Posts made by Jgaucin

@tom Hello, due to the issue described in this discussion post here I wasn't able to run the dfs-server and therefore the voxl-mapper on SDK 1.0.0 on the Sentinel's VOXL2.

Now I am running into some issues after doing apt install voxl-mapper onto VOXL2 SDK 0.9.5 and running the command voxl-mapper on the Sentinel.
"ERROR fetching tf from tf ringbuffer
there wasn't sufficient data in the buffer"

This only shows the following image onto voxl portal and does not construct a map.

Also, is this solution still relevant to 0.9.5? It states that there is an issue with the qvio server receiving a pose estimate here.

@esaldiran @Chad-Sweet @Moderator The same issue was occurring for me, I am now running the dfs server on SDK 0.9.5 perfectly.

@Moderator @tom This might be a more general question but, is there any way to push the voxl-mapper code to the Sentinel from the Gitlab? I want to test out the pointcloud 3D reconstruction of the environment using the dfs server if possible? Is it SLAM capable with stereo on the Sentinel Development Drone, I see that it is availble for the Starling which has PMD TOF, Tracking, 4k30 image sensors but I haven't seen any documentation or video for the Sentinel which has 2 Stereo Pairs, Tracking, 4K High-Res image sensors.

What would be the best steps to move forward with my goal?

Thanks, as always!

I am running into the same issue when running dfs server. Is there anything that I could do, besides switching to SDK 0.9.5 to fetch the old camera configuration and push it onto the the new flashed SDK?

@josephmlullo Any luck connecting QGC automatically again? Voxl-configure-vision-px4 not being there also made me do these steps but it worked. Thanks!

@tom I had a similar problem, except I couldn't get fastboot to reload. I ran it on a computer that boots up with Ubuntu and it flashed the drone perfectly fine, although the blue LEDs are flashing really fast and at the same rate, the GPS is blinking red but that might be something else I'm missing.

I was running Ubuntu 22.04 ARM64 with Parallels desktop on my MacBook Pro 2021 and tried flashing process on there. That's where I have the usb connected to on the Ubuntu virtual computer and that's the recommended developer OS to operate in it. I can access files on my Mac on Ubuntu (through parallels shared folders) to iCloud and it successfully uploaded to iCloud.

However, it failed to reboot to fast boot even after installing fastboot on Ubuntu. Here's the error. I tried it while powercycling and reinstalling fast boot but it didn't work on my Mac:

Running in Interactive mode.

Flashing the following System Image:
Build Name: 1.6.2-M0054-14.1a-perf
Build Date: 2023-05-19
Platform: M0054
System Image Version: 1.6.2

Installing the following version of voxl-suite:
voxl-suite Version: 1.0.0

Would you like to continue with SDK install?

1. Yes
2. No
   #? 1
   [INFO] adb installed
   [INFO] fastboot installed

----Starting System Image Flash----
Detected OS: Linux

Installer Version: 0.8
Image Version: 1.6.2

Please power off your VOXL, connect via USB,
then power on VOXL. We will keep searching for
an ADB or Fastboot device over USB
[INFO] Found ADB device
[INFO] Rebooting to fastboot
.
.
.
.
.
.
.
.
.
.
[WARNING] Failed to reboot to fastboot
Try power cycling VOXL while holding the fastboot button
[INFO] Found ADB device
[INFO] Rebooting to fastboot
.
.
.
.
.
.
.
.
.
.
[WARNING] Failed to reboot to fastboot
Try power cycling VOXL while holding the fastboot button
^C

The issue is resolved but I just wanted to share it here.

@Moderator I will update it now and see if it becomes available

@tom No, currently on SDK 0.9.5 I haven't flashed it yet for the new SDK update

@Moderator I see, does it also work out of the box on Sentinel? Or do some adjustments need to be made? I say this because I am not able to run it on the Sentinel currently.

Hello,

I was wondering if there's any updates on voxl-mapper working on VOXL2? I saw the post saying that it was being worked on internally and wished to deploy voxl-mapper with the stereo camera input (for the depth sensor), or even purchase a ToF sensor in order to make a map of the indoors with the Sentinel drone. I saw this in the docs over SDK 0.9 and will follow this if still relevant.

link text

Also, I am curious about the autonomous capability of the drone, or its capability for autonomous flight. Does the VOXL2 enable some sort of flight path planning which can be controlled either manually or autonomously? I wish to use it to navigate first in a small indoor drone cage but eventually move to autonomous flight capabilities where it can follow instructions based on what the vision system sees.

Thank you for your time as always!

Hello!

TL;DR – Does the VOXL2 have an EdgeTPU included in the hardware or is it just the name given to the DeepLab v3 model below? Also, how can I access the models in the VOXL2 in order to fine-tune or optimize for my specific needs?:

edgetpu_deeplab_321_os32_float16_quant.tflite

I wanted to make this post to ask about this and see if anyone has had the same experience and has any resources to accomplish this task. I have seen some forum posts of this being successfully done on VOXL however not any forum posts on the VOXL2 (qrb5165).

I found this article which has the performance of the models and a link to the segmentation model on Github. That Github repository PINTO_Model_Zoo also has a link to the EdgeTPU-DeepLab models trained on the Cityscapes dataset.

link text

link text

My understanding is that I can use a Deeplab v3 segmentation model compatible with TensorFlow Lite, which then needs to be quantized for best performance and to be compatible with the nnapi used by VOXL2. I am unsure of the role edgetpu plays in this process. I hope the documentation over this is made public soon to help in the start of this process.

Thank you as always!

Hello,

I just wanted to make this post to inquire if there were any Voxl-mapper capabilities for the Sentinel drone.

I saw some older videos and forum posts where this was a work in progress, but also some posts where they've used it bit ran into some errors or bugs. Is this available for the Sentinel's VOXL-2? Would I need a Time of Flight (ToF) sensor for the map? I wish to fly it indoors, safely, and make a map of it, using GPS-Denied Navigation (VIO) and its autonomous flight capabilities for research purposes.

I appreciate all the help you provide and I apologize if this could be found easily as I was not seeing the documentation on the source code of the voxl-mapper or qvio or the deep learning section of VOXL SDK.

Thanks as always!

@tom
Hello,

I tried flashing again and ran into the same error. There might be some damage to the VOXL-2. I am also running Ubuntu 22.04 ARM on my MacBook Pro through Parallels but I doubt that could be the issue.

Is there a way I can send you images of the USB debug V2 and the VOXL2? (since the ones I link are too large to send in this forum) There could be some glaring error I am not seeing

I ordered another drone since it's probably not able to be unbricked. In the meanwhile, I'll try salvaging some parts, seeing what works, hopefully the VOXL2 isn't completely unsalvagable, I'm not sure what else to try on this.

Thanks for all your help.

@tom said in Post-Crash Sentinel Wi-Fi modem issue:

When you switch the board into EDL mode with SW2 and boot, what mode does the board enumerate in? (with lsusb)

Right after the USB device was listed as:

Bus 001 Device 009: ID 05c6:9008 Qualcomm, Inc. Gobi Wireless Modem (QDL mode)

Then after turning it off and on it stayed the same, then I tried switching it off and on and both times, and power-cycling but it stayed the same as above.

Was the flash unsuccessful? If so, how should I proceed? I am quite stumped on this issue and am very new to UAVs and procedures like this, apologies.

Thanks again!

@tom When trying to initiate the flash (turning the SW2 switch to ON mode), I ran the command prompted. However, it gave me an error and didn't take 10-15 minutes to flash, and almost immediately gave me the error not sure why. I am currently running Ubuntu on Mac through Parallels

Here's the code I ran (not sure what's relevant you can skip to the end for the error):

parallels@ubuntu-linux-22-04-desktop:~/Desktop/Parallels Shared Folders/iCloud/1.1.2-M0054-14.1a-FLAT-V3/ufs$ sudo qdl --debug --storage ufs --include . prog_firehose_ddr.elf rawprogram_unsparse0.xml rawprogram1.xml rawprogram2.xml rawprogram3.xml rawprogram4.xml rawprogram5.xml patch0.xml patch1.xml patch2.xml patch3.xml patch4.xml patch5.xml
[sudo] password for parallels:
HELLO version: 0x2 compatible: 0x1 max_len: 1024 mode: 0
READ64 image: 13 offset: 0x0 length: 0x40
(...)
READ64 image: 13 offset: 0xaa278 length: 0x1000
END OF IMAGE image: 13 status: 0
DONE status: 1
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: Binary build date: Aug 17 2021 @ 23:37:37" /></data>
LOG: INFO: Binary build date: Aug 17 2021 @ 23:37:37
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: Binary build date: Aug 17 2021 @ 23:37:37
" /></data>
LOG: INFO: Binary build date: Aug 17 2021 @ 23:37:37
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: Chip serial num: 2083942945 (0x7c367221)" /></data>
LOG: INFO: Chip serial num: 2083942945 (0x7c367221)
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: Supported Functions (15):" /></data>
LOG: INFO: Supported Functions (15):
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: program" /></data>
LOG: INFO: program
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: read" /></data>
LOG: INFO: read
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: nop" /></data>
LOG: INFO: nop
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: patch" /></data>
LOG: INFO: patch
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: configure" /></data>
LOG: INFO: configure
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: setbootablestoragedrive" /></data>
LOG: INFO: setbootablestoragedrive
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: erase" /></data>
LOG: INFO: erase
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: power" /></data>
LOG: INFO: power
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: firmwarewrite" /></data>
LOG: INFO: firmwarewrite
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: getstorageinfo" /></data>
LOG: INFO: getstorageinfo
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: benchmark" /></data>
LOG: INFO: benchmark
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: emmc" /></data>
LOG: INFO: emmc
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: ufs" /></data>
LOG: INFO: ufs
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: fixgpt" /></data>
LOG: INFO: fixgpt
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: getsha256digest" /></data>
LOG: INFO: getsha256digest
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: End of supported functions 15" /></data>
LOG: INFO: End of supported functions 15
qdl: firehose operation timed out
FIREHOSE WRITE: <?xml version="1.0"?>
<data><configure MemoryName="ufs" MaxPayloadSizeToTargetInBytes="1048576" verbose="0" ZLPAwareHost="1" SkipStorageInit="0"/></data>

FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: Calling handler for configure" /></data>
LOG: INFO: Calling handler for configure
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: Storage type set to value UFS" /></data>
LOG: INFO: Storage type set to value UFS
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<response value="ACK" MemoryName="UFS" MinVersionSupported="1" Version="1" MaxPayloadSizeToTargetInBytes="1048576" MaxPayloadSizeToTargetInBytesSupported="1048576" MaxXMLSizeInBytes="4096" DateTime="Aug 17 2021 - 23:37:37" /></data>
[CONFIGURE] max payload size: 1048576
FIREHOSE WRITE: <?xml version="1.0"?>
<data><program SECTOR_SIZE_IN_BYTES="4096" num_partition_sectors="32776" physical_partition_number="0" start_sector="3154440" filename="qti-ubuntu-robotics-image-qrb5165-rb5-sysfs_1.ext4"/></data>

FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="INFO: Calling handler for program" /></data>
LOG: INFO: Calling handler for program
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="ERROR: Failed to initialize (open whole lun) UFS Device slot 0 partition 0" /></data>
LOG: ERROR: Failed to initialize (open whole lun) UFS Device slot 0 partition 0
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="ERROR: Failed to open the device:3 slot:0 partition:0 error:0" /></data>
LOG: ERROR: Failed to open the device:3 slot:0 partition:0 error:0
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="ERROR: OPEN handle NULL and no error, weird 344489460" /></data>
LOG: ERROR: OPEN handle NULL and no error, weird 344489460
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<log value="ERROR: Failed to open device, type:UFS, slot:0, lun:0 error:3" /></data>
LOG: ERROR: Failed to open device, type:UFS, slot:0, lun:0 error:3
FIREHOSE READ: <?xml version="1.0" encoding="UTF-8" ?>
<data>
<response value="NAK" rawmode="false" /></data>
[PROGRAM] failed to setup programming
parallels@ubuntu-linux-22-04-desktop:~/Desktop/Parallels Shared Folders/iCloud/1.1.2-M0054-14.1a-FLAT-V3/ufs$

Should I continue with the tutorial/guide or stop and figure out this one error?

Thanks!

@Jgaucin

Ok so I am with the Sentinel now, here's what it lists out on a windows terminal when I run: Get-PnpDevice -PresentOnly | Where-Object { $_.InstanceId -match '^USB' }

Status Class FriendlyName InstanceId
Error QUSB_BULK_CID:0412_SN:7C367221 USB/VID_...

In addition, when I run it on Ubuntu and run lsusb here's the message I got for the Qualcomm USB:

Bus 001 Device 012: ID 05c6:9008 Qualcomm, Inc. Gobi Wireless Modem (QDL mode)

This is the QDL mode I mentioned that I don't quite know what it means. ADB still can't read this device when I run adb devices either.

Also, when I try to bind my Spektrum - SPMR6655 remote to the drone, it shows DSMX on the top left of the screen, which indicated a connection, however there is no flash of orange or blinking or sustained light from the receiver on the drone. I'm believing it to be a power issue now, but I am not sure.

Thanks!

Hello,

Crashed the sentinel last week, there don't appear to be any serious damages, just a landing/docking part, the propellors, and one motor.

So, when I went to turn it on to inspect the VOXL-2 chipset, the Wi-Fi modem wasn't lighting up blue and I couldn't see the Wi-Fi acting as a SoftAP so that I could connect via ssh. I assumed it was a problem with the power but it was getting power from the battery as I could hear it, and there don't appear to be any frays or anything loose with the wires. Therefore, I connected via USB to establish an ADB connection, however I encountered an error, or a discrepancy, when I saw the listing for the usb device I connected to. The discrepancy didn't allow me to connect through adb shell as it wasn't being read in adb devices in Ubuntu.

Qualcomm CDMA Technologies MSM QUSB_BULK_CID:0412_SN:7C367221

That was the name of the USB device, whereas previously it was listed something along the lines of Qualcomm KONA_ [...] which was when it worked perfectly.

In addition, in Ubuntu when I ran lsusb, it mentioned something about the Wi-Fi modem being in QBI(?) mode, I apologize I will give more specifics soon.

I can give more specific details later on, as I am not with the Sentinel currently, but any tips on troubleshooting this issue, or figuring out what was happening with the Wi-Fi modem would be greatly appreciated, thank you.

Hello,

I am working on starting up the Sentinel drone and was planning on using the Intel RealSense D435 camera with it. I am planning on using the USB-C cable to connect the camera (which has its own USB-C connection) to the drone. I would like to preface this by saying I am not aware of how to view the outputs of the Sentinel's own camera.

Where would I be able to view the Sentinel drone's camera and the Intel RealSense camera, if at all possible?

Thanks!