Topics created by Jetson Nano

@Jetson-Nano , the following link shows location of all the connections and test points that are being utilized: https://docs.modalai.com/voxl-fpv-esc-datasheet/#hardware-overview . If there is a test point that is not documented, it means it is not supported in firmware or only used for production testing. If you have a specific question, please let me know.

The following link describes the Neopixel led support : https://docs.modalai.com/voxl-fpv-esc-datasheet/#neopixel-led-support . A single string with up to 32 LEDs is supported. VAUX regulator is dedicated for this output and can handle 500-600mA. We also have a way to control this output to be 3.3V or 5.0V (3.3V default) but the control feature is disabled at the moment. You can test the Neopixel output while PX4 is not running using voxl-esc tools : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-tools/voxl-esc-neopixel-test.py (we also have a helper command to use the LED while PX4 is running). https://gitlab.com/voxl-public/voxl-sdk/services/voxl-io-server/-/blob/master/tools/voxl-send-neopixel-cmd.c -- this tool is a command line tool which sends the control data to PX4 and then PX4 forwards it to the ESC. Right now the C example only supports white color, but we will extend it to RGB.

The payload connector just outputs VBATT, so as long as your desired current is within the JST connector spec, you should be ok. (4Amps per manufacturer's spec).

J1 is used for UART communication with FC or the voxl-esc test scripts and the data that is send are the ESC commands (rpm or power) and other commands like Neopixel commands, PWM output.. The ESC also sends back the ESC status.

Let us know if you have any more questions 🙂

Alex

@Jetson-Nano If you end up switching from ELRS + wifi to just doodle labs then both video and C2 will be sent over the same link. Therefore if you lose doodle labs connection, you will lose both video and C2. If you want to do C2 with doodle labs you'll have to use some sort of USB joystick connected to your ground control station, if it doesn't already have it built in

In order to stream rtsp video from a voxl-camera-server MPA pipe you can user voxl-streamer: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-streamer

@Vinny Thanks for sharing across a detailed response. I'll test the setup and get back in case of any doubts.

@Jetson-Nano The M0173 kits include the IR filter on all sensors.

@Jetson-Nano Have you looked at voxl-inspect-cpu?

@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,

The drone was able to execute the script in a stable way without any jittery motions or trying to come back to home position.

These are the flight logs,
https://review.px4.io/plot_app?log=e32a28df-cbba-4765-8499-6fe46e2ff890

@Jetson-Nano Yes, you can set those to 0. Setting them to 180 should also work.

@Zachary-Lowell-0 Thank you for your reply. I will test it out and let you of any developments.

@Jetson-Nano , just to add to what Vinny said and answer your specific question about vibration affecting the micro coax connectors. The difficulty associated with removal is separate from the connector’s robustness under vibration. Once the connectors are inserted (mated), they are difficult to disconnect without applying significant force that might actually break the connector (that is why a tool is required, which correctly separates the connector). This type of stress is very unlikely in typical applications, unless the drone crashes and camera or board is somehow ejected from the vehicle.

@Jetson-Nano

Please take a look at the following links:

https://docs.modalai.com/M0169/
https://docs.modalai.com/M0178/#requirements
https://docs.modalai.com/voxl2-coax-camera-bundles/#mdk-m0173-1-01

M0173 config

M0169 was built to support the new TOF sensor using the existing (at that time) flex cables and interposers, but those were not designed to carry 5V from VOXL2, therefore M0169 requires additional connector to supply 5V (which can be taken from the same APM that is supplying 5V to VOXL2). TOF V2 sensor can output much higher IR power compared to TOF V1, and the existing interposers / power rails were not designed for that, so an additional 5V input to M0169 is required.

Now, with M0173 (aka Starling 2 Front End), the front end plugs into VOXL2 and makes use of the available 5V on VOXL2 (which was not possible using older interposers and extension cables). M0171 / M0178 is able to pull 5V directly from VOXL via the Starling 2 Front End.

M0178 is basically an M0171 with a tab for mounting.

In order to use M0178 / M0171, you have to use M0177 flex that is connected to M0173 camera front end (which plugs into VOXL2).

So there is basically two options for connecting TOF V2 to VOXL2:

VOXL2 -> (M0135 or M0076) -> (M0074 or M0036 extender) - > (M0169 + 5V power) -> TOF V2 VOXL2 -> M0173 -> M0177 - > (M0171 or M0178) -> TOF V2

I know that is a lot of board numbers, but hopefully that makes sense..

Alex

@Zachary-Lowell-0

Below is the output of what I get from executing
cat /etc/modalai/voxl-px4.confg

voxl2:/etc/modalai$ cat voxl-px4.conf #!/bin/bash # # voxl-px4 Configuration File # # GPS: # Tell PX4 which GPS to use. If there is no GPS unit use NONE. Otherwise # choose AUTODETECT and the startup script will attempt to automatically # configure the GPS, magnetometer, and status LED # Options include: [NONE, AUTODETECT] # # RC: # Tell PX4 which RC transmitter to use. # Use EXTERNAL when getting RC control from external Mavlink messages (e.g Via QGC) # Options include: [SPEKTRUM, CRSF_MAV, CRSF_RAW, M0065_SBUS, EXTERNAL, FAKE_RC_INPUT] # # ESC: # Tell PX4 which type of ESC to use. # Options include: [VOXL_ESC, VOXL2_IO_PWM_ESC] # # POWER_MANAGER: # Tell PX4 which power manager to use. # Use NONE for ModalAI Mini-ESC since the ESC driver handles PM. # Use EXTERNAL when not using the ModalAI APM power manager to power the board # This also just disables the voxlpm driver, same as the NONE option # Options include: [VOXLPM, EXTERNAL, NONE] # # DISTANCE_SENSOR: # Tell PX4 which distance sensor peripheral to use. # Note: The sensor will be started on the RC port so it is only # really possible to use it when using external RC. # Options include: [NONE, LIGHTWARE_SF000] # # OSD: # Tell PX4 whether to enable OSD (on-screen display). # Options include: [ENABLE, DISABLE] # # DAEMON_MODE: # Tell PX4 whether to enable daemon mode. # Options include: [ENABLE, DISABLE] # # SENSOR_CAL: # Tell PX4 where to source sensor calibration information. # Options include: [ACTUAL, FAKE] # # EXTRA_STEPS: # Optional field that allows a user to define custom commands to be run by PX4 on boot. # Must be a valid bash array as seen below # Example: EXTRA_STEPS=( "qshell gps start" "qshell commander mode manual" ) # # GPS=AUTODETECT RC=CRSF_RAW ESC=VOXL_ESC POWER_MANAGER=VOXLPM DISTANCE_SENSOR=NONE OSD=DISABLE DAEMON_MODE=ENABLE SENSOR_CAL=ACTUAL EXTRA_STEPS=()

Thanks for the follow-up. Here’s more information based on your questions:

Initial Binding: Initially, I ran voxl-elrs --bind, and it connected successfully to the transmitter without any issues. It would automatically reconnect after each power cycle as expected. However, after a period of use, this new behavior started happening where it no longer connects automatically after rebooting.

Controller Reboot: Rebooting the controller has not resolved the issue. When the drone is powered on, the receiver’s LED stays solid rather than blinking slowly as it should when searching for the transmitter, and rebooting the controller doesn’t seem to initiate the connection.

Intermittent Connection: Interestingly, there are times when, if I power on the drone before powering on the controller, the connection will establish without needing to reboot the receiver. However, this is inconsistent, and I still often have to physically unplug and replug the receiver to get it to connect.

Possible Driver Issue: As you suggested, it does seem like the driver might be getting stuck in the search process at times. Here’s the output you requested from cat /etc/modalai/voxl-px4.config

Hopefully, this helps to pinpoint what might be causing the issue. Thanks again for your assistance!

@Jetson-Nano As suggested before, can you disable the rangefinder and optic flow and see if things work with VIO alone?

Thank you @Eric-Katzfey , I'll check it out and will get back to you.

@Alex-Kushleyev @Vinny Thank you for your response. I'll test it.

@Jetson-Nano Image of the board I'm using,

20240815_200819_HDR_(1) (1).jpg

@Jetson-Nano You can run the SDK install script with the -f flag to do a factory flash (this will wipe any calibration files you have onboard so pull them off first is necessary)

cd voxl2_SDK_1.3.3 ./install.sh -f