149011612,
"auto_reset_max_v_cov_timeout_s": 0.5,
"auto_reset_min_features": 1,
"auto_reset_min_feature_timeout_s": 3,
"auto_fallback_timeout_s": 3,
"auto_fallback_min_v": 0.600000023841858,
"en_cont_yaw_checks": false,
"fast_yaw_thresh": 5,
"fast_yaw_timeout_s": 1.75,
"do_fej": true,
"imu_avg": true,
"use_rk4_integration": true,
"cam_to_imu_refinement": true,
"cam_intrins_refinement": true,
"cam_imu_ts_refinement": true,
"max_clone_size": 8,
"max_slam_features": 35,
"max_slam_in_update": 10,
"max_msckf_in_update": 10,
"feat_rep_msckf": 4,
"feat_rep_slam": 4,
"cam_imu_time_offset": 0,
"slam_delay": 1,
"gravity_mag": 9.80665,
"init_window_time": 1,
"init_imu_thresh": 1,
"imu_sigma_w": 0.00013990944749616306,
"imu_sigma_wb": 4.1189724174615527e-07,
"imu_sigma_a": 0.0038947538150776763,
"imu_sigma_ab": 5.538346201712153e-05,
"msckf_chi2_multiplier": 1,
"slam_chi2_multiplier": 40,
"zupt_chi2_multiplier": 1,
"msckf_sigma_px": 4,
"slam_sigma_px": 4,
"zupt_sigma_px": 4,
"try_zupt": true,
"zupt_max_velocity": 0.02,
"zupt_only_at_beginning": true,
"zupt_noise_multiplier": 1.5,
"zupt_max_disparity": 8,
"init_dyn_use": true,
"triangulate_1d": false,
"refine_features": true,
"max_runs": 5,
"init_lamda": 0.001,
"max_lamda": 10000000000,
"min_dx": 1e-06,
"min_dcost": 1e-06,
"lam_mult": 10,
"min_dist": 0.1,
"max_dist": 60,
"max_baseline": 40,
"max_cond_number": 600000,
"use_mask": false,
"use_multithreading": true,
"use_stereo": true,
"use_baro": false,
"num_opencv_threads": 4,
"fast_threshold": 30,
"histogram_method": 1,
"knn_ratio": 0.7,
"takeoff_accel_threshold": 0.80,
"takeoff_threshold": 0.3,
"use_stats": false,
"max_allowable_cep": 1,
"en_force_init": false,
"en_force_ned_2_flu": false,
"track_frequency": 40,
"publish_frequency": 15,
"en_vio_always_on": false,
"en_ext_feature_tracker": false,
"en_gpu_for_tracking": true,
"num_features_to_track": 40
}
@Eric-Katzfey
hey,
I observed something while the above behaviour still persists.
The modem and the camera server is showing not running while checking through the inspect services command.
I do not know whether this is related to this issue, but the voxl 2 is rebooting after sometime, the reboot is not constant and I am not able to able to find the reason for the reboot. Can everything be related to each other.
I am using the Microhard modem
@Eric-Katzfey Hey, could you please help me with this issue?
@Eric-Katzfey hey, if I would like to implement the same in the main px4 fork (modalai) what all would i have to change.
@Eric-Katzfey Thank you for reverting back, why does collision prevention not working with this px4 version.
The obstacle_distance topic is not showing in any mpc_pos_mod